+ python -m lidar_slam --no-model /working/df1a0adc-bc53-4f2e-884b-e6e3b08752bf Lidar SLAM 0.0.11 ===================================================== The recording path: /working/df1a0adc-bc53-4f2e-884b-e6e3b08752bf 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 0.017628 Adjusted end_distance from 9.223372036854776e+18 to 343.987628 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.017628 meters 0.10976554817553826 Centerline is valid? [0, False] SLAMing on 0.077628 meters 0.12792877547351195 Centerline is valid? [False, False] Translation: X:0.02, Y:0.00, Z:-0.00 [[ 0.99999336 0.00274561 0.00239793 0.01940845] [-0.00273357 0.99998372 -0.00500814 0.0020484 ] [-0.00241164 0.00500155 0.99998458 -0.00434657] [ 0. 0. 0. 1. ]] SLAMing on 0.137628 meters 0.1578698255395132 Centerline is valid? [False, False] Translation: X:0.02, Y:0.00, Z:-0.01 [[ 0.99997638 0.00647302 0.00231202 0.020368 ] [-0.00646947 0.99997789 -0.00153971 0.00341337] [-0.00232194 0.00152472 0.99999614 -0.00543861] [ 0. 0. 0. 1. ]] SLAMing on 0.197628 meters 0.20147479272319763 Centerline is valid? [False, False] Translation: X:0.02, Y:0.00, Z:-0.01 [[ 0.99999645 0.00146318 0.00222754 0.02212135] [-0.00144857 0.99997754 -0.00654407 0.00342777] [-0.00223707 0.00654082 0.99997611 -0.00764229] [ 0. 0. 0. 1. ]] SLAMing on 0.25762799999999997 meters 0.2209492811537772 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.00, Z:-0.01 [[ 9.99998062e-01 1.01690939e-03 1.68550659e-03 2.37600718e-02] [-1.00702828e-03 9.99982364e-01 -5.85291330e-03 -7.31897555e-04] [-1.69142874e-03 5.85120461e-03 9.99981451e-01 -8.36398554e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.31762799999999997 meters 0.24577526697687274 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.00, Z:-0.01 [[ 9.99998082e-01 8.69540896e-04 1.75520975e-03 2.38521587e-02] [-8.58861818e-04 9.99981173e-01 -6.07582901e-03 -2.04645569e-04] [-1.76045989e-03 6.07430987e-03 9.99980002e-01 -8.68604060e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.37762799999999996 meters 0.2660984309569159 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.00, Z:-0.01 [[ 9.99985252e-01 5.16130779e-03 1.68999371e-03 2.40721451e-02] [-5.15823956e-03 9.99985049e-01 -1.81487611e-03 -9.71934703e-04] [-1.69933558e-03 1.80613195e-03 9.99996925e-01 -8.70484803e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.43762799999999996 meters 0.28333860520917437 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.00, Z:-0.01 [[ 0.99995585 0.00926197 0.00158676 0.02459942] [-0.00926544 0.99995467 0.00219303 -0.00120166] [-0.00156638 -0.00220763 0.99999634 -0.0089665 ] [ 0. 0. 0. 1. ]] SLAMing on 0.49762799999999996 meters 0.2941757678548239 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.00, Z:-0.01 [[ 9.99963519e-01 8.45964077e-03 1.18131643e-03 2.66984841e-02] [-8.46155684e-03 9.99962878e-01 1.62651434e-03 -8.82762552e-04] [-1.16751285e-03 -1.63645078e-03 9.99997979e-01 -1.05341975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.557628 meters 0.31577354158599474 Centerline is valid? [False, False] Translation: X:0.03, Y:0.00, Z:-0.01 [[ 9.99999428e-01 1.06717502e-03 6.94057087e-05 3.37577159e-02] [-1.06688103e-03 9.99991000e-01 -4.10628547e-03 4.05513309e-03] [-7.37872093e-05 4.10620908e-03 9.99991567e-01 -1.37447102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.617628 meters 0.32833730569083097 Centerline is valid? [False, False] Translation: X:0.06, Y:0.00, Z:-0.01 [[ 0.99999292 -0.00118576 -0.00357247 0.06334788] [ 0.001164 0.99998081 -0.00608451 0.00157603] [ 0.00357961 0.00608031 0.99997511 -0.01330297] [ 0. 0. 0. 1. ]] SLAMing on 0.6776279999999999 meters 0.34008325595644195 Centerline is valid? [False, False] Translation: X:0.06, Y:0.01, Z:-0.01 [[ 0.99998914 -0.00214221 -0.00413877 0.06485947] [ 0.00211271 0.99997242 -0.00712004 0.00510309] [ 0.00415391 0.00711122 0.99996609 -0.01327415] [ 0. 0. 0. 1. ]] SLAMing on 0.737628 meters 0.3465432815239155 Centerline is valid? [False, False] Translation: X:0.07, Y:0.01, Z:-0.01 [[ 0.99998853 0.00122371 -0.0046315 0.06581454] [-0.00124212 0.99999133 -0.00397409 0.00949159] [ 0.0046266 0.00397979 0.99998138 -0.01271385] [ 0. 0. 0. 1. ]] SLAMing on 0.797628 meters 0.34232341847120834 Centerline is valid? [False, False] Translation: X:0.07, Y:0.02, Z:-0.01 [[ 0.99995126 0.00821585 -0.00547549 0.06637694] [-0.00820283 0.99996348 0.00239665 0.01859335] [ 0.00549498 -0.00235162 0.99998214 -0.01041292] [ 0. 0. 0. 1. ]] SLAMing on 0.857628 meters 0.3412309741137593 Centerline is valid? [False, False] Translation: X:0.07, Y:0.02, Z:-0.01 [[ 9.99956683e-01 7.41120534e-03 -5.63074901e-03 6.71473963e-02] [-7.40732236e-03 9.99972313e-01 7.10144382e-04 2.46706003e-02] [ 5.63585614e-03 -6.68404848e-04 9.99983895e-01 -1.06445939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9176279999999999 meters 0.34536783576534 Centerline is valid? [False, False] Translation: X:0.07, Y:0.03, Z:-0.01 [[ 0.99992637 0.01061821 -0.00587503 0.06745056] [-0.01060186 0.99993986 0.00280671 0.03364653] [ 0.00590448 -0.00274422 0.9999788 -0.00966443] [ 0. 0. 0. 1. ]] SLAMing on 0.9776279999999999 meters 0.3380846585332462 Centerline is valid? [False, False] Translation: X:0.07, Y:0.04, Z:-0.01 [[ 0.99982545 0.01755702 -0.00638886 0.06768884] [-0.01750171 0.99980974 0.00861227 0.0446203 ] [ 0.00653885 -0.00849895 0.9999425 -0.00772736] [ 0. 0. 0. 1. ]] SLAMing on 1.037628 meters 0.3364996037627524 Centerline is valid? [False, False] Translation: X:0.07, Y:0.05, Z:-0.01 [[ 0.99976742 0.02049353 -0.00671661 0.06737871] [-0.02042251 0.99973653 0.01047772 0.05405864] [ 0.00692957 -0.01033811 0.99992255 -0.00593359] [ 0. 0. 0. 1. ]] SLAMing on 1.097628 meters 0.3351267919325578 Centerline is valid? [False, False] Translation: X:0.07, Y:0.06, Z:-0.01 [[ 0.99982906 0.01718617 -0.00681873 0.06626496] [-0.01714856 0.99983762 0.00553725 0.06063034] [ 0.00691278 -0.00541937 0.99996142 -0.00521798] [ 0. 0. 0. 1. ]] SLAMing on 1.1576279999999999 meters 0.30618682312153994 Centerline is valid? [False, False] Translation: X:0.06, Y:0.07, Z:-0.01 [[ 0.99993983 0.0107377 -0.00224437 0.05841732] [-0.01072877 0.99993463 0.00395338 0.07065583] [ 0.00228667 -0.00392906 0.99998967 -0.00946356] [ 0. 0. 0. 1. ]] SLAMing on 1.217628 meters 0.2938673372079224 Centerline is valid? [False, False] Translation: X:0.05, Y:0.08, Z:-0.01 [[ 0.99999165 0.00375154 0.0016184 0.04718362] [-0.00375959 0.99998043 0.00500119 0.07711713] [-0.00159961 -0.00500723 0.99998618 -0.01175423] [ 0. 0. 0. 1. ]] SLAMing on 1.277628 meters 0.22311370324348884 Centerline is valid? [False, False] Translation: X:0.04, Y:0.08, Z:-0.01 [[ 0.99996747 -0.00181286 -0.00785998 0.03536173] [ 0.00184874 0.99998789 0.00456037 0.08453877] [ 0.00785162 -0.00457475 0.99995871 -0.00855161] [ 0. 0. 0. 1. ]] SLAMing on 1.3376279999999998 meters 0.15608180030132393 Centerline is valid? [False, False] Translation: X:0.03, Y:0.10, Z:-0.01 [[ 0.99999472 -0.00146124 -0.00290368 0.02527759] [ 0.00148688 0.99995974 0.00884968 0.09523417] [ 0.00289063 -0.00885395 0.99995662 -0.0111646 ] [ 0. 0. 0. 1. ]] SLAMing on 1.3976279999999999 meters 0.12797035911320145 Centerline is valid? [False, False] Translation: X:0.02, Y:0.10, Z:-0.01 [[ 0.99999252 0.00283849 -0.00262761 0.02383599] [-0.00280757 0.99992767 0.01169511 0.10089212] [ 0.00266062 -0.01168764 0.99992816 -0.01053174] [ 0. 0. 0. 1. ]] SLAMing on 1.457628 meters 0.11560845982576673 Centerline is valid? [False, False] Translation: X:0.02, Y:0.11, Z:-0.01 [[ 0.99994066 0.01060108 -0.00251048 0.02318046] [-0.01055452 0.99978437 0.01788343 0.10722017] [ 0.00269952 -0.01785587 0.99983693 -0.0103904 ] [ 0. 0. 0. 1. ]] SLAMing on 1.517628 meters 0.10354352119113812 Centerline is valid? [False, False] Translation: X:0.02, Y:0.11, Z:-0.01 [[ 0.99994379 0.01023303 -0.00277589 0.02395757] [-0.01018887 0.9998282 0.01548434 0.1132898 ] [ 0.00293387 -0.01545519 0.99987626 -0.0119812 ] [ 0. 0. 0. 1. ]] SLAMing on 1.577628 meters 0.09519492596089735 Centerline is valid? [False, True] Translation: X:0.02, Y:0.12, Z:-0.01 [[ 0.99994099 0.01041776 -0.0030813 0.02424392] [-0.01037389 0.99984919 0.01392786 0.11814344] [ 0.00322593 -0.01389507 0.99989826 -0.01272486] [ 0. 0. 0. 1. ]] SLAMing on 1.6376279999999999 meters 0.08820351224367388 Centerline is valid? [True, True] Translation: X:0.09, Y:0.12, Z:-0.02 [[ 9.99836123e-01 1.70492139e-02 -6.08693292e-03 8.55630619e-02] [-1.70461613e-02 9.99854551e-01 5.53032534e-04 1.22111994e-01] [ 6.09547635e-03 -4.49183064e-04 9.99981322e-01 -1.70536437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.697628 meters 0.08056521743599272 Centerline is valid? [True, True] Translation: X:0.15, Y:0.12, Z:-0.02 [[ 9.99617868e-01 2.58290297e-02 -9.84781816e-03 1.46703009e-01] [-2.58214629e-02 9.99666170e-01 8.94763795e-04 1.21927747e-01] [ 9.86764154e-03 -6.40136806e-04 9.99951109e-01 -1.88551146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.757628 meters 0.07517961933289115 Centerline is valid? [True, True] Translation: X:0.21, Y:0.12, Z:-0.02 [[ 9.99429009e-01 3.10630151e-02 -1.32945227e-02 2.07671512e-01] [-3.10496853e-02 9.99517112e-01 1.20793537e-03 1.21148379e-01] [ 1.33256251e-02 -7.94454903e-04 9.99910894e-01 -2.01064785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8176279999999998 meters 0.06953722991337766 Centerline is valid? [True, True] Translation: X:0.27, Y:0.11, Z:-0.02 [[ 9.99175598e-01 3.73839439e-02 -1.58292786e-02 2.67837951e-01] [-3.73658366e-02 9.99300618e-01 1.43823025e-03 1.11852178e-01] [ 1.58719746e-02 -8.45570331e-04 9.99873675e-01 -2.12600457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8776279999999999 meters 0.0659812450232034 Centerline is valid? [True, True] Translation: X:0.33, Y:0.10, Z:-0.02 [[ 9.99024829e-01 4.01193532e-02 -1.84344176e-02 3.28712521e-01] [-4.00952402e-02 9.99194457e-01 1.67593326e-03 9.83837598e-02] [ 1.84868052e-02 -9.35166543e-04 9.99828667e-01 -2.21576921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.937628 meters 0.06373001487793824 Centerline is valid? [True, True] Translation: X:0.39, Y:0.08, Z:-0.02 [[ 9.99059568e-01 3.94958784e-02 -1.78900626e-02 3.90036504e-01] [-3.94729901e-02 9.99219307e-01 1.63083776e-03 8.44335719e-02] [ 1.79405073e-02 -9.23129801e-04 9.99838630e-01 -2.19789339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.997628 meters 0.06124223869335389 Centerline is valid? [True, True] Translation: X:0.45, Y:0.06, Z:-0.02 [[ 9.99141452e-01 3.81231615e-02 -1.62167733e-02 4.49966957e-01] [-3.81041455e-02 9.99272677e-01 1.48009597e-03 6.49008399e-02] [ 1.62614044e-02 -8.60898944e-04 9.99867404e-01 -1.88699672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0576280000000002 meters 0.056757376559544666 Centerline is valid? [True, True] Translation: X:0.51, Y:0.05, Z:-0.02 [[ 9.99208230e-01 3.67972397e-02 -1.51286275e-02 5.11305321e-01] [-3.67804828e-02 9.99322410e-01 1.38447206e-03 5.49659192e-02] [ 1.51693213e-02 -8.26937651e-04 9.99884597e-01 -1.56823241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1176280000000003 meters 0.054619578584348974 Centerline is valid? [True, True] Translation: X:0.57, Y:0.04, Z:-0.01 [[ 9.99440422e-01 3.00495605e-02 -1.46923801e-02 5.71063282e-01] [-3.00330279e-02 9.99548002e-01 1.34464529e-03 3.83013356e-02] [ 1.47261452e-02 -9.02636193e-04 9.99891157e-01 -1.23203214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1776280000000003 meters 0.05518829773582858 Centerline is valid? [True, True] Translation: X:0.63, Y:0.01, Z:-0.01 [[ 0.99974948 0.01738861 -0.01409275 0.62799086] [-0.01737214 0.99984826 0.00129038 0.01211446] [ 0.01411305 -0.00104523 0.99989986 -0.01070434] [ 0. 0. 0. 1. ]] SLAMing on 2.237628 meters 0.054680299860100735 Centerline is valid? [True, True] Translation: X:0.69, Y:-0.00, Z:-0.01 [[ 0.99987778 0.00931728 -0.01255435 0.68761301] [-0.00930358 0.99995606 0.00114951 -0.00245604] [ 0.0125645 -0.00103257 0.99992053 -0.00674277] [ 0. 0. 0. 1. ]] SLAMing on 2.297628 meters 0.05520597962301648 Centerline is valid? [True, True] Translation: X:0.75, Y:-0.02, Z:-0.00 [[ 9.99924564e-01 5.20107544e-03 -1.11271874e-02 7.45300972e-01] [-5.19006201e-03 9.99986013e-01 1.01842403e-03 -2.15660509e-02] [ 1.11323287e-02 -9.60596415e-04 9.99937572e-01 -3.01855998e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.357628 meters 0.051238329693856985 Centerline is valid? [True, True] Translation: X:0.81, Y:-0.03, Z:-0.00 [[ 9.99926660e-01 8.15215323e-03 -8.95638974e-03 8.05171852e-01] [-8.14513540e-03 9.99966492e-01 8.19752649e-04 -2.86758408e-02] [ 8.96277237e-03 -7.46741521e-04 9.99959555e-01 -4.11236358e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.417628 meters 0.048545118372721775 Centerline is valid? [True, True] Translation: X:0.86, Y:-0.04, Z:0.00 [[ 9.99807783e-01 1.85045216e-02 -6.47916966e-03 8.63903472e-01] [-1.85010655e-02 9.99828665e-01 5.92939438e-04 -3.61643736e-02] [ 6.48903161e-03 -4.72953923e-04 9.99978834e-01 2.65774718e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.477628 meters 0.045077611388981996 Centerline is valid? [True, True] Translation: X:0.92, Y:-0.04, Z:0.00 [[ 9.99639162e-01 2.65158765e-02 -4.29577844e-03 9.23833280e-01] [-2.65144308e-02 9.99648353e-01 3.93133491e-04 -4.08089894e-02] [ 4.30469213e-03 -2.79091513e-04 9.99990696e-01 4.79937626e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.537628 meters 0.04252790528461885 Centerline is valid? [True, True] Translation: X:0.98, Y:-0.05, Z:0.00 [[ 9.99466921e-01 3.25877880e-02 -1.97754192e-03 9.83332044e-01] [-3.25874934e-02 9.99468870e-01 1.81012659e-04 -4.63334349e-02] [ 1.98239039e-03 -1.16473031e-04 9.99998028e-01 4.96838376e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5976280000000003 meters 0.042360544501307336 Centerline is valid? [True, True] Translation: X:1.04, Y:-0.06, Z:0.00 [[ 9.99490656e-01 3.18704971e-02 -1.64312610e-03 1.04450798e+00] [-3.18702916e-02 9.99492002e-01 1.51135479e-04 -5.64223839e-02] [ 1.64710816e-03 -9.86915916e-05 9.99998639e-01 4.35212469e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.657628 meters 0.04380985296315736 Centerline is valid? [True, True] Translation: X:1.10, Y:-0.07, Z:0.01 [[ 9.99643142e-01 2.67058343e-02 -6.21827912e-04 1.10479897e+00] [-2.67058039e-02 9.99643335e-01 5.71195466e-05 -7.05076059e-02] [ 6.23131552e-04 -4.04927487e-05 9.99999805e-01 5.30952490e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.717628 meters 0.04961019575756733 Centerline is valid? [True, True] Translation: X:1.16, Y:-0.09, Z:0.01 [[ 9.99891026e-01 1.47571850e-02 -4.01619013e-04 1.16238989e+00] [-1.47571713e-02 9.99891106e-01 3.69292635e-05 -9.33437881e-02] [ 4.02120251e-04 -3.09984785e-05 9.99999919e-01 7.76901737e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.777628 meters 0.051834426096632975 Centerline is valid? [True, True] Translation: X:1.22, Y:-0.10, Z:0.01 [[ 9.99952159e-01 9.77167204e-03 4.41381250e-04 1.22182705e+00] [-9.77165510e-03 9.99952255e-01 -4.05266789e-05 -1.03580511e-01] [-4.41756190e-04 3.62117147e-05 9.99999902e-01 7.94716443e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.837628 meters 0.05844519029234865 Centerline is valid? [True, True] Translation: X:1.28, Y:-0.12, Z:0.01 [[ 9.99994738e-01 -1.54992828e-03 2.85000223e-03 1.27959520e+00] [ 1.55068043e-03 9.99998763e-01 -2.61721264e-04 -1.21388183e-01] [-2.84959305e-03 2.66139330e-04 9.99995904e-01 8.39622766e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.897628 meters 0.06188480327935196 Centerline is valid? [True, True] Translation: X:1.34, Y:-0.13, Z:0.01 [[ 9.99969649e-01 -6.40561328e-03 4.43507192e-03 1.33980659e+00] [ 6.40748263e-03 9.99979389e-01 -4.07411600e-04 -1.33574699e-01] [-4.43237079e-03 4.35816881e-04 9.99990082e-01 1.02466167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.957628 meters 0.06465972373460267 Centerline is valid? [True, True] Translation: X:1.40, Y:-0.14, Z:0.01 [[ 9.99953072e-01 -8.75386729e-03 4.15006908e-03 1.39964431e+00] [ 8.75552413e-03 9.99961597e-01 -3.81230719e-04 -1.40281725e-01] [-4.14657246e-03 4.17548859e-04 9.99991316e-01 9.80158733e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.017628 meters 0.06602485102313654 Centerline is valid? [True, True] Translation: X:1.46, Y:-0.14, Z:0.01 [[ 9.99964686e-01 -8.31393548e-03 1.22722505e-03 1.45904009e+00] [ 8.31408009e-03 9.99965431e-01 -1.12782333e-04 -1.42777120e-01] [-1.22624496e-03 1.22981597e-04 9.99999241e-01 6.38906254e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0776280000000003 meters 0.06686006952344799 Centerline is valid? [True, True] Translation: X:1.52, Y:-0.14, Z:0.00 [[ 9.99977837e-01 -6.58671143e-03 -9.69857873e-04 1.51958961e+00] [ 6.58680076e-03 9.99978303e-01 8.89439343e-05 -1.44735979e-01] [ 9.69250982e-04 -9.53302236e-05 9.99999526e-01 3.63239741e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1376280000000003 meters 0.0668684582751798 Centerline is valid? [True, True] Translation: X:1.58, Y:-0.14, Z:0.00 [[ 9.99990455e-01 -3.72164639e-03 -2.28895318e-03 1.58070715e+00] [ 3.72213668e-03 9.99993051e-01 2.09977061e-04 -1.43635283e-01] [ 2.28815582e-03 -2.18494853e-04 9.99997358e-01 2.75926635e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.197628 meters 0.06411868615293068 Centerline is valid? [True, True] Translation: X:1.64, Y:-0.14, Z:0.00 [[ 9.99993136e-01 3.68755357e-03 -3.61092296e-04 1.64121642e+00] [-3.68754186e-03 9.99993200e-01 3.30877403e-05 -1.36947211e-01] [ 3.61211853e-04 -3.17559702e-05 9.99999934e-01 4.23003185e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.257628 meters 0.05982063457348513 Centerline is valid? [True, True] Translation: X:1.70, Y:-0.13, Z:0.00 [[ 9.99922364e-01 1.24553767e-02 -3.59112267e-04 1.70248480e+00] [-1.24553656e-02 9.99922428e-01 3.29331229e-05 -1.31952848e-01] [ 3.59494605e-04 -2.84576915e-05 9.99999935e-01 4.52420636e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.317628 meters 0.054150316763779995 Centerline is valid? [True, True] Translation: X:1.76, Y:-0.13, Z:0.00 [[ 9.99740395e-01 2.27776496e-02 -5.67005878e-04 1.76437027e+00] [-2.27776237e-02 9.99740555e-01 5.20282380e-05 -1.25298807e-01] [ 5.68043852e-04 -3.90996847e-05 9.99999838e-01 4.54960694e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.377628 meters 0.04629666818309403 Centerline is valid? [True, True] Translation: X:1.82, Y:-0.11, Z:0.00 [[ 9.99343965e-01 3.62164108e-02 1.02059240e-04 1.82494668e+00] [-3.62164101e-02 9.99343971e-01 -9.35984852e-06 -1.13924201e-01] [-1.02331267e-04 5.65748883e-06 9.99999995e-01 3.94223317e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.437628 meters 0.02564016890511949 Centerline is valid? [True, True] Translation: X:1.89, Y:-0.09, Z:0.01 [[ 9.99132310e-01 4.16305509e-02 1.23470321e-03 1.88817191e+00] [-4.16304426e-02 9.99133071e-01 -1.13255167e-04 -9.03191112e-02] [-1.23834769e-03 6.17556550e-05 9.99999231e-01 5.36083738e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.497628 meters 0.023920389200360305 Centerline is valid? [True, True] Translation: X:1.95, Y:-0.10, Z:0.00 [[ 9.99051344e-01 4.35344743e-02 1.07789814e-03 1.95017910e+00] [-4.35343931e-02 9.99051924e-01 -9.87302486e-05 -9.51569198e-02] [-1.08117438e-03 5.17109464e-05 9.99999414e-01 4.76450832e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5576280000000002 meters 0.02573955120935008 Centerline is valid? [True, True] Translation: X:2.01, Y:-0.11, Z:0.00 [[ 9.99164243e-01 4.08605025e-02 -1.11143416e-03 2.01047271e+00] [-4.08604138e-02 9.99164859e-01 1.02351388e-04 -1.05675669e-01] [ 1.11468808e-03 -5.68521880e-05 9.99999377e-01 1.73711378e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.617628 meters 0.027492094283393692 Centerline is valid? [True, True] Translation: X:2.07, Y:-0.12, Z:0.00 [[ 9.99276046e-01 3.79761191e-02 -2.28014254e-03 2.07072724e+00] [-3.79757388e-02 9.99278639e-01 2.09885814e-04 -1.17571776e-01] [ 2.28646838e-03 -1.23143769e-04 9.99997378e-01 6.34061395e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.677628 meters 0.029606777449530844 Centerline is valid? [True, True] Translation: X:2.13, Y:-0.13, Z:-0.00 [[ 9.99406169e-01 3.42788312e-02 -3.50312925e-03 2.13086596e+00] [-3.42779106e-02 9.99412288e-01 3.22502025e-04 -1.30496708e-01] [ 3.51212541e-03 -2.02230562e-04 9.99993812e-01 -1.47514269e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.737628 meters 0.035025221801978895 Centerline is valid? [True, True] Translation: X:2.19, Y:-0.15, Z:-0.00 [[ 9.99705872e-01 2.39097080e-02 -4.06149624e-03 2.18892571e+00] [-2.39083855e-02 9.99714084e-01 3.73857680e-04 -1.51175978e-01] [ 4.06927382e-03 -2.76643900e-04 9.99991682e-01 -5.24609815e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.797628 meters 0.04284094091627618 Centerline is valid? [True, True] Translation: X:2.25, Y:-0.18, Z:-0.00 [[ 9.99942535e-01 9.27371700e-03 -5.37817766e-03 2.24678629e+00] [-9.27118743e-03 9.99956899e-01 4.95080149e-04 -1.75591314e-01] [ 5.38253709e-03 -4.45189606e-04 9.99985415e-01 -5.11292833e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.857628 meters 0.0491748525985687 Centerline is valid? [True, True] Translation: X:2.31, Y:-0.20, Z:0.00 [[ 9.99984080e-01 -1.40034071e-03 -5.46617436e-03 2.30574490e+00] [ 1.40311219e-03 9.99998889e-01 5.03221515e-04 -1.96436181e-01] [ 5.46546361e-03 -5.10883159e-04 9.99984934e-01 7.28743601e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.917628 meters 0.055774423337791014 Centerline is valid? [True, True] Translation: X:2.37, Y:-0.22, Z:0.00 [[ 9.99923375e-01 -1.12667606e-02 -5.12875879e-03 2.36505076e+00] [ 1.12693288e-02 9.99936388e-01 4.72116256e-04 -2.16547485e-01] [ 5.12311331e-03 -5.29877750e-04 9.99986736e-01 1.90709570e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.977628 meters 0.0625306104501842 Centerline is valid? [True, True] Translation: X:2.42, Y:-0.24, Z:0.00 [[ 9.99789666e-01 -2.00201855e-02 -4.45143163e-03 2.42338216e+00] [ 2.00222059e-02 9.99799452e-01 4.09788022e-04 -2.36362307e-01] [ 4.44233487e-03 -4.98829311e-04 9.99990008e-01 2.72097082e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.037628 meters 0.06558883817741601 Centerline is valid? [True, True] Translation: X:2.48, Y:-0.25, Z:0.01 [[ 9.99771769e-01 -2.12625377e-02 -2.07695290e-03 2.48033056e+00] [ 2.12629797e-02 9.99773899e-01 1.90968672e-04 -2.50087030e-01] [ 2.07242282e-03 -2.35087294e-04 9.99997825e-01 5.95863274e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.097628 meters 0.06481630623455861 Centerline is valid? [True, True] Translation: X:2.54, Y:-0.25, Z:0.00 [[ 9.99838649e-01 -1.77441159e-02 -2.79691421e-03 2.54082517e+00] [ 1.77449042e-02 9.99842514e-01 2.57253591e-04 -2.54794933e-01] [ 2.79190900e-03 -3.06843058e-04 9.99996056e-01 4.75067594e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.157628 meters 0.06370914451090734 Centerline is valid? [True, True] Translation: X:2.60, Y:-0.26, Z:0.00 [[ 9.99921678e-01 -1.20427414e-02 -3.40741134e-03 2.60149962e+00] [ 1.20438787e-02 9.99927421e-01 3.13442018e-04 -2.58319064e-01] [ 3.40338933e-03 -3.54455917e-04 9.99994146e-01 3.93319239e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.217628 meters 0.0605787533914123 Centerline is valid? [True, True] Translation: X:2.66, Y:-0.26, Z:0.00 [[ 9.99989563e-01 -3.65014219e-04 -4.55410219e-03 2.66155287e+00] [ 3.66925664e-04 9.99999845e-01 4.18891001e-04 -2.59166449e-01] [ 4.55394858e-03 -4.20557646e-04 9.99989542e-01 2.75200581e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.277628 meters 0.05750376873001819 Centerline is valid? [True, True] Translation: X:2.72, Y:-0.26, Z:0.00 [[ 9.99954626e-01 7.29057820e-03 -6.13139853e-03 2.72173446e+00] [-7.28725623e-03 9.99973289e-01 5.63962118e-04 -2.59811901e-01] [ 6.13534636e-03 -5.19255456e-04 9.99981044e-01 5.22318641e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.3376280000000005 meters 0.05319098224006667 Centerline is valid? [True, True] Translation: X:2.78, Y:-0.26, Z:-0.00 [[ 9.99813765e-01 1.82196481e-02 -6.36237623e-03 2.78191490e+00] [-1.82162909e-02 9.99833898e-01 5.85222830e-04 -2.59405262e-01] [ 6.37198199e-03 -4.69214945e-04 9.99979589e-01 -9.34637639e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.397628 meters 0.03314651760909044 Centerline is valid? [True, True] Translation: X:2.84, Y:-0.24, Z:0.00 [[ 9.99687596e-01 2.43704020e-02 -5.54927743e-03 2.84482191e+00] [-2.43679416e-02 9.99702927e-01 5.10552353e-04 -2.39510570e-01] [ 5.56007125e-03 -3.75168386e-04 9.99984472e-01 1.86548593e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.457628 meters 0.0316485992785482 Centerline is valid? [True, True] Translation: X:2.90, Y:-0.25, Z:0.00 [[ 9.99540177e-01 2.97529296e-02 -5.84780955e-03 2.90499919e+00] [-2.97502890e-02 9.99557217e-01 5.38041654e-04 -2.45473994e-01] [ 5.86122856e-03 -3.63820226e-04 9.99982757e-01 2.26218910e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.517628 meters 0.03216865433629718 Centerline is valid? [True, True] Translation: X:2.97, Y:-0.25, Z:0.00 [[ 9.99538377e-01 3.00171797e-02 -4.69059492e-03 2.96688210e+00] [-3.00154768e-02 9.99549340e-01 4.33033338e-04 -2.53489486e-01] [ 4.70147950e-03 -2.92042997e-04 9.99988905e-01 3.79299635e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.577628 meters 0.03515003985972289 Centerline is valid? [True, True] Translation: X:3.03, Y:-0.27, Z:0.01 [[ 9.99610128e-01 2.77769187e-02 -2.83466357e-03 3.02570584e+00] [-2.77762875e-02 9.99614130e-01 2.61810760e-04 -2.65956144e-01] [ 2.84084205e-03 -1.82972257e-04 9.99995948e-01 5.18370125e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.637628 meters 0.03828955062399047 Centerline is valid? [True, True] Translation: X:3.08, Y:-0.28, Z:0.00 [[ 9.99682449e-01 2.48931329e-02 -3.91577182e-03 3.08486506e+00] [-2.48919070e-02 9.99690083e-01 3.61483398e-04 -2.79841782e-01] [ 3.92355671e-03 -2.63897581e-04 9.99992268e-01 3.48004858e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.697628 meters 0.040535608448943126 Centerline is valid? [True, True] Translation: X:3.15, Y:-0.29, Z:0.00 [[ 9.99701611e-01 2.37163784e-02 -5.84995574e-03 3.14591037e+00] [-2.37136134e-02 9.99718646e-01 5.41582042e-04 -2.88557236e-01] [ 5.86115419e-03 -4.02696851e-04 9.99982742e-01 4.74260796e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.757628 meters 0.02772549129772792 Centerline is valid? [True, True] Translation: X:3.21, Y:-0.28, Z:0.00 [[ 9.99704721e-01 2.33952453e-02 -6.56756430e-03 3.20856292e+00] [-2.33917424e-02 9.99726190e-01 6.09683722e-04 -2.84387074e-01] [ 6.58002973e-03 -4.55876923e-04 9.99978247e-01 2.69881428e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.817628 meters 0.025716831850685275 Centerline is valid? [True, True] Translation: X:3.27, Y:-0.29, Z:0.00 [[ 9.99712012e-01 2.24403704e-02 -8.50432204e-03 3.26986826e+00] [-2.24344464e-02 9.99748003e-01 7.91356054e-04 -2.91276353e-01] [ 8.51993729e-03 -6.00338396e-04 9.99963524e-01 1.21853192e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.877628 meters 0.030535593892735195 Centerline is valid? [True, True] Translation: X:3.33, Y:-0.31, Z:-0.00 [[ 9.99780013e-01 1.78364363e-02 -1.10356990e-02 3.32785650e+00] [-1.78261757e-02 9.99840573e-01 1.02743974e-03 -3.09948674e-01] [ 1.10522655e-02 -8.30489404e-04 9.99938577e-01 -2.14989999e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.937628 meters 0.030053120567092268 Centerline is valid? [True, True] Translation: X:3.39, Y:-0.32, Z:0.00 [[ 9.99843930e-01 1.44508207e-02 -1.01631857e-02 3.38757797e+00] [-1.44419455e-02 9.99895262e-01 9.46127967e-04 -3.22112967e-01] [ 1.01757935e-02 -7.99204131e-04 9.99947906e-01 7.06010889e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.997628 meters 0.02904787251768478 Centerline is valid? [True, True] Translation: X:3.45, Y:-0.33, Z:0.00 [[ 9.99921347e-01 8.97850297e-03 -8.75709829e-03 3.44822371e+00] [-8.97170246e-03 9.99959421e-01 8.15546520e-04 -3.32056769e-01] [ 8.76406532e-03 -7.36916294e-04 9.99961323e-01 3.37931389e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.057628 meters 0.03003671434439281 Centerline is valid? [True, True] Translation: X:3.51, Y:-0.34, Z:0.01 [[ 9.99975450e-01 4.93063006e-03 -4.97879598e-03 3.50755695e+00] [-4.92838195e-03 9.99987748e-01 4.63705402e-04 -3.42811598e-01] [ 4.98102134e-03 -4.39156610e-04 9.99987498e-01 7.55536017e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.117628 meters 0.029861558616705006 Centerline is valid? [True, True] Translation: X:3.57, Y:-0.35, Z:0.01 [[ 9.99963386e-01 7.84926755e-03 -3.40820079e-03 3.56773217e+00] [-7.84823085e-03 9.99969152e-01 3.17446725e-04 -3.48773875e-01] [ 3.41058738e-03 -2.90686755e-04 9.99994142e-01 8.48247381e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.177628 meters 0.029916666298929404 Centerline is valid? [True, True] Translation: X:3.63, Y:-0.35, Z:0.01 [[ 9.99851012e-01 1.63347101e-02 -5.57958173e-03 3.62761286e+00] [-1.63320630e-02 9.99866488e-01 5.19659943e-04 -3.53316774e-01] [ 5.58732529e-03 -4.28456439e-04 9.99984299e-01 7.17618234e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.237628 meters 0.026568493762023724 Centerline is valid? [True, True] Translation: X:3.69, Y:-0.35, Z:0.01 [[ 9.99618988e-01 2.67867878e-02 -6.65939798e-03 3.68930347e+00] [-2.67832468e-02 9.99641072e-01 6.20365265e-04 -3.50520968e-01] [ 6.67362532e-03 -4.41768599e-04 9.99977634e-01 5.58880927e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.297628 meters 0.02484257875425802 Centerline is valid? [True, True] Translation: X:3.75, Y:-0.35, Z:0.01 [[ 9.99527489e-01 3.02851638e-02 -5.25431754e-03 3.75031796e+00] [-3.02830070e-02 9.99541245e-01 4.89576902e-04 -3.53640684e-01] [ 5.26673401e-03 -3.30229037e-04 9.99986076e-01 6.91257438e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.357628 meters 0.025635942536905414 Centerline is valid? [True, True] Translation: X:3.81, Y:-0.36, Z:0.01 [[ 9.99504373e-01 3.11839994e-02 -4.30896690e-03 3.81168354e+00] [-3.11825509e-02 9.99513625e-01 4.02959450e-04 -3.62860946e-01] [ 4.31943701e-03 -2.68395153e-04 9.99990635e-01 8.65793721e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.417628 meters 0.02586092170284853 Centerline is valid? [True, True] Translation: X:3.87, Y:-0.37, Z:0.00 [[ 9.99495689e-01 3.11326981e-02 -6.25481066e-03 3.87354786e+00] [-3.11296361e-02 9.99515183e-01 5.86328443e-04 -3.69046011e-01] [ 6.27003221e-03 -3.91322771e-04 9.99980267e-01 4.62923118e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.477628 meters 0.025841797908963803 Centerline is valid? [True, True] Translation: X:3.93, Y:-0.38, Z:0.01 [[ 9.99449519e-01 3.25534928e-02 -6.39762093e-03 3.93425002e+00] [-3.25503092e-02 9.99469918e-01 6.01151081e-04 -3.77814390e-01] [ 6.41379923e-03 -3.92575620e-04 9.99979354e-01 5.22518395e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.537628 meters 0.023813218487087683 Centerline is valid? [True, True] Translation: X:3.99, Y:-0.38, Z:0.01 [[ 9.99401206e-01 3.40749439e-02 -6.01070093e-03 3.99489988e+00] [-3.40721616e-02 9.99419216e-01 5.64713159e-04 -3.84706647e-01] [ 6.02645258e-03 -3.59577439e-04 9.99981776e-01 5.87378219e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.597628 meters 0.024056513796570977 Centerline is valid? [True, True] Translation: X:4.05, Y:-0.39, Z:0.01 [[ 9.99286529e-01 3.74954553e-02 -4.53030482e-03 4.05448299e+00] [-3.74939100e-02 9.99296766e-01 4.25582272e-04 -3.92024897e-01] [ 4.54307636e-03 -2.55419790e-04 9.99989648e-01 7.20710382e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.657628 meters 0.022576092398842215 Centerline is valid? [True, True] Translation: X:4.12, Y:-0.40, Z:0.01 [[ 9.99046528e-01 4.34437636e-02 -4.32128907e-03 4.11529674e+00] [-4.34424130e-02 9.99055850e-01 4.05947942e-04 -3.95116633e-01] [ 4.33484503e-03 -2.17833657e-04 9.99990581e-01 6.52872408e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.717628 meters 0.021198591039633955 Centerline is valid? [True, True] Translation: X:4.18, Y:-0.40, Z:0.01 [[ 9.98820741e-01 4.83264157e-02 -4.65680558e-03 4.17642155e+00] [-4.83248997e-02 9.98831574e-01 4.37578906e-04 -3.98705024e-01] [ 4.67251107e-03 -2.12023225e-04 9.99989061e-01 5.89509587e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.777628 meters 0.02017562150838816 Centerline is valid? [True, True] Translation: X:4.24, Y:-0.40, Z:0.00 [[ 9.98604450e-01 5.23706617e-02 -6.81655302e-03 4.23722180e+00] [-5.23675057e-02 9.98627675e-01 6.40774873e-04 -4.04287171e-01] [ 6.84075630e-03 -2.82914761e-04 9.99976562e-01 4.47917635e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.837628 meters 0.01955464326012579 Centerline is valid? [True, True] Translation: X:4.30, Y:-0.41, Z:0.01 [[ 9.98392447e-01 5.64652273e-02 -4.91938754e-03 4.29837259e+00] [-5.64636327e-02 9.98404549e-01 4.62528430e-04 -4.07304496e-01] [ 4.93765568e-03 -1.84018399e-04 9.99987793e-01 5.48931781e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.897628 meters 0.020900321356861998 Centerline is valid? [True, True] Translation: X:4.36, Y:-0.42, Z:0.01 [[ 9.98467384e-01 5.51208746e-02 -4.95699915e-03 4.35889191e+00] [-5.51192350e-02 9.98479670e-01 4.66860265e-04 -4.16343804e-01] [ 4.97519662e-03 -1.92918747e-04 9.99987605e-01 5.18641357e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.957628 meters 0.0224987117210806 Centerline is valid? [True, True] Translation: X:4.42, Y:-0.43, Z:0.00 [[ 9.98598706e-01 5.26036607e-02 -5.78604109e-03 4.42026619e+00] [-5.26013832e-02 9.98615440e-01 5.45202004e-04 -4.25700659e-01] [ 5.80670959e-03 -2.40084251e-04 9.99983112e-01 4.21581251e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.017628 meters 0.02011440533462666 Centerline is valid? [True, True] Translation: X:4.48, Y:-0.43, Z:0.00 [[ 9.98609588e-01 5.23910038e-02 -5.83729026e-03 4.48274623e+00] [-5.23886718e-02 9.98626618e-01 5.51791650e-04 -4.26898922e-01] [ 5.85818235e-03 -2.45216548e-04 9.99982811e-01 4.34740616e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.077628 meters 0.021500427613698317 Centerline is valid? [True, True] Translation: X:4.54, Y:-0.43, Z:0.00 [[ 9.98460381e-01 5.51747566e-02 -5.71085564e-03 4.54285668e+00] [-5.51725716e-02 9.98476688e-01 5.39565106e-04 -4.34041089e-01] [ 5.73192660e-03 -2.23651790e-04 9.99983547e-01 4.45251817e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.137628 meters 0.019778024813636875 Centerline is valid? [True, True] Translation: X:4.60, Y:-0.44, Z:0.00 [[ 9.98410305e-01 5.59994711e-02 -6.39700267e-03 4.60454264e+00] [-5.59967339e-02 9.98430768e-01 6.06348427e-04 -4.37524924e-01] [ 6.42091947e-03 -2.47173262e-04 9.99979355e-01 3.99009131e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.197628 meters 0.020227391696268804 Centerline is valid? [True, True] Translation: X:4.67, Y:-0.44, Z:0.00 [[ 9.98413194e-01 5.60521518e-02 -5.40839424e-03 4.66744837e+00] [-5.60501868e-02 9.98427820e-01 5.14342151e-04 -4.41112063e-01] [ 5.42872125e-03 -2.10384482e-04 9.99985242e-01 2.14972173e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.257628 meters 0.018980213809198322 Centerline is valid? [True, True] Translation: X:4.73, Y:-0.45, Z:0.00 [[ 9.98309544e-01 5.80063997e-02 -3.64863223e-03 4.72810209e+00] [-5.80055151e-02 9.98316202e-01 3.47889173e-04 -4.47591906e-01] [ 3.66266847e-03 -1.35660290e-04 9.99993283e-01 4.93771179e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.317628 meters 0.01944363745544499 Centerline is valid? [True, True] Translation: X:4.79, Y:-0.45, Z:0.00 [[ 9.98224781e-01 5.94238414e-02 -4.01176680e-03 4.78943636e+00] [-5.94227794e-02 9.98232832e-01 3.83513337e-04 -4.54087970e-01] [ 4.02746716e-03 -1.44442183e-04 9.99991879e-01 2.76142041e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.377628 meters 0.01733310198082606 Centerline is valid? [True, True] Translation: X:4.85, Y:-0.46, Z:0.00 [[ 9.98009577e-01 6.29788775e-02 -3.24728200e-03 4.85121833e+00] [-6.29782006e-02 9.98014855e-01 3.10358710e-04 -4.57278845e-01] [ 3.26038171e-03 -1.05232987e-04 9.99994679e-01 3.80498270e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.437628 meters 0.018182856819700766 Centerline is valid? [True, True] Translation: X:4.91, Y:-0.46, Z:-0.00 [[ 9.97683792e-01 6.78924416e-02 -4.20318232e-03 4.91240120e+00] [-6.78913508e-02 9.97692640e-01 4.01812601e-04 -4.58945300e-01] [ 4.22076410e-03 -1.15522194e-04 9.99991086e-01 -2.12491952e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.497628 meters 0.017420451156163384 Centerline is valid? [True, True] Translation: X:4.97, Y:-0.47, Z:-0.00 [[ 9.97598300e-01 6.89114487e-02 -6.98888975e-03 4.97371411e+00] [-6.89084426e-02 9.97622763e-01 6.70298845e-04 -4.69411780e-01] [ 7.01846677e-03 -1.87095480e-04 9.99975353e-01 -8.51574302e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.557628 meters 0.019331441671598622 Centerline is valid? [True, True] Translation: X:5.04, Y:-0.48, Z:-0.00 [[ 9.97762303e-01 6.65480301e-02 -6.46120903e-03 5.03550401e+00] [-6.65454010e-02 9.97783205e-01 6.21267020e-04 -4.77184263e-01] [ 6.48822995e-03 -1.89913066e-04 9.99978933e-01 -2.44467636e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.617628 meters 0.017158707152811817 Centerline is valid? [True, True] Translation: X:5.10, Y:-0.48, Z:0.00 [[ 9.97798911e-01 6.61665875e-02 -4.39492076e-03 5.09761269e+00] [-6.61653610e-02 9.97808581e-01 4.24036660e-04 -4.83636889e-01] [ 4.41334670e-03 -1.32311799e-04 9.99990252e-01 1.65097449e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.677628 meters 0.017734197812731105 Centerline is valid? [True, True] Translation: X:5.16, Y:-0.49, Z:0.01 [[ 9.97951918e-01 6.39675924e-02 3.42111237e-04 5.15862164e+00] [-6.39675849e-02 9.97951976e-01 -3.26664468e-05 -4.92772751e-01] [-3.43500179e-04 1.07155136e-05 9.99999941e-01 5.80793233e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.737628 meters 0.01825395513146425 Centerline is valid? [True, True] Translation: X:5.22, Y:-0.50, Z:0.01 [[ 9.97864998e-01 6.52991514e-02 1.21089012e-03 5.21961613e+00] [-6.52990576e-02 9.97865732e-01 -1.16916820e-04 -4.99773881e-01] [-1.21594032e-03 3.75972190e-05 9.99999260e-01 5.42316225e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.797628 meters 0.016695574985780653 Centerline is valid? [True, True] Translation: X:5.28, Y:-0.50, Z:0.00 [[ 9.97577417e-01 6.95647278e-02 2.14259124e-04 5.28162650e+00] [-6.95647250e-02 9.97577440e-01 -2.06197330e-05 -5.02189582e-01] [-2.15174475e-04 5.66490297e-06 9.99999977e-01 3.94464929e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.857628 meters 0.015263876072908893 Centerline is valid? [True, True] Translation: X:5.34, Y:-0.50, Z:0.00 [[ 9.97087556e-01 7.62382422e-02 -2.03364935e-03 5.34319562e+00] [-7.62379988e-02 9.97089629e-01 1.97095039e-04 -5.04505460e-01] [ 2.04275685e-03 -4.14796540e-05 9.99997913e-01 1.08776302e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.917628 meters 0.01457190385982391 Centerline is valid? [True, True] Translation: X:5.40, Y:-0.51, Z:0.00 [[ 9.96804243e-01 7.98132737e-02 -3.33806803e-03 5.40493469e+00] [-7.98126342e-02 9.96809830e-01 3.24576681e-04 -5.08973061e-01] [ 3.35332456e-03 -5.71194100e-05 9.99994376e-01 3.87656227e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.977628 meters 0.014039970203765965 Centerline is valid? [True, True] Translation: X:5.47, Y:-0.51, Z:0.00 [[ 9.96519328e-01 8.32611695e-02 -4.09954965e-03 5.46722555e+00] [-8.32602304e-02 9.96527759e-01 3.99494857e-04 -5.13341239e-01] [ 4.11857743e-03 -5.67748987e-05 9.99991517e-01 5.55325867e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.037628 meters 0.013600732418279233 Centerline is valid? [True, True] Translation: X:5.53, Y:-0.52, Z:0.00 [[ 9.96543430e-01 8.30151288e-02 -3.11142456e-03 5.53035122e+00] [-8.30145857e-02 9.96548286e-01 3.03501527e-04 -5.19767742e-01] [ 3.12588003e-03 -4.41588317e-05 9.99995113e-01 1.83147757e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.097628 meters 0.013802030373247431 Centerline is valid? [True, True] Translation: X:5.59, Y:-0.53, Z:0.00 [[ 9.96538646e-01 8.31285490e-02 -6.09652009e-04 5.59165254e+00] [-8.31285278e-02 9.96538832e-01 6.00240978e-05 -5.26316641e-01] [ 6.12531617e-04 -9.13685911e-06 9.99999812e-01 3.66711723e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.157628 meters 0.013046531948931229 Centerline is valid? [True, True] Translation: X:5.65, Y:-0.53, Z:0.01 [[ 9.96280496e-01 8.61671770e-02 6.24605663e-04 5.65406971e+00] [-8.61671558e-02 9.96280692e-01 -6.07914084e-05 -5.29312137e-01] [-6.27520786e-04 6.74480103e-06 9.99999803e-01 5.19340179e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2176279999999995 meters 0.012625630831634347 Centerline is valid? [True, True] Translation: X:5.72, Y:-0.53, Z:0.01 [[ 9.96095565e-01 8.82798452e-02 5.42907785e-04 5.71580901e+00] [-8.82798295e-02 9.96095713e-01 -5.29170093e-05 -5.33053948e-01] [-5.45459622e-04 4.78259159e-06 9.99999851e-01 6.16074263e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.277628 meters 0.012755783308455346 Centerline is valid? [True, True] Translation: X:5.78, Y:-0.54, Z:0.00 [[ 9.96138910e-01 8.77888985e-02 -6.17993586e-04 5.77837966e+00] [-8.77888773e-02 9.96139101e-01 6.13722556e-05 -5.39719930e-01] [ 6.20995378e-04 -6.88232871e-06 9.99999807e-01 4.45297986e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.337628 meters 0.013638079025590418 Centerline is valid? [True, True] Translation: X:5.84, Y:-0.55, Z:0.00 [[ 9.96560559e-01 8.28303467e-02 -2.48711952e-03 5.83929247e+00] [-8.28299917e-02 9.96563662e-01 2.45586720e-04 -5.50592563e-01] [ 2.49891497e-03 -3.87339501e-05 9.99996877e-01 3.09071093e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.397628 meters 0.01499320575938719 Centerline is valid? [True, True] Translation: X:5.90, Y:-0.56, Z:0.00 [[ 9.96730770e-01 8.06998682e-02 -3.91188404e-03 5.89976399e+00] [-8.06989698e-02 9.96738444e-01 3.87213931e-04 -5.59279980e-01] [ 3.93037332e-03 -7.02630280e-05 9.99992274e-01 1.57634078e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.457628 meters 0.017574123985449254 Centerline is valid? [True, True] Translation: X:5.96, Y:-0.56, Z:-0.00 [[ 9.97002316e-01 7.69814411e-02 -7.76140817e-03 5.96153744e+00] [-7.69777926e-02 9.97032512e-01 7.68172290e-04 -5.64387364e-01] [ 7.79751129e-03 -1.68413484e-04 9.99969585e-01 -3.28802688e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.517628 meters 0.015141867795659125 Centerline is valid? [True, True] Translation: X:6.02, Y:-0.57, Z:-0.00 [[ 9.97031788e-01 7.67333423e-02 -6.29351523e-03 6.02388658e+00] [-7.67309246e-02 9.97051641e-01 6.25078963e-04 -5.68757388e-01] [ 6.32292408e-03 -1.40316353e-04 9.99980000e-01 -3.92046759e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.577628 meters 0.017492169354737176 Centerline is valid? [True, True] Translation: X:6.08, Y:-0.58, Z:0.00 [[ 9.97542263e-01 6.99174039e-02 -4.58153051e-03 6.08335652e+00] [-6.99160511e-02 9.97552775e-01 4.54971679e-04 -5.79771402e-01] [ 4.60212891e-03 -1.33530957e-04 9.99989401e-01 2.15427142e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.637628 meters 0.01909796203010436 Centerline is valid? [True, True] Translation: X:6.14, Y:-0.59, Z:0.00 [[ 9.97915321e-01 6.45087958e-02 -1.90455941e-03 6.14398505e+00] [-6.45085521e-02 9.97917136e-01 1.89165045e-04 -5.87786555e-01] [ 1.91279528e-03 -6.59103266e-05 9.99998168e-01 4.38857622e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.697628 meters 0.021278006080314698 Centerline is valid? [True, True] Translation: X:6.20, Y:-0.60, Z:0.01 [[ 9.98328502e-01 5.77854415e-02 -1.02243241e-03 6.20443328e+00] [-5.77853677e-02 9.98329024e-01 1.01553813e-04 -5.96356709e-01] [ 1.02659229e-03 -4.23024332e-05 9.99999472e-01 6.21541480e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.7576279999999995 meters 0.02101283748076752 Centerline is valid? [True, True] Translation: X:6.26, Y:-0.60, Z:0.00 [[ 9.98617317e-01 5.24450193e-02 -3.60189611e-03 6.26474126e+00] [-5.24440693e-02 9.98623799e-01 3.57765687e-04 -5.99737993e-01] [ 3.61570221e-03 -1.68372921e-04 9.99993449e-01 4.96038533e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.817628 meters 0.023211686827567544 Centerline is valid? [True, True] Translation: X:6.32, Y:-0.61, Z:0.00 [[ 9.98902298e-01 4.66107737e-02 -4.65138271e-03 6.32494916e+00] [-4.66091262e-02 9.98913097e-01 4.62021773e-04 -6.08938339e-01] [ 4.66786230e-03 -2.44717727e-04 9.99989076e-01 4.59892024e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.877628 meters 0.02402369177531585 Centerline is valid? [True, True] Translation: X:6.39, Y:-0.62, Z:0.00 [[ 9.99146949e-01 4.09972533e-02 -4.95977867e-03 6.38526594e+00] [-4.09953111e-02 9.99159217e-01 4.92677467e-04 -6.15937760e-01] [ 4.97580700e-03 -2.88929518e-04 9.99987579e-01 4.74559113e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.937628 meters 0.025422264825605 Centerline is valid? [True, True] Translation: X:6.45, Y:-0.62, Z:0.01 [[ 9.99314538e-01 3.68316020e-02 -3.72665243e-03 6.44565558e+00] [-3.68304765e-02 9.99321459e-01 3.70217109e-04 -6.22319382e-01] [ 3.73775944e-03 -2.32708954e-04 9.99992987e-01 6.73276766e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.997628 meters 0.027286259034951355 Centerline is valid? [True, True] Translation: X:6.51, Y:-0.63, Z:0.01 [[ 9.99258506e-01 3.84045414e-02 -2.74382048e-03 6.50736168e+00] [-3.84039342e-02 9.99262259e-01 2.73659789e-04 -6.25797378e-01] [ 2.75230603e-03 -1.68083371e-04 9.99996198e-01 6.09192180e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.057628 meters 0.02420043665800645 Centerline is valid? [True, True] Translation: X:6.57, Y:-0.63, Z:0.01 [[ 9.99113494e-01 4.20443318e-02 -2.12124784e-03 6.56795121e+00] [-4.20439778e-02 9.99115739e-01 2.11249033e-04 -6.26555812e-01] [ 2.12825393e-03 -1.21876063e-04 9.99997728e-01 8.45187538e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.117628 meters 0.023234414420156245 Centerline is valid? [True, True] Translation: X:6.63, Y:-0.63, Z:0.01 [[ 9.98944718e-01 4.58119332e-02 -3.27385495e-03 6.62927856e+00] [-4.58111096e-02 9.98950067e-01 3.26147730e-04 -6.28156567e-01] [ 3.28535908e-03 -1.75824624e-04 9.99994588e-01 6.91524642e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.177628 meters 0.0213163014611294 Centerline is valid? [True, True] Translation: X:6.69, Y:-0.63, Z:0.01 [[ 9.98628065e-01 5.22055591e-02 -4.07040612e-03 6.69026276e+00] [-5.22043392e-02 9.98636342e-01 4.05452838e-04 -6.27057074e-01] [ 4.08602236e-03 -1.92403722e-04 9.99991634e-01 5.78273703e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.237627999999999 meters 0.020163655782692073 Centerline is valid? [True, True] Translation: X:6.75, Y:-0.63, Z:0.01 [[ 9.98403543e-01 5.63387339e-02 -4.03884986e-03 6.75118612e+00] [-5.63375662e-02 9.98411697e-01 4.02411809e-04 -6.29785872e-01] [ 4.05510631e-03 -1.74230404e-04 9.99991763e-01 5.60745903e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.297628 meters 0.018897653918797 Centerline is valid? [True, True] Translation: X:6.81, Y:-0.63, Z:0.01 [[ 9.98031156e-01 6.26028890e-02 -3.83269416e-03 6.81204421e+00] [-6.26018834e-02 9.98038505e-01 3.81891899e-04 -6.32698386e-01] [ 3.84908389e-03 -1.41206140e-04 9.99992582e-01 5.14135130e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.357628 meters 0.016838456845101414 Centerline is valid? [True, True] Translation: X:6.87, Y:-0.63, Z:0.00 [[ 9.97491164e-01 7.06172551e-02 -4.95783068e-03 6.87242788e+00] [-7.06156711e-02 9.97503475e-01 4.94033389e-04 -6.34303788e-01] [ 4.98034061e-03 -1.42693400e-04 9.99987588e-01 3.83403644e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.417628 meters 0.01511843676095146 Centerline is valid? [True, True] Translation: X:6.93, Y:-0.64, Z:0.00 [[ 9.97090143e-01 7.60344895e-02 -5.47753510e-03 6.93435109e+00] [-7.60326356e-02 9.97105180e-01 5.46187674e-04 -6.37362395e-01] [ 5.50320772e-03 -1.28126916e-04 9.99984849e-01 2.82865407e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.477628 meters 0.014965761917266888 Centerline is valid? [True, True] Translation: X:6.99, Y:-0.64, Z:0.00 [[ 9.96894942e-01 7.85561525e-02 -5.42261714e-03 6.99489521e+00] [-7.85543680e-02 9.96909684e-01 5.41618759e-04 -6.43223446e-01] [ 5.44840703e-03 -1.13966738e-04 9.99985151e-01 1.90412192e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.537628 meters 0.013232861132979334 Centerline is valid? [True, True] Translation: X:7.06, Y:-0.65, Z:0.00 [[ 9.96480098e-01 8.37090229e-02 -4.49608297e-03 7.05583315e+00] [-8.37078484e-02 9.96490238e-01 4.49105412e-04 -6.47910746e-01] [ 4.51789696e-03 -7.11671733e-05 9.99989792e-01 3.20878045e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.597628 meters 0.013042725590186894 Centerline is valid? [True, True] Translation: X:7.12, Y:-0.66, Z:0.00 [[ 9.96201744e-01 8.69676158e-02 -4.32654510e-03 7.11664301e+00] [-8.69665531e-02 9.96211138e-01 4.33496657e-04 -6.56704520e-01] [ 4.34785258e-03 -5.55854117e-05 9.99990546e-01 3.49035756e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.657628 meters 0.012565086795418002 Centerline is valid? [True, True] Translation: X:7.18, Y:-0.66, Z:0.00 [[ 9.96020587e-01 8.90519112e-02 -3.57045340e-03 7.17822540e+00] [-8.90511973e-02 9.96026985e-01 3.58728169e-04 -6.63699725e-01] [ 3.58821336e-03 -3.93474915e-05 9.99993562e-01 4.59417262e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.717628 meters 0.01245374555765392 Centerline is valid? [True, True] Translation: X:7.24, Y:-0.67, Z:0.00 [[ 9.95919639e-01 9.01797378e-02 -3.41870692e-03 7.23935036e+00] [-9.01790871e-02 9.95925506e-01 3.44343833e-04 -6.73468155e-01] [ 3.43583025e-03 -3.46429166e-05 9.99994097e-01 3.62418034e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.777628 meters 0.012631296039961187 Centerline is valid? [True, True] Translation: X:7.30, Y:-0.68, Z:0.00 [[ 9.95981740e-01 8.94720132e-02 -3.89009902e-03 7.30071573e+00] [-8.94711617e-02 9.95989336e-01 3.92722626e-04 -6.83587320e-01] [ 3.90963483e-03 -4.30928852e-05 9.99992356e-01 2.32778563e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.837628 meters 0.013011087020474604 Centerline is valid? [True, True] Translation: X:7.36, Y:-0.70, Z:0.00 [[ 9.96098069e-01 8.81364565e-02 -4.53890790e-03 7.36137429e+00] [-8.81352786e-02 9.96108409e-01 4.59263463e-04 -6.96269969e-01] [ 4.56172218e-03 -5.74335362e-05 9.99989594e-01 2.38225898e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.897628 meters 0.013158542251452968 Centerline is valid? [True, True] Translation: X:7.42, Y:-0.71, Z:0.01 [[ 9.96251996e-01 8.64432074e-02 -3.08730515e-03 7.42206110e+00] [-8.64426515e-02 9.96256779e-01 3.13299467e-04 -7.08954437e-01] [ 3.10283129e-03 -4.52503772e-05 9.99995185e-01 5.19471032e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.957628 meters 0.012651214786047162 Centerline is valid? [True, True] Translation: X:7.48, Y:-0.71, Z:0.01 [[ 9.95923529e-01 9.01892968e-02 -1.48852214e-03 7.48445079e+00] [-9.01891716e-02 9.95924641e-01 1.51133363e-04 -7.14389955e-01] [ 1.49608649e-03 -1.62686932e-05 9.99998881e-01 6.35387014e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.017628 meters 0.012190772099271432 Centerline is valid? [True, True] Translation: X:7.55, Y:-0.72, Z:0.01 [[ 9.95569903e-01 9.40171150e-02 -1.16211337e-03 7.54657902e+00] [-9.40170407e-02 9.95570581e-01 1.18583092e-04 -7.18000628e-01] [ 1.16811472e-03 -8.79929775e-06 9.99999318e-01 6.08760649e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.077628 meters 0.012157365013525726 Centerline is valid? [True, True] Translation: X:7.61, Y:-0.72, Z:0.00 [[ 9.95488219e-01 9.48588308e-02 -2.23768443e-03 7.60945332e+00] [-9.48585564e-02 9.95490734e-01 2.28655085e-04 -7.24909106e-01] [ 2.24928407e-03 -1.53599290e-05 9.99997470e-01 4.95112975e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.137628 meters 0.012449836271314267 Centerline is valid? [True, True] Translation: X:7.67, Y:-0.73, Z:0.00 [[ 9.95664476e-01 9.29712026e-02 -2.93370230e-03 7.67066222e+00] [-9.29707213e-02 9.95668798e-01 3.00305858e-04 -7.32004342e-01] [ 2.94891564e-03 -2.62554557e-05 9.99995652e-01 4.13360160e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.197628 meters 0.013561541676106414 Centerline is valid? [True, True] Translation: X:7.73, Y:-0.74, Z:0.00 [[ 9.96094739e-01 8.82233928e-02 -3.45032095e-03 7.73118946e+00] [-8.82226962e-02 9.96100713e-01 3.53871377e-04 -7.41903244e-01] [ 3.46808689e-03 -4.80927996e-05 9.99993985e-01 4.50611279e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.257628 meters 0.013732071264210789 Centerline is valid? [True, True] Translation: X:7.79, Y:-0.75, Z:0.01 [[ 9.96266376e-01 8.62750495e-02 -3.15018048e-03 7.79263805e+00] [-8.62744565e-02 9.96271355e-01 3.23922546e-04 -7.47929168e-01] [ 3.16638101e-03 -5.09330321e-05 9.99994986e-01 5.27942378e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.317628 meters 0.013842963393150168 Centerline is valid? [True, True] Translation: X:7.85, Y:-0.75, Z:0.01 [[ 9.96431044e-01 8.43584483e-02 -2.97106883e-03 7.85418648e+00] [-8.43579099e-02 9.96435472e-01 3.06292601e-04 -7.53314618e-01] [ 2.98631674e-03 -5.45662987e-05 9.99995539e-01 5.31887463e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.377628 meters 0.014495765055001063 Centerline is valid? [True, True] Translation: X:7.91, Y:-0.76, Z:0.00 [[ 9.96545422e-01 8.30070356e-02 -2.65595979e-03 7.91493219e+00] [-8.30065989e-02 9.96548960e-01 2.74430230e-04 -7.60548667e-01] [ 2.66957361e-03 -5.30200002e-05 9.99996435e-01 4.41273861e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.437628 meters 0.014531916620847228 Centerline is valid? [True, True] Translation: X:7.98, Y:-0.77, Z:0.00 [[ 9.96647355e-01 8.17822227e-02 -2.39112479e-03 7.97688114e+00] [-8.17818636e-02 9.96650222e-01 2.47737528e-04 -7.67369604e-01] [ 2.40337558e-03 -5.13563111e-05 9.99997111e-01 4.87220261e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.497628 meters 0.014665460584535312 Centerline is valid? [True, True] Translation: X:8.04, Y:-0.77, Z:0.01 [[ 9.96706040e-01 8.10864548e-02 -1.43429896e-03 8.03873360e+00] [-8.10863242e-02 9.96707071e-01 1.49132579e-04 -7.74440086e-01] [ 1.44166855e-03 -3.23393121e-05 9.99998960e-01 5.89371039e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.557628 meters 0.015367642522869701 Centerline is valid? [True, True] Translation: X:8.10, Y:-0.78, Z:0.01 [[ 9.96626328e-01 8.20628415e-02 -1.28553316e-03 8.09931515e+00] [-8.20627373e-02 9.96627157e-01 1.33706882e-04 -7.82167774e-01] [ 1.29216962e-03 -2.77614295e-05 9.99999165e-01 5.46552357e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.617628 meters 0.014904320621728147 Centerline is valid? [True, True] Translation: X:8.16, Y:-0.79, Z:0.01 [[ 9.96597311e-01 8.24041418e-02 -1.83212103e-03 8.16140280e+00] [-8.24039295e-02 9.96598995e-01 1.91208584e-04 -7.88526695e-01] [ 1.84164636e-03 -3.95839878e-05 9.99998303e-01 5.74585686e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.677628 meters 0.015372185091073338 Centerline is valid? [True, True] Translation: X:8.22, Y:-0.80, Z:0.01 [[ 9.96685980e-01 8.13251581e-02 -1.80982476e-03 8.22254655e+00] [-8.13249485e-02 9.96687623e-01 1.89209483e-04 -7.96212078e-01] [ 1.81921742e-03 -4.13985341e-05 9.99998344e-01 5.66942223e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.737627999999999 meters 0.01663921421043949 Centerline is valid? [True, True] Translation: X:8.28, Y:-0.80, Z:0.00 [[ 9.96948384e-01 7.80318254e-02 -2.22570015e-03 8.28420090e+00] [-7.80315007e-02 9.96950867e-01 2.32492084e-04 -8.04772725e-01] [ 2.23705548e-03 -5.81078850e-05 9.99997496e-01 4.67984112e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.797628 meters 0.01686675890664707 Centerline is valid? [True, True] Translation: X:8.35, Y:-0.81, Z:0.00 [[ 9.96931292e-01 7.82505477e-02 -2.20260349e-03 8.34711344e+00] [-7.82502281e-02 9.96933723e-01 2.31026166e-04 -8.09265860e-01] [ 2.21392762e-03 -5.79629890e-05 9.99997548e-01 4.50928444e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.857628 meters 0.018898944113099447 Centerline is valid? [True, True] Translation: X:8.41, Y:-0.82, Z:0.00 [[ 9.97179838e-01 7.49200877e-02 -4.39891739e-03 8.40755785e+00] [-7.49187788e-02 9.97189532e-01 4.61812050e-04 -8.18883596e-01] [ 4.42115337e-03 -1.30948147e-04 9.99990218e-01 3.12470053e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.917628 meters 0.018046362134794675 Centerline is valid? [True, True] Translation: X:8.47, Y:-0.82, Z:0.01 [[ 9.97518720e-01 7.02914045e-02 -3.93973209e-03 8.46813147e+00] [-7.02903188e-02 9.97526491e-01 4.13543258e-04 -8.22822238e-01] [ 3.95905566e-03 -1.35592117e-04 9.99992154e-01 5.11121252e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.977628 meters 0.019050469575299486 Centerline is valid? [True, True] Translation: X:8.53, Y:-0.83, Z:0.01 [[ 9.97781060e-01 6.65031736e-02 -3.20691130e-03 8.52870992e+00] [-6.65024346e-02 9.97786206e-01 3.36644145e-04 -8.28939270e-01] [ 3.22219976e-03 -1.22629743e-04 9.99994801e-01 6.26058039e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.037628 meters 0.0192857375781458 Centerline is valid? [True, True] Translation: X:8.59, Y:-0.83, Z:0.01 [[ 9.97826948e-01 6.57925984e-02 -3.56593807e-03 8.59042980e+00] [-6.57916756e-02 9.97833310e-01 3.75607130e-04 -8.34631999e-01] [ 3.58292396e-03 -1.40181876e-04 9.99993571e-01 5.90417174e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.097628 meters 0.019025845617350087 Centerline is valid? [True, True] Translation: X:8.65, Y:-0.84, Z:0.01 [[ 9.97784158e-01 6.64151748e-02 -3.97486294e-03 8.65247462e+00] [-6.64140293e-02 9.97792063e-01 4.19634112e-04 -8.39564898e-01] [ 3.99395676e-03 -1.54717605e-04 9.99992012e-01 5.31992003e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.157627999999999 meters 0.019655823019439495 Centerline is valid? [True, True] Translation: X:8.71, Y:-0.85, Z:0.00 [[ 9.97550070e-01 6.97566300e-02 -5.27922610e-03 8.71225970e+00] [-6.97546583e-02 9.97564022e-01 5.56908355e-04 -8.45141770e-01] [ 5.30521407e-03 -1.87293355e-04 9.99985910e-01 3.88499125e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.217628 meters 0.01875797566844197 Centerline is valid? [True, True] Translation: X:8.77, Y:-0.85, Z:0.00 [[ 9.97271699e-01 7.36699330e-02 -4.67968508e-03 8.77363816e+00] [-7.36684258e-02 9.97282668e-01 4.93854977e-04 -8.49245054e-01] [ 4.70335109e-03 -1.47762559e-04 9.99988928e-01 4.28061203e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.277628 meters 0.016045108022863873 Centerline is valid? [True, True] Translation: X:8.83, Y:-0.85, Z:0.01 [[ 9.96907053e-01 7.85780535e-02 -1.34826545e-03 8.83498050e+00] [-7.85779328e-02 9.96907964e-01 1.42375927e-04 -8.51017536e-01] [ 1.35528418e-03 -3.59916539e-05 9.99999081e-01 7.36292799e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.337628 meters 0.015387513592739164 Centerline is valid? [True, True] Translation: X:8.90, Y:-0.86, Z:0.01 [[ 9.96623509e-01 8.21046433e-02 6.38958331e-04 8.89671951e+00] [-8.21046171e-02 9.96623714e-01 -6.71896534e-05 -8.55133598e-01] [-6.42317607e-04 1.45013591e-05 9.99999794e-01 6.86304423e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.397628 meters 0.015157088576464894 Centerline is valid? [True, True] Translation: X:8.96, Y:-0.86, Z:0.01 [[ 9.96488090e-01 8.37344071e-02 1.91095540e-04 8.95904837e+00] [-8.37344048e-02 9.96488108e-01 -2.00877387e-05 -8.61238332e-01] [-1.92106468e-04 4.01592103e-06 9.99999982e-01 6.44899427e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.457628 meters 0.013845624006367413 Centerline is valid? [True, True] Translation: X:9.02, Y:-0.87, Z:0.01 [[ 9.95914269e-01 9.03020658e-02 -5.53698331e-04 9.02037700e+00] [-9.03020471e-02 9.95914422e-01 5.87136870e-05 -8.65327801e-01] [ 5.56738121e-04 -8.47370589e-06 9.99999845e-01 5.93515857e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.517628 meters 0.013424490294790386 Centerline is valid? [True, True] Translation: X:9.08, Y:-0.87, Z:0.01 [[ 9.95653328e-01 9.31363300e-02 -2.71843353e-04 9.08183335e+00] [-9.31363255e-02 9.95653365e-01 2.92748994e-05 -8.70932064e-01] [ 2.73388306e-04 -3.82916000e-06 9.99999963e-01 5.22081070e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.577627999999999 meters 0.013420974887927485 Centerline is valid? [True, True] Translation: X:9.14, Y:-0.88, Z:0.00 [[ 9.95628966e-01 9.33966396e-02 -1.73683952e-04 9.14413436e+00] [-9.33966377e-02 9.95628981e-01 1.89632259e-05 -8.80041516e-01] [ 1.74695878e-04 -2.65883985e-06 9.99999985e-01 4.99054661e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.637628 meters 0.013386364710147374 Centerline is valid? [True, True] Translation: X:9.21, Y:-0.89, Z:0.00 [[ 9.95601774e-01 9.36585914e-02 -2.27495295e-03 9.20671254e+00] [-9.36582799e-02 9.95604373e-01 2.43319760e-04 -8.88836173e-01] [ 2.28774209e-03 -2.91814046e-05 9.99997383e-01 2.63511563e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.697628 meters 0.015618994370929036 Centerline is valid? [True, True] Translation: X:9.27, Y:-0.89, Z:-0.00 [[ 9.94997667e-01 9.97719705e-02 -5.01953339e-03 9.26858126e+00] [-9.97705284e-02 9.95010328e-01 5.37506585e-04 -8.91776726e-01] [ 5.04811566e-03 -3.40162990e-05 9.99987258e-01 -1.76948540e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.757628 meters 0.01592536928627129 Centerline is valid? [True, True] Translation: X:9.33, Y:-0.90, Z:-0.00 [[ 9.94659843e-01 1.03079638e-01 -5.13669744e-03 9.33032070e+00] [-1.03078165e-01 9.94673106e-01 5.51344599e-04 -8.98193042e-01] [ 5.16616720e-03 -1.89189859e-05 9.99986655e-01 -1.92109347e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.817628 meters 0.012673524162327473 Centerline is valid? [True, True] Translation: X:9.39, Y:-0.91, Z:0.00 [[ 9.94685552e-01 1.02920743e-01 -2.82385384e-03 9.39111568e+00] [-1.02920297e-01 9.94689560e-01 3.03498627e-04 -9.06075788e-01] [ 2.84009423e-03 -1.12538248e-05 9.99995967e-01 1.65701572e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.877628 meters 0.012606502562294848 Centerline is valid? [True, True] Translation: X:9.45, Y:-0.91, Z:0.00 [[ 9.94567775e-01 1.04082532e-01 -1.32955713e-03 9.45367193e+00] [-1.04082433e-01 9.94568664e-01 1.43633146e-04 -9.13289575e-01] [ 1.33728556e-03 -4.46935710e-06 9.99999106e-01 4.11929545e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.937628 meters 0.012560455190338422 Centerline is valid? [True, True] Translation: X:9.52, Y:-0.92, Z:0.00 [[ 9.94473573e-01 1.04987043e-01 -1.84832996e-04 9.51632628e+00] [-1.04987041e-01 9.94473590e-01 2.04331314e-05 -9.19633857e-01] [ 1.85956747e-04 -9.15139793e-07 9.99999983e-01 4.56912281e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.997628 meters 0.012630973502457881 Centerline is valid? [True, True] Translation: X:9.58, Y:-0.93, Z:0.00 [[ 9.94580719e-01 1.03964745e-01 7.24260415e-04 9.57922760e+00] [-1.03964716e-01 9.94580983e-01 -7.79296181e-05 -9.26217485e-01] [-7.28437569e-04 2.20976748e-06 9.99999735e-01 4.58488525e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.057628 meters 0.01285831489404502 Centerline is valid? [True, True] Translation: X:9.64, Y:-0.93, Z:0.00 [[ 9.94861075e-01 1.01249397e-01 -1.20974928e-05 9.63959026e+00] [-1.01249397e-01 9.94861076e-01 1.53389776e-06 -9.33810908e-01] [ 1.21906309e-05 -3.01151334e-07 1.00000000e+00 3.42950784e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.117628 meters 0.013112606555649912 Centerline is valid? [True, True] Translation: X:9.70, Y:-0.94, Z:0.00 [[ 9.95225994e-01 9.75831683e-02 -1.65707008e-03 9.70150738e+00] [-9.75830031e-02 9.95227373e-01 1.80434868e-04 -9.41409723e-01] [ 1.66676891e-03 -1.78715957e-05 9.99998611e-01 2.28039683e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.177628 meters 0.015042977121341873 Centerline is valid? [True, True] Translation: X:9.76, Y:-0.95, Z:0.00 [[ 9.96142546e-01 8.77156364e-02 -2.44854880e-03 9.76151626e+00] [-8.77152473e-02 9.96145554e-01 2.66071505e-04 -9.54236771e-01] [ 2.46244963e-03 -5.02700827e-05 9.99996967e-01 2.97777169e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.237627999999999 meters 0.01642984920862676 Centerline is valid? [True, True] Translation: X:9.82, Y:-0.96, Z:0.00 [[ 9.96884309e-01 7.88743487e-02 -7.14660634e-04 9.82154908e+00] [-7.88743133e-02 9.96884565e-01 7.76931745e-05 -9.62391313e-01] [ 7.18562154e-04 -2.10827399e-05 9.99999742e-01 4.16779847e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.297628 meters 0.021273923248237046 Centerline is valid? [True, True] Translation: X:9.88, Y:-0.98, Z:0.00 [[ 9.97990613e-01 6.33113609e-02 2.53140601e-03 9.88035344e+00] [-6.33108664e-02 9.97993817e-01 -2.75111907e-04 -9.75044745e-01] [-2.54374525e-03 1.14293594e-04 9.99996758e-01 4.28414056e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.357628 meters 0.022874327193264033 Centerline is valid? [True, True] Translation: X:9.94, Y:-0.98, Z:0.00 [[ 9.98441421e-01 5.57665037e-02 2.19667697e-03 9.94099199e+00] [-5.57661129e-02 9.98443831e-01 -2.38783523e-04 -9.83656203e-01] [-2.20657470e-03 1.15911224e-04 9.99997559e-01 3.94528718e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.417628 meters 0.024243784104140985 Centerline is valid? [True, True] Translation: X:10.00, Y:-0.99, Z:0.00 [[ 9.98739592e-01 5.01915198e-02 -1.97178213e-04 1.00011286e+01] [-5.01915165e-02 9.98739611e-01 2.14510602e-05 -9.90335451e-01] [ 1.98006354e-04 -1.15273495e-05 9.99999980e-01 1.65030389e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.477628 meters 0.02523716379807531 Centerline is valid? [True, True] Translation: X:10.06, Y:-0.99, Z:-0.00 [[ 9.98742168e-01 5.01393097e-02 -3.63520684e-04 1.00628731e+01] [-5.01392985e-02 9.98742234e-01 4.00295000e-05 -9.93653407e-01] [ 3.65070511e-04 -2.17524776e-05 9.99999933e-01 -1.97341288e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.537628 meters 0.02597545562377373 Centerline is valid? [True, True] Translation: X:10.12, Y:-1.00, Z:-0.00 [[ 9.98646306e-01 5.20116978e-02 5.81725489e-04 1.01242066e+01] [-5.20116697e-02 9.98646475e-01 -6.33580951e-05 -9.98851264e-01] [-5.84233471e-04 3.30158137e-05 9.99999829e-01 -6.47939604e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.597628 meters 0.02361082630634879 Centerline is valid? [True, True] Translation: X:10.19, Y:-1.00, Z:0.00 [[ 9.98348997e-01 5.74358620e-02 6.33242575e-04 1.01852107e+01] [-5.74358297e-02 9.98349198e-01 -6.90308370e-05 -1.00120221e+00] [-6.36162062e-04 3.25460542e-05 9.99999797e-01 5.31924041e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.657627999999999 meters 0.020921666515707708 Centerline is valid? [True, True] Translation: X:10.25, Y:-1.00, Z:0.00 [[ 9.98060071e-01 6.22373065e-02 1.61653052e-03 1.02468455e+01] [-6.22371026e-02 9.98061377e-01 -1.76227479e-04 -1.00153958e+00] [-1.62436460e-03 7.52774348e-05 9.99998678e-01 4.30421453e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.717628 meters 0.019106385125607483 Centerline is valid? [True, True] Translation: X:10.31, Y:-1.00, Z:-0.00 [[ 9.97452681e-01 7.12535321e-02 3.32915203e-03 1.03080920e+01] [-7.12527167e-02 9.97458229e-01 -3.63045914e-04 -1.00117153e+00] [-3.34655839e-03 1.24909994e-04 9.99994392e-01 -5.08897395e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.777628 meters 0.019348208916467574 Centerline is valid? [True, True] Translation: X:10.37, Y:-1.01, Z:-0.00 [[ 9.97133623e-01 7.55602210e-02 3.89759101e-03 1.03696687e+01] [-7.55591357e-02 9.97141232e-01 -4.25186237e-04 -1.00560898e+00] [-3.91857587e-03 1.29468885e-04 9.99992314e-01 -1.27248425e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.837628 meters 0.018543693848757283 Centerline is valid? [True, True] Translation: X:10.43, Y:-1.01, Z:-0.00 [[ 9.96844428e-01 7.93121629e-02 3.28129801e-03 1.04314334e+01] [-7.93114132e-02 9.96849824e-01 -3.58153716e-04 -1.01030111e+00] [-3.29936729e-03 9.67791536e-05 9.99994552e-01 -1.01439274e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.897628 meters 0.01737152659695486 Centerline is valid? [True, True] Translation: X:10.49, Y:-1.02, Z:-0.00 [[ 9.96765329e-01 8.03021066e-02 3.23287975e-03 1.04924174e+01] [-8.03013825e-02 9.96770567e-01 -3.53352571e-04 -1.01661642e+00] [-3.25081434e-03 9.26048782e-05 9.99994712e-01 -2.36484510e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.957628 meters 0.019338503057679854 Centerline is valid? [True, True] Translation: X:10.55, Y:-1.03, Z:0.00 [[ 9.97080082e-01 7.62686806e-02 3.79456916e-03 1.05519962e+01] [-7.62676521e-02 9.97087294e-01 -4.15225482e-04 -1.02816556e+00] [-3.81518539e-03 1.24610177e-04 9.99992714e-01 5.77536269e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.017628 meters 0.022222188778192188 Centerline is valid? [True, True] Translation: X:10.61, Y:-1.04, Z:-0.00 [[ 9.97594898e-01 6.92703863e-02 2.45625381e-03 1.06116962e+01] [-6.92699341e-02 9.97597917e-01 -2.68803570e-04 -1.04215794e+00] [-2.46897381e-03 9.80125307e-05 9.99996947e-01 -6.58371030e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.077627999999999 meters 0.023747612267118617 Centerline is valid? [True, True] Translation: X:10.67, Y:-1.05, Z:-0.00 [[ 9.97877204e-01 6.51214052e-02 5.36394944e-04 1.06718915e+01] [-6.51213830e-02 9.97877348e-01 -5.86849776e-05 -1.05407320e+00] [-5.39078012e-04 2.36296208e-05 9.99999854e-01 -2.62621987e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.137628 meters 0.0267386789419476 Centerline is valid? [True, True] Translation: X:10.73, Y:-1.07, Z:-0.00 [[ 9.97967913e-01 6.37132159e-02 -8.18647546e-04 1.07315483e+01] [-6.37131633e-02 9.97968248e-01 9.01481022e-05 -1.06933096e+00] [ 8.22727882e-04 -3.78062887e-05 9.99999661e-01 -2.72171804e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.197628 meters 0.0220010542631396 Centerline is valid? [True, True] Translation: X:10.79, Y:-1.07, Z:-0.01 [[ 9.97828919e-01 6.57940124e-02 -2.93187513e-03 1.07937989e+01] [-6.57933476e-02 9.97833218e-01 3.22713829e-04 -1.06772917e+00] [ 2.94675503e-03 -1.29115312e-04 9.99995650e-01 -6.06019233e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.257628 meters 0.02263424697890789 Centerline is valid? [True, True] Translation: X:10.85, Y:-1.08, Z:-0.01 [[ 9.97529546e-01 7.01162944e-02 -4.30231396e-03 1.08525473e+01] [-7.01149062e-02 9.97538809e-01 4.72841033e-04 -1.07589808e+00] [ 4.32487901e-03 -1.70016561e-04 9.99990633e-01 -7.31564869e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.317628 meters 0.018134727487403367 Centerline is valid? [True, True] Translation: X:10.91, Y:-1.08, Z:-0.00 [[ 9.97092021e-01 7.60993580e-02 -4.04828270e-03 1.09131149e+01] [-7.60981774e-02 9.97100230e-01 4.45088428e-04 -1.08122325e+00] [ 4.07041455e-03 -1.35727185e-04 9.99991707e-01 -4.05013431e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.377628 meters 0.017022524385545846 Centerline is valid? [True, True] Translation: X:10.97, Y:-1.09, Z:-0.00 [[ 9.96710158e-01 8.09499381e-02 -3.99599707e-03 1.09738885e+01] [-8.09488260e-02 9.96718162e-01 4.39503190e-04 -1.08766432e+00] [ 4.01846061e-03 -1.14586022e-04 9.99991919e-01 -3.63824971e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.437628 meters 0.015197656950718017 Centerline is valid? [True, True] Translation: X:11.03, Y:-1.09, Z:-0.00 [[ 9.96016882e-01 8.91570188e-02 -1.18176788e-03 1.10331074e+01] [-8.91569274e-02 9.96017583e-01 1.29910237e-04 -1.09343535e+00] [ 1.18864399e-03 -2.40299960e-05 9.99999293e-01 -2.49173192e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.497628 meters 0.016758097580777356 Centerline is valid? [True, True] Translation: X:11.09, Y:-1.10, Z:-0.00 [[ 9.95508904e-01 9.46613763e-02 -1.11652338e-03 1.10946406e+01] [-9.46612980e-02 9.95509530e-01 1.22909502e-04 -1.09939827e+00] [ 1.12314445e-03 -1.66659515e-05 9.99999369e-01 -4.08309712e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.557628 meters 0.011996263057472232 Centerline is valid? [True, True] Translation: X:11.16, Y:-1.10, Z:-0.00 [[ 9.94317596e-01 1.06454275e-01 7.74460211e-05 1.11567308e+01] [-1.06454275e-01 9.94317599e-01 -8.43334921e-06 -1.10145283e+00] [-7.79037078e-05 1.40967517e-07 9.99999997e-01 -1.21333839e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.617628 meters 0.012287528492530566 Centerline is valid? [True, True] Translation: X:11.22, Y:-1.10, Z:-0.00 [[ 9.93188720e-01 1.16499989e-01 -1.97961331e-03 1.12178968e+01] [-1.16499785e-01 9.93190693e-01 2.18370706e-04 -1.10245134e+00] [ 1.99157370e-03 1.37412023e-05 9.99998017e-01 -2.96844333e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.677628 meters 0.012724886006954882 Centerline is valid? [True, True] Translation: X:11.28, Y:-1.11, Z:-0.00 [[ 9.92656700e-01 1.20909077e-01 -3.69752798e-03 1.12798181e+01] [-1.20908393e-01 9.92663585e-01 4.08805267e-04 -1.10724796e+00] [ 3.71982965e-03 4.12588795e-05 9.99993081e-01 -3.80151154e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.737627999999999 meters 0.012919483686533772 Centerline is valid? [True, True] Translation: X:11.34, Y:-1.11, Z:-0.01 [[ 9.92517654e-01 1.21968831e-01 -5.68433452e-03 1.13413859e+01] [-1.21967225e-01 9.92533929e-01 6.29662431e-04 -1.11208240e+00] [ 5.71869406e-03 6.83514286e-05 9.99983646e-01 -5.00341132e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.797628 meters 0.012322412243965087 Centerline is valid? [True, True] Translation: X:11.40, Y:-1.12, Z:-0.01 [[ 9.93047580e-01 1.17458381e-01 -7.74812913e-03 1.14023794e+01] [-1.17455246e-01 9.93077804e-01 8.60016434e-04 -1.12031221e+00] [ 7.79551120e-03 5.60211728e-05 9.99969613e-01 -7.40896376e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.857628 meters 0.011943127135427407 Centerline is valid? [True, True] Translation: X:11.46, Y:-1.13, Z:-0.01 [[ 9.93268053e-01 1.15655635e-01 -6.50767512e-03 1.14637538e+01] [-1.15653374e-01 9.93289370e-01 7.24047975e-04 -1.12927475e+00] [ 6.54774475e-03 3.34608603e-05 9.99978563e-01 -5.22414321e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.917628 meters 0.011680384864145136 Centerline is valid? [True, True] Translation: X:11.52, Y:-1.14, Z:-0.00 [[ 9.93862653e-01 1.10561969e-01 -3.61635267e-03 1.15246625e+01] [-1.10561233e-01 9.93869232e-01 4.03437057e-04 -1.13877389e+00] [ 3.63878645e-03 -1.13261282e-06 9.99993380e-01 -3.69879817e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.977628 meters 0.011898513614934807 Centerline is valid? [True, True] Translation: X:11.59, Y:-1.15, Z:-0.00 [[ 9.94370506e-01 1.05911884e-01 -3.15751876e-03 1.15867859e+01] [-1.05911296e-01 9.94375519e-01 3.53236982e-04 -1.14821220e+00] [ 3.17717135e-03 -1.68315315e-05 9.99994953e-01 -4.71950465e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.037628 meters 0.01226990382705427 Centerline is valid? [True, True] Translation: X:11.65, Y:-1.16, Z:-0.00 [[ 9.94736078e-01 1.02405204e-01 -3.64824364e-03 1.16481955e+01] [-1.02404393e-01 9.94742767e-01 4.08902514e-04 -1.15601790e+00] [ 3.67093772e-03 -3.31539062e-05 9.99993262e-01 -4.32727325e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.097628 meters 0.01344101550383732 Centerline is valid? [True, True] Translation: X:11.71, Y:-1.17, Z:-0.00 [[ 9.95285429e-01 9.68611653e-02 -4.98294160e-03 1.17096260e+01] [-9.68595833e-02 9.95297900e-01 5.58406158e-04 -1.16713391e+00] [ 5.01359918e-03 -7.31278657e-05 9.99987429e-01 -4.22427438e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.157627999999999 meters 0.016323444161675107 Centerline is valid? [True, True] Translation: X:11.77, Y:-1.18, Z:-0.01 [[ 9.96091367e-01 8.81832574e-02 -5.06968195e-03 1.17688854e+01] [-8.81815054e-02 9.96104261e-01 5.68523087e-04 -1.17685256e+00] [ 5.10006601e-03 -1.19248753e-04 9.99986987e-01 -6.32949708e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.217628 meters 0.01854816929689051 Centerline is valid? [True, True] Translation: X:11.83, Y:-1.19, Z:-0.01 [[ 9.96635707e-01 8.18111565e-02 -4.91951553e-03 1.18294295e+01] [-8.18094286e-02 9.96647838e-01 5.51783544e-04 -1.18699393e+00] [ 4.94816656e-03 -1.47464428e-04 9.99987747e-01 -6.86261884e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.277628 meters 0.02207336135455571 Centerline is valid? [True, True] Translation: X:11.89, Y:-1.20, Z:-0.00 [[ 9.97223016e-01 7.43960864e-02 -3.38801811e-03 1.18883043e+01] [-7.43952244e-02 9.97228763e-01 3.79924757e-04 -1.19960567e+00] [ 3.40689402e-03 -1.26817345e-04 9.99994188e-01 -4.71586580e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.337628 meters 0.02397546649985514 Centerline is valid? [True, True] Translation: X:11.95, Y:-1.21, Z:-0.00 [[ 9.97417307e-01 7.17561040e-02 -3.12672134e-03 1.19482618e+01] [-7.17553551e-02 9.97422200e-01 3.51186279e-04 -1.20918557e+00] [ 3.14386104e-03 -1.25920272e-04 9.99995050e-01 -3.37228429e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.397628 meters 0.02210792451165739 Centerline is valid? [True, True] Translation: X:12.01, Y:-1.21, Z:-0.00 [[ 9.97379223e-01 7.23218080e-02 -2.05975369e-03 1.20102813e+01] [-7.23214827e-02 9.97381346e-01 2.32102485e-04 -1.21216761e+00] [ 2.07114598e-03 -8.25297552e-05 9.99997852e-01 -2.49524290e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.457628 meters 0.02098072128988258 Centerline is valid? [True, True] Translation: X:12.07, Y:-1.21, Z:-0.01 [[ 9.97141628e-01 7.55283705e-02 -2.00975428e-03 1.20726453e+01] [-7.55280677e-02 9.97143651e-01 2.26281601e-04 -1.21077645e+00] [ 2.02110440e-03 -7.38419467e-05 9.99997955e-01 -5.56008724e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.517628 meters 0.01722360836810988 Centerline is valid? [True, True] Translation: X:12.13, Y:-1.21, Z:-0.00 [[ 9.96796647e-01 7.99364926e-02 -2.56943913e-03 1.21340296e+01] [-7.99360121e-02 9.96799955e-01 2.89335850e-04 -1.21449375e+00] [ 2.58434531e-03 -8.30182879e-05 9.99996657e-01 -3.75743761e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.577627999999999 meters 0.01880272307018811 Centerline is valid? [True, True] Translation: X:12.19, Y:-1.22, Z:-0.01 [[ 9.96513507e-01 8.33094751e-02 -4.51233685e-03 1.21949513e+01] [-8.33080271e-02 9.96523715e-01 5.08236422e-04 -1.21987164e+00] [ 4.53899159e-03 -1.30550579e-04 9.99989690e-01 -6.76551503e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.637628 meters 0.01760704466898152 Centerline is valid? [True, True] Translation: X:12.26, Y:-1.22, Z:-0.01 [[ 9.96004544e-01 8.91239154e-02 -5.64585985e-03 1.22565091e+01] [-8.91217400e-02 9.96020537e-01 6.36229929e-04 -1.22328383e+00] [ 5.68009566e-03 -1.30519047e-04 9.99983860e-01 -7.06798559e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.697628 meters 0.013863252516816594 Centerline is valid? [True, True] Translation: X:12.32, Y:-1.23, Z:-0.00 [[ 9.95658922e-01 9.30021280e-02 -3.73043396e-03 1.23183504e+01] [-9.30012005e-02 9.95665907e-01 4.21693557e-04 -1.22765501e+00] [ 3.75348432e-03 -7.29281150e-05 9.99992953e-01 -4.44259204e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.757628 meters 0.014237539456714594 Centerline is valid? [True, True] Translation: X:12.38, Y:-1.24, Z:-0.00 [[ 9.95651787e-01 9.31497450e-02 -8.02325576e-04 1.23791450e+01] [-9.31497018e-02 9.95652110e-01 9.11802941e-05 -1.23713016e+00] [ 8.07330574e-04 -1.60474346e-05 9.99999674e-01 -3.05266953e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.817628 meters 0.01534798807048933 Centerline is valid? [True, True] Translation: X:12.44, Y:-1.25, Z:-0.00 [[ 9.95907458e-01 9.03760597e-02 -7.08822618e-04 1.24403031e+01] [-9.03760251e-02 9.95907710e-01 8.07955037e-05 -1.25110263e+00] [ 7.13223890e-04 -1.64042740e-05 9.99999746e-01 -1.47825612e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.877628 meters 0.015194521731111526 Centerline is valid? [True, True] Translation: X:12.50, Y:-1.26, Z:-0.00 [[ 9.96053755e-01 8.87416887e-02 -1.35297785e-03 1.25015754e+01] [-8.87415611e-02 9.96054673e-01 1.54204446e-04 -1.25944452e+00] [ 1.36132427e-03 -3.35305507e-05 9.99999073e-01 -2.39672527e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.937628 meters 0.014665338198817053 Centerline is valid? [True, True] Translation: X:12.56, Y:-1.26, Z:-0.00 [[ 9.95690572e-01 9.27245918e-02 -1.56024221e-03 1.25621121e+01] [-9.27244276e-02 9.95691794e-01 1.77398820e-04 -1.26312540e+00] [ 1.56996960e-03 -3.19617671e-05 9.99998767e-01 -3.80561540e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.997627999999999 meters 0.014201939849186707 Centerline is valid? [True, True] Translation: X:12.62, Y:-1.27, Z:-0.00 [[ 9.95481886e-01 9.49105550e-02 -2.79299784e-03 1.26234753e+01] [-9.49100345e-02 9.95485803e-01 3.18621624e-04 -1.26888365e+00] [ 2.81063025e-03 -5.20985342e-05 9.99996049e-01 -4.84140707e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.057628 meters 0.014036262581758656 Centerline is valid? [True, True] Translation: X:12.69, Y:-1.28, Z:-0.01 [[ 9.95320564e-01 9.65159505e-02 -4.65246481e-03 1.26854569e+01] [-9.65145196e-02 9.95331435e-01 5.31625799e-04 -1.27629716e+00] [ 4.68205485e-03 -8.01076834e-05 9.99989036e-01 -6.42352108e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.117628 meters 0.014223937582508497 Centerline is valid? [True, True] Translation: X:12.75, Y:-1.28, Z:-0.01 [[ 9.95335477e-01 9.63745288e-02 -4.38612593e-03 1.27480427e+01] [-9.63732499e-02 9.95345138e-01 5.02507149e-04 -1.28343221e+00] [ 4.41413801e-03 -7.74579824e-05 9.99990255e-01 -6.47422425e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.177628 meters 0.015058193811051442 Centerline is valid? [True, True] Translation: X:12.81, Y:-1.29, Z:-0.01 [[ 9.95559800e-01 9.40369344e-02 -4.21177780e-03 1.28099455e+01] [-9.40357300e-02 9.95568706e-01 4.83508019e-04 -1.29164357e+00] [ 4.23858179e-03 -8.53035461e-05 9.99991014e-01 -7.02511835e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.237627999999999 meters 0.01831790195537064 Centerline is valid? [True, True] Translation: X:12.87, Y:-1.30, Z:-0.01 [[ 9.95721512e-01 9.22855613e-02 -4.69521840e-03 1.28712594e+01] [-9.22840400e-02 9.95732577e-01 5.40087723e-04 -1.29917673e+00] [ 4.72502422e-03 -1.04483242e-04 9.99988832e-01 -1.03941581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.297628 meters 0.016928182578395824 Centerline is valid? [True, True] Translation: X:12.93, Y:-1.31, Z:-0.01 [[ 9.95912564e-01 9.02530899e-02 -3.54197058e-03 1.29324523e+01] [-9.02522080e-02 9.95918858e-01 4.08366375e-04 -1.31028665e+00] [ 3.56437163e-03 -8.70265375e-05 9.99993644e-01 -6.87433226e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.357628 meters 0.01782460645541936 Centerline is valid? [True, True] Translation: X:12.99, Y:-1.32, Z:-0.01 [[ 9.96024773e-01 8.90380345e-02 -2.62303255e-03 1.29931057e+01] [-8.90375459e-02 9.96028224e-01 3.02670526e-04 -1.31951222e+00] [ 2.63956364e-03 -6.79189613e-05 9.99996514e-01 -6.01352833e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.417627999999999 meters 0.017281464620003666 Centerline is valid? [True, True] Translation: X:13.05, Y:-1.33, Z:-0.01 [[ 9.96093208e-01 8.82592861e-02 -2.93600167e-03 1.30548535e+01] [-8.82586681e-02 9.96097531e-01 3.39651025e-04 -1.32518818e+00] [ 2.95452138e-03 -7.91964821e-05 9.99995632e-01 -6.20093202e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.477628 meters 0.015735296918511724 Centerline is valid? [True, True] Translation: X:13.12, Y:-1.33, Z:-0.01 [[ 9.95918969e-01 9.02185647e-02 -2.45313057e-03 1.31175633e+01] [-9.02181391e-02 9.95921988e-01 2.83823538e-04 -1.32809048e+00] [ 2.46873283e-03 -6.13483703e-05 9.99996951e-01 -8.10696691e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.537628 meters 0.014805381753633868 Centerline is valid? [True, True] Translation: X:13.18, Y:-1.33, Z:-0.01 [[ 9.95666552e-01 9.29512705e-02 -2.85970695e-03 1.31796174e+01] [-9.29507006e-02 9.95670657e-01 3.31828863e-04 -1.33380736e+00] [ 2.87817021e-03 -6.45791362e-05 9.99995856e-01 -8.11956024e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.597628 meters 0.014010967692010367 Centerline is valid? [True, True] Translation: X:13.24, Y:-1.34, Z:-0.01 [[ 9.95246381e-01 9.73678150e-02 -2.03684403e-03 1.32416867e+01] [-9.73675338e-02 9.95248465e-01 2.36973957e-04 -1.33885781e+00] [ 2.05023953e-03 -3.75249928e-05 9.99997898e-01 -8.46859685e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.657627999999999 meters 0.013529731495001984 Centerline is valid? [True, True] Translation: X:13.30, Y:-1.35, Z:-0.01 [[ 9.95080924e-01 9.90516396e-02 -1.65126652e-03 1.33038634e+01] [-9.90514572e-02 9.95082294e-01 1.92078207e-04 -1.34631911e+00] [ 1.66217174e-03 -2.75730045e-05 9.99998618e-01 -7.74450759e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.717628 meters 0.014937851597061748 Centerline is valid? [True, True] Translation: X:13.37, Y:-1.35, Z:-0.01 [[ 9.94695281e-01 1.02839316e-01 -2.31801371e-03 1.33662654e+01] [-1.02838967e-01 9.94697981e-01 2.69963636e-04 -1.35094276e+00] [ 2.33348643e-03 -3.01494207e-05 9.99997277e-01 -1.00771557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.777628 meters 0.012417926369360016 Centerline is valid? [True, True] Translation: X:13.43, Y:-1.36, Z:-0.01 [[ 9.94406949e-01 1.05588995e-01 -2.40487469e-03 1.34285970e+01] [-1.05588624e-01 9.94409857e-01 2.80890271e-04 -1.35558202e+00] [ 2.42109002e-03 -2.53918277e-05 9.99997069e-01 -1.01272518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.837628 meters 0.012400912482709654 Centerline is valid? [True, True] Translation: X:13.49, Y:-1.36, Z:-0.01 [[ 9.94284542e-01 1.06746063e-01 -1.87799470e-03 1.34901607e+01] [-1.06745838e-01 9.94286316e-01 2.19919049e-04 -1.36203958e+00] [ 1.89073992e-03 -1.81939929e-05 9.99998212e-01 -1.03611290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.897628 meters 0.012698192355614365 Centerline is valid? [True, True] Translation: X:13.55, Y:-1.37, Z:-0.01 [[ 9.94468335e-01 1.05023909e-01 -1.64607228e-03 1.35519296e+01] [-1.05023733e-01 9.94469697e-01 1.93220935e-04 -1.37040933e+00] [ 1.65726182e-03 -1.92754456e-05 9.99998627e-01 -1.06353996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.957628 meters 0.013214397529694513 Centerline is valid? [True, True] Translation: X:13.61, Y:-1.38, Z:-0.01 [[ 9.94886734e-01 1.00996772e-01 1.96124991e-04 1.36137734e+01] [-1.00996770e-01 9.94886753e-01 -2.25983489e-05 -1.37923249e+00] [-1.97404516e-04 2.67480691e-06 9.99999981e-01 -8.67107293e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.017628 meters 0.01555451439251706 Centerline is valid? [True, True] Translation: X:13.67, Y:-1.39, Z:-0.01 [[ 9.95503589e-01 9.47188478e-02 9.71475108e-04 1.36727284e+01] [-9.47187816e-02 9.95504063e-01 -1.14037024e-04 -1.39124879e+00] [-9.77908873e-04 2.15073283e-05 9.99999522e-01 -8.91153935e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.077627999999999 meters 0.017175711116638355 Centerline is valid? [True, True] Translation: X:13.73, Y:-1.40, Z:-0.01 [[ 9.96529727e-01 8.31944552e-02 2.68068528e-03 1.37328540e+01] [-8.31939093e-02 9.96533328e-01 -3.14697884e-04 -1.39976895e+00] [-2.69757334e-03 9.05891088e-05 9.99996357e-01 -9.34599995e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.137628 meters 0.020999125206966715 Centerline is valid? [True, True] Translation: X:13.79, Y:-1.41, Z:-0.01 [[ 9.97198657e-01 7.47588905e-02 2.43843648e-03 1.37925094e+01] [-7.47584135e-02 9.97201633e-01 -2.86307796e-04 -1.41046551e+00] [-2.45301689e-03 1.03212107e-04 9.99996986e-01 -1.03513419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.197628 meters 0.020889021271864955 Centerline is valid? [True, True] Translation: X:13.85, Y:-1.42, Z:-0.01 [[ 9.97781139e-01 6.65099709e-02 3.03670693e-03 1.38529527e+01] [-6.65091927e-02 9.97785749e-01 -3.56631636e-04 -1.41797484e+00] [-3.05370246e-03 1.53871394e-04 9.99995326e-01 -8.54138653e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.257628 meters 0.023090474812863672 Centerline is valid? [True, True] Translation: X:13.91, Y:-1.43, Z:-0.01 [[ 9.98016036e-01 6.29277613e-02 2.02195888e-03 1.39123275e+01] [-6.29274089e-02 9.98018078e-01 -2.37495470e-04 -1.42546829e+00] [-2.03289657e-03 1.09787655e-04 9.99997928e-01 -1.08181986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.317628 meters 0.02313532849769 Centerline is valid? [True, True] Translation: X:13.97, Y:-1.43, Z:-0.01 [[ 9.98063680e-01 6.21592715e-02 2.26192797e-03 1.39738463e+01] [-6.21588282e-02 9.98066235e-01 -2.65823416e-04 -1.42914810e+00] [-2.27407733e-03 1.24709905e-04 9.99997407e-01 -1.10992421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.377628 meters 0.02461241349345493 Centerline is valid? [True, True] Translation: X:14.04, Y:-1.43, Z:-0.01 [[ 9.97897049e-01 6.48038597e-02 1.39226095e-03 1.40353840e+01] [-6.48036939e-02 9.97898018e-01 -1.63849019e-04 -1.43075098e+00] [-1.39995249e-03 7.32807999e-05 9.99999017e-01 -1.34625421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.437628 meters 0.020716413363552743 Centerline is valid? [True, True] Translation: X:14.10, Y:-1.43, Z:-0.01 [[ 9.97551585e-01 6.99029140e-02 2.10165310e-03 1.40963581e+01] [-6.99025475e-02 9.97553794e-01 -2.47428909e-04 -1.43097823e+00] [-2.11380803e-03 9.99121943e-05 9.99997761e-01 -1.26534111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.497627999999999 meters 0.01903286042980865 Centerline is valid? [True, True] Translation: X:14.16, Y:-1.43, Z:-0.01 [[ 9.96940153e-01 7.81328542e-02 2.36394123e-03 1.41577828e+01] [-7.81324135e-02 9.96942951e-01 -2.78339834e-04 -1.43109320e+00] [-2.37846204e-03 9.27877230e-05 9.99997167e-01 -1.32986373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.557628 meters 0.01739975575498948 Centerline is valid? [True, True] Translation: X:14.22, Y:-1.43, Z:-0.01 [[ 9.96597169e-01 8.23895694e-02 2.45809950e-03 1.42199728e+01] [-8.23891056e-02 9.96600196e-01 -2.89500075e-04 -1.43349346e+00] [-2.47359423e-03 8.59943357e-05 9.99996937e-01 -1.33459338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.617628 meters 0.0168782256924367 Centerline is valid? [True, True] Translation: X:14.28, Y:-1.44, Z:-0.01 [[ 9.96424360e-01 8.44651428e-02 2.03346356e-03 1.42825728e+01] [-8.44648295e-02 9.96426432e-01 -2.39598211e-04 -1.43784476e+00] [-2.04643454e-03 6.69853415e-05 9.99997904e-01 -1.42804022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.677628 meters 0.017436289857755888 Centerline is valid? [True, True] Translation: X:14.35, Y:-1.45, Z:-0.02 [[ 9.96429303e-01 8.44223645e-02 1.22785462e-03 1.43452944e+01] [-8.44222503e-02 9.96430059e-01 -1.44643011e-04 -1.44677067e+00] [-1.23568236e-03 4.04682846e-05 9.99999236e-01 -1.50923037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.737627999999999 meters 0.018407632475344514 Centerline is valid? [True, True] Translation: X:14.41, Y:-1.46, Z:-0.02 [[ 9.96587848e-01 8.25286999e-02 1.29444942e-03 1.44067092e+01] [-8.25285708e-02 9.96588687e-01 -1.52901222e-04 -1.45665466e+00] [-1.30265239e-03 4.55504386e-05 9.99999151e-01 -1.53131876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.797628 meters 0.017719568073222777 Centerline is valid? [True, True] Translation: X:14.47, Y:-1.46, Z:-0.02 [[ 9.96658413e-01 8.16505644e-02 2.27897633e-03 1.44686683e+01] [-8.16501600e-02 9.96661015e-01 -2.70060660e-04 -1.46256785e+00] [-2.29341747e-03 8.30794460e-05 9.99997367e-01 -1.61843617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.857628 meters 0.01726153748528105 Centerline is valid? [True, True] Translation: X:14.53, Y:-1.47, Z:-0.02 [[ 9.96582251e-01 8.25711200e-02 2.41402628e-03 1.45308861e+01] [-8.25706677e-02 9.96585171e-01 -2.86578966e-04 -1.47008621e+00] [-2.42944594e-03 8.62717492e-05 9.99997045e-01 -1.66306455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.917627999999999 meters 0.01780762314059392 Centerline is valid? [True, True] Translation: X:14.59, Y:-1.48, Z:-0.02 [[ 9.96335469e-01 8.55177076e-02 1.53458227e-03 1.45904324e+01] [-8.55175282e-02 9.96336650e-01 -1.82270673e-04 -1.48193733e+00] [-1.54454792e-03 5.03690538e-05 9.99998806e-01 -1.63362814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.977628 meters 0.016533047509262898 Centerline is valid? [True, True] Translation: X:14.65, Y:-1.49, Z:-0.02 [[ 9.96015997e-01 8.91745164e-02 2.00767730e-04 1.46518321e+01] [-8.91745134e-02 9.96016017e-01 -2.37719106e-05 -1.48824322e+00] [-2.02087724e-04 5.77383854e-06 9.99999980e-01 -1.87931349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.037627999999998 meters 0.01610942477505748 Centerline is valid? [True, True] Translation: X:14.71, Y:-1.50, Z:-0.02 [[ 9.95737604e-01 9.22217057e-02 -1.33468561e-03 1.47136264e+01] [-9.22215748e-02 9.95738498e-01 1.59362963e-04 -1.49668447e+00] [ 1.34369457e-03 -3.55968855e-05 9.99999097e-01 -2.11275490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.097627999999997 meters 0.015362649186785336 Centerline is valid? [True, True] Translation: X:14.78, Y:-1.50, Z:-0.02 [[ 9.95564220e-01 9.40593019e-02 -2.17527788e-03 1.47754166e+01] [-9.40589581e-02 9.95566595e-01 2.60026379e-04 -1.50407082e+00] [ 2.19009189e-03 -5.42685882e-05 9.99997600e-01 -2.13893983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.157628 meters 0.01816677583096828 Centerline is valid? [True, True] Translation: X:14.84, Y:-1.52, Z:-0.02 [[ 9.95297790e-01 9.67589937e-02 -4.47283892e-03 1.48358091e+01] [-9.67575650e-02 9.95307835e-01 5.35221046e-04 -1.51545560e+00] [ 4.50363908e-03 -9.99233215e-05 9.99989854e-01 -2.48586886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.217627999999998 meters 0.016984403477432856 Centerline is valid? [True, True] Translation: X:14.90, Y:-1.52, Z:-0.02 [[ 9.95117954e-01 9.85900470e-02 -4.50118826e-03 1.48972188e+01] [-9.85886135e-02 9.95128129e-01 5.39788718e-04 -1.52304694e+00] [ 4.53247685e-03 -9.33875356e-05 9.99989724e-01 -2.46273739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.277627999999996 meters 0.0135322699675118 Centerline is valid? [True, True] Translation: X:14.96, Y:-1.53, Z:-0.02 [[ 9.94587409e-01 1.03902935e-01 2.57136854e-04 1.49584791e+01] [-1.03902931e-01 9.94587442e-01 -3.07368187e-05 -1.53039508e+00] [-2.58938731e-04 3.85318009e-06 9.99999966e-01 -1.99028922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.337628 meters 0.012955502548675403 Centerline is valid? [True, True] Translation: X:15.02, Y:-1.54, Z:-0.02 [[ 9.94176800e-01 1.07726736e-01 2.72778495e-03 1.50202179e+01] [-1.07726244e-01 9.94180542e-01 -3.27282451e-04 -1.53713311e+00] [-2.74716779e-03 3.15225929e-05 9.99996226e-01 -1.77742949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.397627999999997 meters 0.0157186658965987 Centerline is valid? [True, True] Translation: X:15.08, Y:-1.54, Z:-0.02 [[ 9.93663887e-01 1.12297634e-01 4.61756104e-03 1.50822551e+01] [-1.12296265e-01 9.93674615e-01 -5.55469935e-04 -1.54154793e+00] [-4.65073115e-03 3.34155575e-05 9.99989185e-01 -1.97571544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.457627999999996 meters 0.01318515385167313 Centerline is valid? [True, True] Translation: X:15.14, Y:-1.55, Z:-0.02 [[ 9.93079750e-01 1.17367757e-01 4.17378061e-03 1.51443598e+01] [-1.17366679e-01 9.93088520e-01 -5.03096449e-04 -1.54557369e+00] [-4.20398091e-03 9.75212526e-06 9.99991163e-01 -1.96988606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.517628 meters 0.012273136089104294 Centerline is valid? [True, True] Translation: X:15.21, Y:-1.55, Z:-0.02 [[ 9.92703508e-01 1.20580161e-01 4.11565199e-04 1.52056807e+01] [-1.20580151e-01 9.92703594e-01 -4.93178961e-05 -1.55153188e+00] [-4.14509012e-04 -6.68545558e-07 9.99999914e-01 -2.27483954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.577627999999997 meters 0.012253187968193215 Centerline is valid? [True, True] Translation: X:15.27, Y:-1.56, Z:-0.02 [[ 9.92737727e-01 1.20290019e-01 -1.45508734e-03 1.52681692e+01] [-1.20289889e-01 9.92738793e-01 1.76800529e-04 -1.55955255e+00] [ 1.46578899e-03 -4.84261039e-07 9.99998926e-01 -2.47114506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.637628 meters 0.012479614344005447 Centerline is valid? [True, True] Translation: X:15.33, Y:-1.57, Z:-0.03 [[ 9.93250386e-01 1.15980774e-01 -1.45990106e-03 1.53293823e+01] [-1.15980638e-01 9.93251459e-01 1.77726610e-04 -1.56984641e+00] [ 1.47066173e-03 -7.20676604e-06 9.99998919e-01 -2.51558749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.697627999999998 meters 0.012923208626436708 Centerline is valid? [True, True] Translation: X:15.39, Y:-1.58, Z:-0.02 [[ 9.93822747e-01 1.10978666e-01 -2.90300683e-04 1.53904281e+01] [-1.10978660e-01 9.93822789e-01 3.57556661e-05 -1.57922820e+00] [ 2.92475551e-04 -3.31761342e-06 9.99999957e-01 -2.41063563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.757627999999997 meters 0.013886698391088652 Centerline is valid? [True, True] Translation: X:15.45, Y:-1.59, Z:-0.02 [[ 9.94556416e-01 1.04198429e-01 4.71477744e-04 1.54520549e+01] [-1.04198414e-01 9.94556528e-01 -5.72921085e-05 -1.59001579e+00] [-4.74881016e-04 7.85300106e-06 9.99999887e-01 -2.29751857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.817628 meters 0.015109184361936314 Centerline is valid? [True, True] Translation: X:15.51, Y:-1.60, Z:-0.02 [[ 9.95039823e-01 9.94759636e-02 -5.32991215e-04 1.55125865e+01] [-9.94759428e-02 9.95039965e-01 6.54191914e-05 -1.60001489e+00] [ 5.36855197e-04 -1.20748970e-05 9.99999856e-01 -2.37463373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.877627999999998 meters 0.01572744831212725 Centerline is valid? [True, True] Translation: X:15.57, Y:-1.61, Z:-0.02 [[ 9.95262751e-01 9.72205710e-02 -4.66122367e-04 1.55737002e+01] [-9.72205548e-02 9.95262860e-01 5.73660428e-05 -1.60722770e+00] [ 4.69491440e-04 -1.17776104e-05 9.99999890e-01 -2.46996457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.937627999999997 meters 0.018811964486257493 Centerline is valid? [True, True] Translation: X:15.63, Y:-1.62, Z:-0.02 [[ 9.96136526e-01 8.78046920e-02 -1.53514884e-03 1.56336758e+01] [-8.78045069e-02 9.96137708e-01 1.87693457e-04 -1.61987121e+00] [ 1.54570002e-03 -5.21753214e-05 9.99998804e-01 -2.46844457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.997628 meters 0.02159411542872305 Centerline is valid? [True, True] Translation: X:15.69, Y:-1.63, Z:-0.03 [[ 9.96747127e-01 8.05796846e-02 -1.44195731e-03 1.56941445e+01] [-8.05795137e-02 9.96748168e-01 1.76311546e-04 -1.62851741e+00] [ 1.45147544e-03 -5.95458076e-05 9.99998945e-01 -2.55989893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.057627999999998 meters 0.0220233503667023 Centerline is valid? [True, True] Translation: X:15.75, Y:-1.64, Z:-0.02 [[ 9.97248594e-01 7.41201410e-02 1.20301291e-03 1.57546407e+01] [-7.41200174e-02 9.97249318e-01 -1.47077304e-04 -1.63528662e+00] [-1.21060520e-03 5.75052964e-05 9.99999266e-01 -2.18571960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.117627999999996 meters 0.023641470594905744 Centerline is valid? [True, True] Translation: X:15.82, Y:-1.64, Z:-0.02 [[ 9.97505272e-01 7.05705935e-02 1.73910645e-03 1.58152488e+01] [-7.05703297e-02 9.97506784e-01 -2.12649404e-04 -1.64339732e+00] [-1.74977727e-03 8.93895861e-05 9.99998465e-01 -2.12676717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.177628 meters 0.022715908308502453 Centerline is valid? [True, True] Translation: X:15.88, Y:-1.65, Z:-0.02 [[ 9.97547111e-01 6.99965869e-02 4.88100232e-04 1.58779059e+01] [-6.99965662e-02 9.97547231e-01 -5.93959317e-05 -1.64554987e+00] [-4.91060547e-04 2.50848999e-05 9.99999879e-01 -2.31162356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.237627999999997 meters 0.023600692714558336 Centerline is valid? [True, True] Translation: X:15.94, Y:-1.65, Z:-0.02 [[ 9.97306288e-01 7.33337685e-02 -1.52546136e-03 1.59378470e+01] [-7.33335682e-02 9.97307452e-01 1.86936661e-04 -1.65065944e+00] [ 1.53506275e-03 -7.45655828e-05 9.99998819e-01 -2.49155742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.297628 meters 0.02049492413253263 Centerline is valid? [True, True] Translation: X:16.00, Y:-1.65, Z:-0.03 [[ 9.96610990e-01 8.21655799e-02 -3.91818979e-03 1.59993526e+01] [-8.21643260e-02 9.96618680e-01 4.80205492e-04 -1.64964867e+00] [ 3.94439750e-03 -1.56642648e-04 9.99992209e-01 -2.58044689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.357628 meters 0.017815792105803342 Centerline is valid? [True, True] Translation: X:16.06, Y:-1.65, Z:-0.03 [[ 9.96006712e-01 8.91533925e-02 -4.72245515e-03 1.60604323e+01] [-8.91516490e-02 9.96017896e-01 5.78832382e-04 -1.64928588e+00] [ 4.75525471e-03 -1.55506274e-04 9.99988682e-01 -2.65162514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.417627999999997 meters 0.016100305720188543 Centerline is valid? [True, True] Translation: X:16.12, Y:-1.65, Z:-0.03 [[ 9.95096925e-01 9.87770359e-02 -5.02068938e-03 1.61203423e+01] [-9.87751880e-02 9.95109584e-01 6.15295550e-04 -1.65043782e+00] [ 5.05691319e-03 -1.16359172e-04 9.99987207e-01 -2.72900753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.477628 meters 0.013585753157314471 Centerline is valid? [True, True] Translation: X:16.18, Y:-1.65, Z:-0.03 [[ 9.94317322e-01 1.06303540e-01 -5.71147783e-03 1.61826006e+01] [-1.06301271e-01 9.94333721e-01 7.00378786e-04 -1.65196357e+00] [ 5.75356775e-03 -8.92614082e-05 9.99983444e-01 -2.65479605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.537627999999998 meters 0.01315500878361192 Centerline is valid? [True, True] Translation: X:16.24, Y:-1.66, Z:-0.03 [[ 9.93811779e-01 1.10956671e-01 -5.17352567e-03 1.62439585e+01] [-1.10954863e-01 9.93825243e-01 6.36050105e-04 -1.65772166e+00] [ 5.21215441e-03 -5.80862553e-05 9.99986415e-01 -2.67567079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.597627999999997 meters 0.01248225751314204 Centerline is valid? [True, True] Translation: X:16.31, Y:-1.66, Z:-0.03 [[ 9.93352807e-01 1.15030106e-01 -4.27491188e-03 1.63052976e+01] [-1.15028904e-01 9.93362005e-01 5.26733741e-04 -1.66429969e+00] [ 4.30712528e-03 -3.14940113e-05 9.99990724e-01 -2.55837076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.657628 meters 0.012206057573522814 Centerline is valid? [True, True] Translation: X:16.37, Y:-1.67, Z:-0.03 [[ 9.92744804e-01 1.20199765e-01 -3.12566362e-03 1.63669619e+01] [-1.20199146e-01 9.92749725e-01 3.86020551e-04 -1.67112118e+00] [ 3.14940128e-03 -7.51780014e-06 9.99995041e-01 -2.50744243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.717627999999998 meters 0.012186855131952338 Centerline is valid? [True, True] Translation: X:16.43, Y:-1.68, Z:-0.03 [[ 9.92317574e-01 1.23659146e-01 -3.77454514e-03 1.64293729e+01] [-1.23658264e-01 9.92324753e-01 4.67231721e-04 -1.67937850e+00] [ 3.80335205e-03 3.11145061e-06 9.99992767e-01 -2.60205924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.777627999999996 meters 0.012537794480926952 Centerline is valid? [True, True] Translation: X:16.49, Y:-1.69, Z:-0.03 [[ 9.91723636e-01 1.28200782e-01 -6.98496861e-03 1.64908109e+01] [-1.28197863e-01 9.91748233e-01 8.65924051e-04 -1.68973273e+00] [ 7.03834242e-03 3.67006987e-05 9.99975230e-01 -2.79427485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.837628 meters 0.01277539554226842 Centerline is valid? [True, True] Translation: X:16.55, Y:-1.70, Z:-0.03 [[ 9.91557690e-01 1.29222074e-01 -1.07239335e-02 1.65510216e+01] [-1.29215228e-01 9.91615677e-01 1.33165828e-03 -1.70130994e+00] [ 1.08061002e-02 6.52795124e-05 9.99941610e-01 -3.25167325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.897627999999997 meters 0.012750303707507264 Centerline is valid? [True, True] Translation: X:16.61, Y:-1.71, Z:-0.03 [[ 9.91664040e-01 1.28297352e-01 -1.19256285e-02 1.66131111e+01] [-1.28288778e-01 9.91735744e-01 1.48436887e-03 -1.71475358e+00] [ 1.20175126e-02 5.79290730e-05 9.99927785e-01 -3.34760925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.957627999999996 meters 0.012845003595871778 Centerline is valid? [True, True] Translation: X:16.67, Y:-1.73, Z:-0.03 [[ 9.91964252e-01 1.25917370e-01 -1.23181924e-02 1.66733381e+01] [-1.25908014e-01 9.92040733e-01 1.53522214e-03 -1.73009455e+00] [ 1.24134598e-02 2.80736606e-05 9.99922950e-01 -3.29541129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.017628 meters 0.01258663019651418 Centerline is valid? [True, True] Translation: X:16.73, Y:-1.74, Z:-0.03 [[ 9.91851830e-01 1.27043608e-01 -9.47997385e-03 1.67348640e+01] [-1.27038093e-01 9.91897132e-01 1.18407857e-03 -1.73957818e+00] [ 9.55358849e-03 2.98872996e-05 9.99954363e-01 -2.94629251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.077627999999997 meters 0.012516393050255606 Centerline is valid? [True, True] Translation: X:16.80, Y:-1.75, Z:-0.03 [[ 9.91800335e-01 1.27568350e-01 -7.64273988e-03 1.67954609e+01] [-1.27564767e-01 9.91829781e-01 9.56417274e-04 -1.74839705e+00] [ 7.70230559e-03 2.63693622e-05 9.99970336e-01 -2.78349759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.137628 meters 0.012473250081591804 Centerline is valid? [True, True] Translation: X:16.86, Y:-1.76, Z:-0.03 [[ 9.91765043e-01 1.27923659e-01 -6.13491645e-03 1.68561074e+01] [-1.27921348e-01 9.91784017e-01 7.69185747e-04 -1.75565525e+00] [ 6.18290913e-03 2.19352462e-05 9.99980885e-01 -2.74667444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.197627999999998 meters 0.0123226456826056 Centerline is valid? [True, True] Translation: X:16.92, Y:-1.76, Z:-0.03 [[ 9.92096823e-01 1.25330574e-01 -6.01181791e-03 1.69188916e+01] [-1.25328297e-01 9.92115037e-01 7.55478812e-04 -1.76434738e+00] [ 6.05909955e-03 3.94277166e-06 9.99981643e-01 -2.75303647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.257627999999997 meters 0.012372821818679072 Centerline is valid? [True, True] Translation: X:16.98, Y:-1.77, Z:-0.03 [[ 9.92699170e-01 1.20446535e-01 -6.40230035e-03 1.69800828e+01] [-1.20443841e-01 9.92719815e-01 8.06111900e-04 -1.77372759e+00] [ 6.45278381e-03 -2.91089714e-05 9.99979180e-01 -2.76733266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.317628 meters 0.013216946144288907 Centerline is valid? [True, True] Translation: X:17.04, Y:-1.78, Z:-0.03 [[ 9.93529826e-01 1.13380857e-01 -6.57770053e-03 1.70415906e+01] [-1.13377848e-01 9.93551597e-01 8.29836684e-04 -1.78473256e+00] [ 6.62937246e-03 -7.87019682e-05 9.99978022e-01 -2.78837458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.377627999999998 meters 0.01619217274890249 Centerline is valid? [True, True] Translation: X:17.10, Y:-1.80, Z:-0.03 [[ 9.95026010e-01 9.94183449e-02 -6.26353968e-03 1.71007415e+01] [-9.94153411e-02 9.95045711e-01 7.89893783e-04 -1.79791582e+00] [ 6.31103822e-03 -1.63272926e-04 9.99980072e-01 -2.76981749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.437627999999997 meters 0.020522989261759172 Centerline is valid? [True, True] Translation: X:17.16, Y:-1.81, Z:-0.03 [[ 9.96550411e-01 8.27360630e-02 -6.48241543e-03 1.71602333e+01] [-8.27324918e-02 9.96571456e-01 8.17606875e-04 -1.81037161e+00] [ 6.52783575e-03 -2.78480086e-04 9.99978655e-01 -2.85565364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.497628 meters 0.024810197773627446 Centerline is valid? [True, True] Translation: X:17.22, Y:-1.82, Z:-0.03 [[ 9.97408273e-01 7.16448292e-02 -6.61478414e-03 1.72195948e+01] [-7.16408665e-02 9.97430143e-01 8.34389495e-04 -1.82155184e+00] [ 6.65756478e-03 -3.58338118e-04 9.99977774e-01 -3.10546657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.557627999999998 meters 0.025921836531157042 Centerline is valid? [True, True] Translation: X:17.28, Y:-1.83, Z:-0.03 [[ 9.98030269e-01 6.24828778e-02 -5.61007259e-03 1.72788376e+01] [-6.24798827e-02 9.98045973e-01 7.07726086e-04 -1.83278479e+00] [ 5.64333111e-03 -3.55815379e-04 9.99984013e-01 -2.71889453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.617627999999996 meters 0.027860033154240082 Centerline is valid? [True, True] Translation: X:17.34, Y:-1.84, Z:-0.03 [[ 9.98139786e-01 6.06419781e-02 -6.28635312e-03 1.73397098e+01] [-6.06381793e-02 9.98159497e-01 7.93303986e-04 -1.83904587e+00] [ 6.32289060e-03 -4.10635263e-04 9.99979926e-01 -3.06025431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.677628 meters 0.024794009594714315 Centerline is valid? [True, True] Translation: X:17.40, Y:-1.84, Z:-0.03 [[ 9.97594563e-01 6.91703412e-02 -4.53340312e-03 1.74009259e+01] [-6.91684534e-02 9.97604830e-01 5.72084186e-04 -1.84087989e+00] [ 4.56211611e-03 -2.57139591e-04 9.99989560e-01 -2.70216969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.737627999999997 meters 0.02348365546653209 Centerline is valid? [True, True] Translation: X:17.46, Y:-1.84, Z:-0.03 [[ 9.96422107e-01 8.44032598e-02 -4.36738564e-03 1.74611998e+01] [-8.44016534e-02 9.96431662e-01 5.51175815e-04 -1.83816054e+00] [ 4.39832236e-03 -1.80589198e-04 9.99990311e-01 -3.05003563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.797627999999996 meters 0.016762577812948053 Centerline is valid? [True, True] Translation: X:17.52, Y:-1.84, Z:-0.03 [[ 9.95282742e-01 9.69385500e-02 -3.89634417e-03 1.75228878e+01] [-9.69373669e-02 9.95290362e-01 4.91806225e-04 -1.83516915e+00] [ 3.92566878e-03 -1.11784904e-04 9.99992288e-01 -2.79489508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.857628 meters 0.015590839824854215 Centerline is valid? [True, True] Translation: X:17.58, Y:-1.83, Z:-0.03 [[ 9.94256002e-01 1.06961782e-01 -3.76564371e-03 1.75842934e+01] [-1.06960749e-01 9.94263130e-01 4.75379648e-04 -1.83472355e+00] [ 3.79488816e-03 -6.98729971e-05 9.99992797e-01 -2.99047514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.917627999999997 meters 0.011976952214282029 Centerline is valid? [True, True] Translation: X:17.65, Y:-1.83, Z:-0.03 [[ 9.92751079e-01 1.20171572e-01 -2.02175328e-03 1.76459049e+01] [-1.20171301e-01 9.92753138e-01 2.55278556e-04 -1.83393733e+00] [ 2.03777914e-03 -1.04713389e-05 9.99997924e-01 -2.75653409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.977628 meters 0.011764022609727023 Centerline is valid? [True, True] Translation: X:17.71, Y:-1.84, Z:-0.03 [[ 9.92102831e-01 1.25415046e-01 -1.74339301e-03 1.77077540e+01] [-1.25414852e-01 9.92104363e-01 2.20963575e-04 -1.83856054e+00] [ 1.75733997e-03 -5.71212738e-07 9.99998456e-01 -2.82330764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.037627999999998 meters 0.01182211370524443 Centerline is valid? [True, True] Translation: X:17.77, Y:-1.85, Z:-0.03 [[ 9.91616803e-01 1.29193513e-01 -2.26996565e-03 1.77693743e+01] [-1.29193192e-01 9.91619401e-01 2.87858856e-04 -1.84660108e+00] [ 2.28813148e-03 7.81843161e-06 9.99997382e-01 -2.92868481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.097627999999997 meters 0.011893694791353496 Centerline is valid? [True, True] Translation: X:17.83, Y:-1.86, Z:-0.03 [[ 9.91467982e-01 1.30321926e-01 -2.72679229e-03 1.78313125e+01] [-1.30321466e-01 9.91471732e-01 3.46671172e-04 -1.85689069e+00] [ 2.74871633e-03 1.16462008e-05 9.99996222e-01 -2.97520101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.157628 meters 0.01187251192799724 Centerline is valid? [True, True] Translation: X:17.89, Y:-1.87, Z:-0.03 [[ 9.91652855e-01 1.28866048e-01 -4.26100859e-03 1.78925918e+01] [-1.28864906e-01 9.91662010e-01 5.42640348e-04 -1.87032878e+00] [ 4.29540826e-03 1.09836185e-05 9.99990775e-01 -3.14871461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.217627999999998 meters 0.01175581653079253 Centerline is valid? [True, True] Translation: X:17.95, Y:-1.88, Z:-0.03 [[ 9.91900332e-01 1.26918744e-01 -5.03615899e-03 1.79544786e+01] [-1.26917116e-01 9.91913117e-01 6.42750165e-04 -1.88402536e+00] [ 5.07700921e-03 1.63067274e-06 9.99987112e-01 -3.21192349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.277627999999996 meters 0.015966646706185427 Centerline is valid? [True, True] Translation: X:18.01, Y:-1.90, Z:-0.04 [[ 9.92368489e-01 1.23142142e-01 -6.38712926e-03 1.80135714e+01] [-1.23139438e-01 9.92389043e-01 8.16422372e-04 -1.90230695e+00] [ 6.43905309e-03 -2.36843274e-05 9.99979269e-01 -3.69937429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.337628 meters 0.012101573984042982 Centerline is valid? [True, True] Translation: X:18.07, Y:-1.92, Z:-0.03 [[ 9.92289171e-01 1.23878420e-01 -4.04195680e-03 1.80731613e+01] [-1.23877339e-01 9.92297403e-01 5.17648624e-04 -1.91563054e+00] [ 4.07494873e-03 -1.29502705e-05 9.99991697e-01 -3.06683060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.397627999999997 meters 0.01188257996780335 Centerline is valid? [True, True] Translation: X:18.14, Y:-1.92, Z:-0.03 [[ 9.91985760e-01 1.26305911e-01 -3.32706391e-03 1.81352367e+01] [-1.26305189e-01 9.91991339e-01 4.27229240e-04 -1.92313316e+00] [ 3.35438017e-03 -3.57988609e-06 9.99994374e-01 -2.92694550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.457627999999996 meters 0.011942850577794347 Centerline is valid? [True, True] Translation: X:18.20, Y:-1.93, Z:-0.03 [[ 9.91718241e-01 1.28394171e-01 -3.14110363e-03 1.81972951e+01] [-1.28393534e-01 9.91723216e-01 4.04293088e-04 -1.93077189e+00] [ 3.16701427e-03 2.35256569e-06 9.99994985e-01 -2.86138745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.517628 meters 0.011889515556064609 Centerline is valid? [True, True] Translation: X:18.26, Y:-1.94, Z:-0.03 [[ 9.91773374e-01 1.27974488e-01 -2.84699502e-03 1.82591964e+01] [-1.27973961e-01 9.91777460e-01 3.67318900e-04 -1.93890024e+00] [ 2.87059294e-03 4.41261098e-08 9.99995880e-01 -2.80440068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.577627999999997 meters 0.012087393190371803 Centerline is valid? [True, True] Translation: X:18.32, Y:-1.95, Z:-0.03 [[ 9.92489388e-01 1.22291967e-01 -3.08059185e-03 1.83201354e+01] [-1.22291321e-01 9.92494168e-01 3.98129243e-04 -1.94925524e+00] [ 3.10615745e-03 -1.84094033e-05 9.99995176e-01 -2.81208138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.637628 meters 0.01322410023534874 Centerline is valid? [True, True] Translation: X:18.38, Y:-1.96, Z:-0.03 [[ 9.93429134e-01 1.14430787e-01 -2.03731417e-03 1.83811258e+01] [-1.14430486e-01 9.93431223e-01 2.63921854e-04 -1.96137516e+00] [ 2.05413229e-03 -2.90568077e-05 9.99997890e-01 -2.69427119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.697627999999998 meters 0.017439486101194765 Centerline is valid? [True, True] Translation: X:18.44, Y:-1.98, Z:-0.02 [[ 9.95217360e-01 9.76831228e-02 -6.42855889e-04 1.84402832e+01] [-9.76830894e-02 9.95217568e-01 8.31747824e-05 -1.97695456e+00] [ 6.47906246e-04 -1.99808382e-05 9.99999790e-01 -2.47462563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.757627999999997 meters 0.02335934230419134 Centerline is valid? [True, True] Translation: X:18.50, Y:-1.99, Z:-0.03 [[ 9.96273249e-01 8.62528725e-02 -2.34719559e-04 1.84985183e+01] [-8.62528677e-02 9.96273277e-01 3.04882086e-05 -1.99208483e+00] [ 2.36474519e-04 -1.01293516e-05 9.99999972e-01 -2.51765609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.817628 meters 0.022586407498732995 Centerline is valid? [True, True] Translation: X:18.56, Y:-2.00, Z:-0.03 [[ 9.97237377e-01 7.42785881e-02 -5.53029018e-04 1.85588737e+01] [-7.42785598e-02 9.97237530e-01 7.16066619e-05 -1.99708251e+00] [ 5.56820134e-04 -3.03306407e-05 9.99999845e-01 -2.55905567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.877627999999998 meters 0.02684088457211454 Centerline is valid? [True, True] Translation: X:18.62, Y:-2.01, Z:-0.03 [[ 9.98209349e-01 5.98062770e-02 -1.14253947e-03 1.86182572e+01] [-5.98061466e-02 9.98209999e-01 1.47949071e-04 -2.00889240e+00] [ 1.14934261e-03 -7.93532628e-05 9.99999336e-01 -2.51991829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.937627999999997 meters 0.029081920018668165 Centerline is valid? [True, True] Translation: X:18.68, Y:-2.02, Z:-0.03 [[ 9.98409545e-01 5.63566104e-02 -1.52081477e-03 1.86780821e+01] [-5.63563754e-02 9.98410697e-01 1.96935415e-04 -2.01698044e+00] [ 1.52949635e-03 -1.10914590e-04 9.99998824e-01 -2.74656404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.997628 meters 0.031441109864969494 Centerline is valid? [True, True] Translation: X:18.74, Y:-2.02, Z:-0.03 [[ 9.98523910e-01 5.42891439e-02 -1.63993971e-03 1.87385517e+01] [-5.42888679e-02 9.98525249e-01 2.12390978e-04 -2.02153717e+00] [ 1.64905173e-03 -1.23047000e-04 9.99998633e-01 -2.79126259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.057627999999998 meters 0.026902822943352365 Centerline is valid? [True, True] Translation: X:18.80, Y:-2.02, Z:-0.02 [[ 9.98252834e-01 5.90761085e-02 -1.13738076e-03 1.87993361e+01] [-5.90759788e-02 9.98253478e-01 1.47280968e-04 -2.02043702e+00] [ 1.14409509e-03 -7.98317613e-05 9.99999342e-01 -2.44657398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.117627999999996 meters 0.02542582602221376 Centerline is valid? [True, True] Translation: X:18.86, Y:-2.02, Z:-0.03 [[ 9.97507204e-01 7.05349089e-02 -2.05049615e-03 1.88597757e+01] [-7.05345115e-02 9.97509304e-01 2.65568107e-04 -2.01702699e+00] [ 2.06412081e-03 -1.20275356e-04 9.99997862e-01 -2.52207701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.177628 meters 0.02348951927522157 Centerline is valid? [True, True] Translation: X:18.92, Y:-2.01, Z:-0.03 [[ 9.96747544e-01 8.05238652e-02 -3.20014641e-03 1.89204873e+01] [-8.05229486e-02 9.96752669e-01 4.14452954e-04 -2.01304221e+00] [ 3.22312783e-03 -1.55419739e-04 9.99994794e-01 -2.61912556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.237627999999997 meters 0.019935748072466467 Centerline is valid? [True, True] Translation: X:18.98, Y:-2.01, Z:-0.03 [[ 9.96455156e-01 8.40752725e-02 -2.91052193e-03 1.89820198e+01] [-8.40745291e-02 9.96459398e-01 3.77029554e-04 -2.01142442e+00] [ 2.93191579e-03 -1.30992282e-04 9.99995693e-01 -2.56939791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.297627999999996 meters 0.019799459170207246 Centerline is valid? [True, True] Translation: X:19.05, Y:-2.01, Z:-0.03 [[ 9.96419755e-01 8.44934323e-02 -2.92107973e-03 1.90453977e+01] [-8.44926815e-02 9.96424028e-01 3.79705937e-04 -2.01365724e+00] [ 2.94271669e-03 -1.31536637e-04 9.99995662e-01 -2.54721812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.357628 meters 0.021008136176201748 Centerline is valid? [True, True] Translation: X:19.11, Y:-2.02, Z:-0.03 [[ 9.96583399e-01 8.25004816e-02 -3.89871614e-03 1.91067085e+01] [-8.24991288e-02 9.96591008e-01 5.06812034e-04 -2.01907358e+00] [ 3.92723768e-03 -1.83439774e-04 9.99992272e-01 -2.69101057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.417627999999997 meters 0.023255794814021853 Centerline is valid? [True, True] Translation: X:19.17, Y:-2.03, Z:-0.03 [[ 9.96802141e-01 7.97669967e-02 -4.76639574e-03 1.91663635e+01] [-7.97649442e-02 9.96813508e-01 6.19474965e-04 -2.02777570e+00] [ 4.80062132e-03 -2.37302681e-04 9.99988449e-01 -2.70511213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.477628 meters 0.023075986664803903 Centerline is valid? [True, True] Translation: X:19.23, Y:-2.03, Z:-0.03 [[ 9.97125065e-01 7.54961624e-02 -6.47572491e-03 1.92273450e+01] [-7.54922830e-02 9.97146031e-01 8.41773556e-04 -2.03284423e+00] [ 6.52079406e-03 -3.50486253e-04 9.99978678e-01 -2.68732543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.537627999999998 meters 0.025275848387648188 Centerline is valid? [True, True] Translation: X:19.29, Y:-2.04, Z:-0.03 [[ 9.97287540e-01 7.30192244e-02 -9.26037366e-03 1.92880334e+01] [-7.30111833e-02 9.97330395e-01 1.20389314e-03 -2.03892239e+00] [ 9.32355947e-03 -5.24516787e-04 9.99956397e-01 -3.03323004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.597627999999997 meters 0.024340469779010943 Centerline is valid? [True, True] Translation: X:19.35, Y:-2.04, Z:-0.03 [[ 9.97421946e-01 7.10634708e-02 -9.97218626e-03 1.93486804e+01] [-7.10540424e-02 9.97471624e-01 1.29704797e-03 -2.04377226e+00] [ 1.00391456e-02 -5.85139967e-04 9.99949435e-01 -2.86127299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.657628 meters 0.024711618777935342 Centerline is valid? [True, True] Translation: X:19.41, Y:-2.05, Z:-0.03 [[ 9.97515556e-01 6.98348978e-02 -9.26299090e-03 1.94100317e+01] [-6.98266864e-02 9.97558407e-01 1.20733798e-03 -2.05065714e+00] [ 9.32468877e-03 -5.57534452e-04 9.99956369e-01 -2.85713022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.717627999999998 meters 0.02546163627121121 Centerline is valid? [True, True] Translation: X:19.47, Y:-2.06, Z:-0.02 [[ 9.97567282e-01 6.93901253e-02 -6.67294551e-03 1.94701288e+01] [-6.93858448e-02 9.97589518e-01 8.71133964e-04 -2.05850212e+00] [ 6.71730859e-03 -4.06006779e-04 9.99977356e-01 -2.49901776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.777627999999996 meters 0.02452057626538069 Centerline is valid? [True, True] Translation: X:19.53, Y:-2.06, Z:-0.02 [[ 9.97539048e-01 6.98655655e-02 -5.88653262e-03 1.95320666e+01] [-6.98622331e-02 9.97556352e-01 7.70094755e-04 -2.06260162e+00] [ 5.92595112e-03 -3.56953275e-04 9.99982378e-01 -2.42862069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.837628 meters 0.02352062635183843 Centerline is valid? [True, True] Translation: X:19.59, Y:-2.06, Z:-0.02 [[ 9.97370247e-01 7.22904578e-02 -5.16525337e-03 1.95941722e+01] [-7.22879243e-02 9.97383577e-01 6.75740048e-04 -2.06435590e+00] [ 5.20058844e-03 -3.00577573e-04 9.99986432e-01 -2.39631344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.897627999999997 meters 0.02391620251036345 Centerline is valid? [True, True] Translation: X:19.65, Y:-2.07, Z:-0.02 [[ 9.97051051e-01 7.65432635e-02 -5.50730383e-03 1.96538017e+01] [-7.65404493e-02 9.97066217e-01 7.20259686e-04 -2.06655869e+00] [ 5.54627762e-03 -2.96604167e-04 9.99984575e-01 -2.43460407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.957627999999996 meters 0.022008963812114365 Centerline is valid? [True, True] Translation: X:19.72, Y:-2.06, Z:-0.02 [[ 9.96731293e-01 8.06356267e-02 -4.96242951e-03 1.97157364e+01] [-8.06333917e-02 9.96743615e-01 6.49146314e-04 -2.06373569e+00] [ 4.99861426e-03 -2.46886921e-04 9.99987476e-01 -2.44733139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.017628 meters 0.021860569517390356 Centerline is valid? [True, True] Translation: X:19.78, Y:-2.07, Z:-0.02 [[ 9.96354413e-01 8.52506234e-02 -3.19614212e-03 1.97762303e+01] [-8.52497200e-02 9.96359529e-01 4.18075169e-04 -2.06503159e+00] [ 3.22014782e-03 -1.44080819e-04 9.99994805e-01 -2.40291059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.077627999999997 meters 0.01853895922658616 Centerline is valid? [True, True] Translation: X:19.84, Y:-2.07, Z:-0.02 [[ 9.96219525e-01 8.68298704e-02 -2.68933657e-03 1.98383660e+01] [-8.68292335e-02 9.96223148e-01 3.52914396e-04 -2.06583127e+00] [ 2.70982285e-03 -1.18067179e-04 9.99996321e-01 -2.40796974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.137627999999996 meters 0.01929476702538419 Centerline is valid? [True, True] Translation: X:19.90, Y:-2.07, Z:-0.03 [[ 9.95942094e-01 8.99823838e-02 -1.58616506e-03 1.98986052e+01] [-8.99821665e-02 9.95943355e-01 2.07953992e-04 -2.06863952e+00] [ 1.59844275e-03 -6.43835654e-05 9.99998720e-01 -2.51784967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.197627999999998 meters 0.02030130945108943 Centerline is valid? [True, True] Translation: X:19.96, Y:-2.07, Z:-0.03 [[ 9.95829126e-01 9.12080859e-02 -2.33167587e-03 1.99611047e+01] [-9.12076190e-02 9.95831852e-01 3.06005603e-04 -2.07415906e+00] [ 2.34986728e-03 -9.20626882e-05 9.99997235e-01 -2.75366610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.257627999999997 meters 0.016842416164949553 Centerline is valid? [True, True] Translation: X:20.02, Y:-2.08, Z:-0.03 [[ 9.95489591e-01 9.48631930e-02 -1.20335078e-03 2.00227443e+01] [-9.48630712e-02 9.95490318e-01 1.57956028e-04 -2.07713152e+00] [ 1.21290827e-03 -4.30900309e-05 9.99999263e-01 -2.51643880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.317628 meters 0.016117913354722083 Centerline is valid? [True, True] Translation: X:20.08, Y:-2.08, Z:-0.02 [[ 9.95153832e-01 9.83278281e-02 -6.99725502e-04 2.00843154e+01] [-9.83277877e-02 9.95154077e-01 9.19990879e-05 -2.08277847e+00] [ 7.05380757e-04 -2.27507842e-05 9.99999751e-01 -2.47080609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.377627999999998 meters 0.014548716954971607 Centerline is valid? [True, True] Translation: X:20.14, Y:-2.09, Z:-0.03 [[ 9.94310259e-01 1.06518036e-01 -1.00888775e-03 2.01449815e+01] [-1.06517956e-01 9.94310770e-01 1.32506603e-04 -2.08567107e+00] [ 1.01726230e-03 -2.42880139e-05 9.99999482e-01 -2.64411745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.437627999999997 meters 0.01327932076653274 Centerline is valid? [True, True] Translation: X:20.21, Y:-2.09, Z:-0.03 [[ 9.93696049e-01 1.12096509e-01 -1.59190849e-03 2.02059886e+01] [-1.12096318e-01 9.93697324e-01 2.09152658e-04 -2.09126254e+00] [ 1.60532049e-03 -2.93870900e-05 9.99998711e-01 -2.70781653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.497628 meters 0.01261675598910949 Centerline is valid? [True, True] Translation: X:20.27, Y:-2.10, Z:-0.03 [[ 9.93016642e-01 1.17963803e-01 -1.57817948e-03 2.02662201e+01] [-1.17963621e-01 9.93017895e-01 2.08044555e-04 -2.09947314e+00] [ 1.59170220e-03 -2.04239380e-05 9.99998733e-01 -2.77778072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.557627999999998 meters 0.012420909913130154 Centerline is valid? [True, True] Translation: X:20.33, Y:-2.11, Z:-0.03 [[ 9.92867991e-01 1.19209331e-01 -1.51280234e-03 2.03269300e+01] [-1.19209165e-01 9.92869143e-01 1.99842875e-04 -2.11055141e+00] [ 1.52583790e-03 -1.80776907e-05 9.99998836e-01 -2.67479145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.617627999999996 meters 0.01221721315147721 Centerline is valid? [True, True] Translation: X:20.39, Y:-2.12, Z:-0.03 [[ 9.92868349e-01 1.19214669e-01 -5.51344426e-04 2.03888313e+01] [-1.19214646e-01 9.92868502e-01 7.33389431e-05 -2.12177924e+00] [ 5.56155592e-04 -7.08758462e-06 9.99999845e-01 -2.53516013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.677628 meters 0.012231804740405071 Centerline is valid? [True, True] Translation: X:20.45, Y:-2.13, Z:-0.03 [[ 9.92927174e-01 1.18707466e-01 -2.04072198e-03 2.04494953e+01] [-1.18707160e-01 9.92929271e-01 2.70612135e-04 -2.13376208e+00] [ 2.05841627e-03 -2.64498316e-05 9.99997881e-01 -2.53679873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.737627999999997 meters 0.013315291233796657 Centerline is valid? [True, True] Translation: X:20.51, Y:-2.15, Z:-0.03 [[ 9.93615524e-01 1.12771448e-01 -3.28499835e-03 2.05095183e+01] [-1.12770623e-01 9.93620952e-01 4.36106836e-04 -2.15091318e+00] [ 3.31322359e-03 -6.28712127e-05 9.99994509e-01 -2.69004190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.797627999999996 meters 0.015980956458122544 Centerline is valid? [True, True] Translation: X:20.57, Y:-2.17, Z:-0.03 [[ 9.95052531e-01 9.93365474e-02 -1.64628924e-03 2.05684005e+01] [-9.93363218e-02 9.95053892e-01 2.18423514e-04 -2.17221444e+00] [ 1.65984396e-03 -5.38065520e-05 9.99998621e-01 -2.66407379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.857628 meters 0.0175243021257499 Centerline is valid? [True, True] Translation: X:20.63, Y:-2.19, Z:-0.03 [[ 9.95555080e-01 9.41703190e-02 -1.42602645e-03 2.06278004e+01] [-9.41701444e-02 9.95556100e-01 1.89227036e-04 -2.18642430e+00] [ 1.43750890e-03 -5.40968210e-05 9.99998965e-01 -2.64819854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.917627999999997 meters 0.019924464521472448 Centerline is valid? [True, True] Translation: X:20.69, Y:-2.20, Z:-0.03 [[ 9.96477308e-01 8.38565586e-02 -1.02597846e-03 2.06869782e+01] [-8.38564627e-02 9.96477835e-01 1.36193464e-04 -2.20484156e+00] [ 1.03378551e-03 -4.96787715e-05 9.99999464e-01 -2.52369846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.977628 meters 0.02310085971706708 Centerline is valid? [True, True] Translation: X:20.75, Y:-2.22, Z:-0.02 [[ 9.97244620e-01 7.41816083e-02 5.06213016e-04 2.07457958e+01] [-7.41815837e-02 9.97244748e-01 -6.71657116e-05 -2.22348349e+00] [-5.09800732e-04 2.94289614e-05 9.99999870e-01 -2.41453749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.037627999999998 meters 0.02536864005761825 Centerline is valid? [True, True] Translation: X:20.80, Y:-2.24, Z:-0.02 [[ 9.97446851e-01 7.14038611e-02 1.12613161e-03 2.08049744e+01] [-7.14037378e-02 9.97447484e-01 -1.49438487e-04 -2.23745737e+00] [-1.13392762e-03 6.86469425e-05 9.99999355e-01 -2.38288000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.097627999999997 meters 0.024737312645987847 Centerline is valid? [True, True] Translation: X:20.87, Y:-2.25, Z:-0.03 [[ 9.97389821e-01 7.22047615e-02 1.34973388e-04 2.08663647e+01] [-7.22047598e-02 9.97389830e-01 -1.75306798e-05 -2.24677312e+00] [-1.35886883e-04 7.73920057e-06 9.99999991e-01 -2.56089575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.157628 meters 0.023023811707732433 Centerline is valid? [True, True] Translation: X:20.93, Y:-2.25, Z:-0.03 [[ 9.97195391e-01 7.48389496e-02 -6.95026853e-04 2.09272047e+01] [-7.48389032e-02 9.97195633e-01 9.25111362e-05 -2.25322964e+00] [ 7.00001179e-04 -4.02366313e-05 9.99999754e-01 -2.56344732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.217627999999998 meters 0.022767498497388235 Centerline is valid? [True, True] Translation: X:20.99, Y:-2.26, Z:-0.03 [[ 9.96666780e-01 8.15665613e-02 -1.49202957e-03 2.09863172e+01] [-8.15663555e-02 9.96667894e-01 1.98405061e-04 -2.26008410e+00] [ 1.50324119e-03 -7.60443189e-05 9.99998867e-01 -2.70330545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.277627999999996 meters 0.019603624958999588 Centerline is valid? [True, True] Translation: X:21.05, Y:-2.26, Z:-0.03 [[ 9.96163368e-01 8.74873282e-02 -2.12395567e-03 2.10469125e+01] [-8.74869243e-02 9.96165628e-01 2.82504572e-04 -2.26306887e+00] [ 2.14052721e-03 -9.56023571e-05 9.99997704e-01 -2.73989608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.337628 meters 0.018090471282991242 Centerline is valid? [True, True] Translation: X:21.11, Y:-2.27, Z:-0.03 [[ 9.95272369e-01 9.70896721e-02 -2.55074108e-03 2.11067636e+01] [-9.70891211e-02 9.95275634e-01 3.39253830e-04 -2.26713076e+00] [ 2.57162849e-03 -9.00007536e-05 9.99996689e-01 -2.84089504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.397627999999997 meters 0.01843661666916708 Centerline is valid? [True, True] Translation: X:21.17, Y:-2.27, Z:-0.03 [[ 9.94743791e-01 1.02331396e-01 -3.61604588e-03 2.11682094e+01] [-1.02330322e-01 9.94750357e-01 4.81229762e-04 -2.27156029e+00] [ 3.64630785e-03 -1.08669177e-04 9.99993346e-01 -2.97592771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.457627999999996 meters 0.014269255185136356 Centerline is valid? [True, True] Translation: X:21.23, Y:-2.28, Z:-0.03 [[ 9.93770316e-01 1.11426745e-01 -2.15395173e-03 2.12288719e+01] [-1.11426385e-01 9.93772649e-01 2.86665516e-04 -2.27736081e+00] [ 2.17248052e-03 -4.48726253e-05 9.99997639e-01 -2.80302652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.517628 meters 0.013191406934987656 Centerline is valid? [True, True] Translation: X:21.29, Y:-2.28, Z:-0.03 [[ 9.93154966e-01 1.16773224e-01 -2.68833281e-03 2.12904204e+01] [-1.16772683e-01 9.93158604e-01 3.57986125e-04 -2.28400892e+00] [ 2.71174406e-03 -4.16118622e-05 9.99996322e-01 -2.90940755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.577627999999997 meters 0.012233927656445175 Centerline is valid? [True, True] Translation: X:21.35, Y:-2.29, Z:-0.03 [[ 9.92340580e-01 1.23526403e-01 -1.18372652e-03 2.13514926e+01] [-1.23526302e-01 9.92341286e-01 1.58301802e-04 -2.29294879e+00] [ 1.19421515e-03 -1.08679417e-05 9.99999287e-01 -2.90987904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.637627999999996 meters 0.011790601531984917 Centerline is valid? [True, True] Translation: X:21.41, Y:-2.30, Z:-0.03 [[ 9.91578379e-01 1.29506442e-01 -6.31936476e-04 2.14127237e+01] [-1.29506414e-01 9.91578581e-01 8.48725877e-05 -2.30391734e+00] [ 6.37606220e-04 -2.31799617e-06 9.99999797e-01 -2.85119796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.697627999999998 meters 0.011753282097038669 Centerline is valid? [True, True] Translation: X:21.47, Y:-2.32, Z:-0.03 [[ 9.91147886e-01 1.32760318e-01 -7.52927865e-04 2.14748374e+01] [-1.32760280e-01 9.91148172e-01 1.01318488e-04 -2.31605151e+00] [ 7.59714151e-04 -4.62691376e-07 9.99999711e-01 -2.91467908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.757627999999997 meters 0.011884833198196349 Centerline is valid? [True, True] Translation: X:21.54, Y:-2.33, Z:-0.03 [[ 9.90659026e-01 1.36358541e-01 -1.02078730e-03 2.15359654e+01] [-1.36358471e-01 9.90659552e-01 1.37502377e-04 -2.33219278e+00] [ 1.03000232e-03 2.97502515e-06 9.99999470e-01 -3.05175641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.817628 meters 0.011834666633944965 Centerline is valid? [True, True] Translation: X:21.60, Y:-2.35, Z:-0.03 [[ 9.90466706e-01 1.37747206e-01 -1.18806538e-03 2.15975225e+01] [-1.37747113e-01 9.90467419e-01 1.60306446e-04 -2.34578887e+00] [ 1.19882181e-03 4.87437916e-06 9.99999281e-01 -3.21655397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.877627999999998 meters 0.011785497530182999 Centerline is valid? [True, True] Translation: X:21.66, Y:-2.37, Z:-0.03 [[ 9.90583718e-01 1.36893761e-01 -1.99914526e-03 2.16571283e+01] [-1.36893495e-01 9.90585735e-01 2.69919457e-04 -2.36688705e+00] [ 2.01727506e-03 6.29216195e-06 9.99997965e-01 -3.29311520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.937627999999997 meters 0.011800103898371377 Centerline is valid? [True, True] Translation: X:21.72, Y:-2.39, Z:-0.03 [[ 9.90985517e-01 1.33939608e-01 -2.80813956e-03 2.17174503e+01] [-1.33939069e-01 9.90989496e-01 3.79795002e-04 -2.38771415e+00] [ 2.83370640e-03 -2.51748043e-07 9.99995985e-01 -3.20003870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.997628 meters 0.011942230755433075 Centerline is valid? [True, True] Translation: X:21.78, Y:-2.41, Z:-0.03 [[ 9.91663711e-01 1.28829836e-01 -2.44082132e-03 2.17764268e+01] [-1.28829412e-01 9.91666715e-01 3.30679698e-04 -2.41120742e+00] [ 2.46308267e-03 -1.34734810e-05 9.99996967e-01 -3.18096249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.057627999999998 meters 0.011691005106628603 Centerline is valid? [True, True] Translation: X:21.84, Y:-2.42, Z:-0.03 [[ 9.90765920e-01 1.35579995e-01 9.77724794e-04 2.18375608e+01] [-1.35579931e-01 9.90766403e-01 -1.32144863e-04 -2.41522702e+00] [-9.86613077e-04 -1.63523364e-06 9.99999513e-01 -3.09436142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.117627999999996 meters 0.01198029758078483 Centerline is valid? [True, True] Translation: X:21.90, Y:-2.42, Z:-0.03 [[ 9.90211842e-01 1.39571839e-01 4.57211226e-04 2.18988464e+01] [-1.39571825e-01 9.90211948e-01 -6.16739856e-05 -2.42376165e+00] [-4.61343970e-04 -2.74349452e-06 9.99999894e-01 -3.03016525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.177628 meters 0.011858356619323511 Centerline is valid? [True, True] Translation: X:21.96, Y:-2.43, Z:-0.03 [[ 9.90535016e-01 1.37259095e-01 -5.67675059e-04 2.19596843e+01] [-1.37259073e-01 9.90535179e-01 7.74044730e-05 -2.43266633e+00] [ 5.72926584e-04 1.24671130e-06 9.99999836e-01 -3.17119966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.237627999999997 meters 0.011884221813780316 Centerline is valid? [True, True] Translation: X:22.02, Y:-2.44, Z:-0.03 [[ 9.91268173e-01 1.31861006e-01 -2.89184523e-04 2.20214911e+01] [-1.31861000e-01 9.91268216e-01 3.98655610e-05 -2.44341375e+00] [ 2.91916139e-04 -1.38530156e-06 9.99999957e-01 -3.20224364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.297627999999996 meters 0.012284099927398111 Centerline is valid? [True, True] Translation: X:22.08, Y:-2.46, Z:-0.03 [[ 9.91909652e-01 1.26941245e-01 1.07803254e-03 2.20827629e+01] [-1.26941161e-01 9.91910238e-01 -1.46716819e-04 -2.45579375e+00] [-1.08793593e-03 8.68312748e-06 9.99999408e-01 -3.04985296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.357628 meters 0.013173344095194503 Centerline is valid? [True, True] Translation: X:22.14, Y:-2.47, Z:-0.03 [[ 9.92484280e-01 1.22348655e-01 2.39998636e-03 2.21430492e+01] [-1.22348220e-01 9.92487182e-01 -3.27705697e-04 -2.46705882e+00] [-2.42205005e-03 3.16086934e-05 9.99997066e-01 -2.92791840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.417627999999997 meters 0.015505110880967518 Centerline is valid? [True, True] Translation: X:22.20, Y:-2.48, Z:-0.03 [[ 9.93562379e-01 1.13268025e-01 2.03793340e-03 2.22032186e+01] [-1.13267692e-01 9.93564468e-01 -2.78598865e-04 -2.47874034e+00] [-2.05637456e-03 4.59733384e-05 9.99997885e-01 -3.07462082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.477628 meters 0.01618425690732919 Centerline is valid? [True, True] Translation: X:22.26, Y:-2.49, Z:-0.03 [[ 9.94558084e-01 1.04165790e-01 1.92526515e-03 2.22634211e+01] [-1.04165476e-01 9.94559945e-01 -2.63254237e-04 -2.48619304e+00] [-1.94221369e-03 6.12754696e-05 9.99998112e-01 -3.18948299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.537627999999998 meters 0.01758684853584994 Centerline is valid? [True, True] Translation: X:22.32, Y:-2.49, Z:-0.03 [[ 9.94965241e-01 1.00165326e-01 3.32822294e-03 2.23240641e+01] [-1.00164363e-01 9.94970800e-01 -4.55191011e-04 -2.49481643e+00] [-3.35707900e-03 1.19529904e-04 9.99994358e-01 -3.09309519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.597627999999997 meters 0.01853989194378054 Centerline is valid? [True, True] Translation: X:22.38, Y:-2.50, Z:-0.03 [[ 9.95598861e-01 9.36680140e-02 3.03505569e-03 2.23841234e+01] [-9.36671828e-02 9.95603479e-01 -4.15181563e-04 -2.50205475e+00] [-3.06060123e-03 1.29069175e-04 9.99995308e-01 -3.14526432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.657628 meters 0.021889344327776963 Centerline is valid? [True, True] Translation: X:22.44, Y:-2.51, Z:-0.03 [[ 9.95845530e-01 9.10143849e-02 2.83924440e-03 2.24440173e+01] [-9.10136458e-02 9.95849570e-01 -3.88710001e-04 -2.51336453e+00] [-2.86283851e-03 1.28685133e-04 9.99995894e-01 -3.24034527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.717627999999998 meters 0.022966455030310907 Centerline is valid? [True, True] Translation: X:22.51, Y:-2.52, Z:-0.03 [[ 9.95901145e-01 9.03803031e-02 3.50846265e-03 2.25058276e+01] [-9.03791673e-02 9.95907312e-01 -4.81263509e-04 -2.52142410e+00] [-3.53760035e-03 1.62198946e-04 9.99993730e-01 -3.27142030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.777627999999996 meters 0.02088533190036154 Centerline is valid? [True, True] Translation: X:22.57, Y:-2.52, Z:-0.03 [[ 9.95819133e-01 9.12825060e-02 3.42907763e-03 2.25677374e+01] [-9.12814234e-02 9.95825025e-01 -4.71213909e-04 -2.52440646e+00] [-3.45777490e-03 1.56232739e-04 9.99994010e-01 -3.33041385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.837628 meters 0.02028274588710813 Centerline is valid? [True, True] Translation: X:22.63, Y:-2.53, Z:-0.04 [[ 9.95468007e-01 9.50553957e-02 2.81407904e-03 2.26296022e+01] [-9.50546805e-02 9.95471977e-01 -3.87107244e-04 -2.52749767e+00] [-2.83813346e-03 1.17861492e-04 9.99995966e-01 -3.54036718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.897627999999997 meters 0.017491683164380503 Centerline is valid? [True, True] Translation: X:22.69, Y:-2.53, Z:-0.03 [[ 9.94995335e-01 9.98242770e-02 4.40431106e-03 2.26907643e+01] [-9.98225710e-02 9.95005069e-01 -6.06053321e-04 -2.53221041e+00] [-4.44281067e-03 1.63370573e-04 9.99990117e-01 -3.37860474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.957627999999996 meters 0.018350466159190847 Centerline is valid? [True, True] Translation: X:22.75, Y:-2.54, Z:-0.04 [[ 9.94487856e-01 1.04781165e-01 3.84846393e-03 2.27503767e+01] [-1.04779900e-01 9.94495295e-01 -5.29592764e-04 -2.53992046e+00] [-3.88277061e-03 1.23431909e-04 9.99992454e-01 -3.58503468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.017628 meters 0.016696715567272806 Centerline is valid? [True, True] Translation: X:22.81, Y:-2.55, Z:-0.04 [[ 9.94249853e-01 1.07040112e-01 3.10549672e-03 2.28119596e+01] [-1.07039297e-01 9.94254699e-01 -4.27716533e-04 -2.54638032e+00] [-3.13343753e-03 9.28469134e-05 9.99995086e-01 -3.65009545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.077627999999997 meters 0.015878726901494628 Centerline is valid? [True, True] Translation: X:22.87, Y:-2.56, Z:-0.04 [[ 9.93972931e-01 1.09581720e-01 3.10789614e-03 2.28734749e+01] [-1.09580915e-01 9.93977786e-01 -4.28831148e-04 -2.55587346e+00] [-3.13617178e-03 8.56804513e-05 9.99995079e-01 -3.62253956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.137627999999996 meters 0.01610531894664675 Centerline is valid? [True, True] Translation: X:22.93, Y:-2.57, Z:-0.04 [[ 9.93737535e-01 1.11716153e-01 2.28294084e-03 2.29342093e+01] [-1.11715723e-01 9.93740156e-01 -3.15456601e-04 -2.56516155e+00] [-2.30389159e-03 5.84406783e-05 9.99997344e-01 -3.87969705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.197627999999998 meters 0.015547057613730077 Centerline is valid? [True, True] Translation: X:23.00, Y:-2.57, Z:-0.04 [[ 9.93692882e-01 1.12128344e-01 1.30012059e-03 2.29961697e+01] [-1.12128205e-01 9.93693732e-01 -1.79766134e-04 -2.57409626e+00] [-1.31207856e-03 3.28521405e-05 9.99999139e-01 -4.02213545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.257627999999997 meters 0.016160402513442907 Centerline is valid? [True, True] Translation: X:23.06, Y:-2.59, Z:-0.04 [[ 9.93767145e-01 1.11470791e-01 1.06042133e-03 2.30568856e+01] [-1.11470698e-01 9.93767710e-01 -1.46866564e-04 -2.58783259e+00] [-1.07018381e-03 2.77452606e-05 9.99999427e-01 -4.06243953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.317628 meters 0.017240472481568316 Centerline is valid? [True, True] Translation: X:23.12, Y:-2.60, Z:-0.04 [[ 9.93733076e-01 1.11772767e-01 1.19228981e-03 2.31182002e+01] [-1.11772649e-01 9.93733791e-01 -1.65473578e-04 -2.59959190e+00] [-1.20331411e-03 3.11711771e-05 9.99999276e-01 -4.00612445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.377627999999998 meters 0.015566903630103632 Centerline is valid? [True, True] Translation: X:23.18, Y:-2.60, Z:-0.04 [[ 9.93390427e-01 1.14776213e-01 1.37165624e-03 2.31799592e+01] [-1.14776059e-01 9.93391373e-01 -1.90799023e-04 -2.60436711e+00] [-1.38449067e-03 3.21046253e-05 9.99999041e-01 -4.05507965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.437627999999997 meters 0.015064505991976654 Centerline is valid? [True, True] Translation: X:23.24, Y:-2.61, Z:-0.04 [[ 9.93208852e-01 1.16341404e-01 9.23767180e-04 2.32412159e+01] [-1.16341335e-01 9.93209282e-01 -1.28591149e-04 -2.61191529e+00] [-9.32454612e-04 2.02455609e-05 9.99999565e-01 -4.16159328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.497628 meters 0.014870743552746568 Centerline is valid? [True, True] Translation: X:23.30, Y:-2.62, Z:-0.04 [[ 9.93091053e-01 1.17345195e-01 5.16147667e-04 2.33025371e+01] [-1.17345173e-01 9.93091187e-01 -7.17935886e-05 -2.61834762e+00] [-5.21006332e-04 1.07301331e-05 9.99999864e-01 -4.29123331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.557627999999998 meters 0.016068758938387953 Centerline is valid? [True, True] Translation: X:23.36, Y:-2.63, Z:-0.04 [[ 9.93309779e-01 1.15479443e-01 -4.26080147e-04 2.33627542e+01] [-1.15479428e-01 9.93309870e-01 6.00934224e-05 -2.62780797e+00] [ 4.30169170e-04 -1.04878924e-05 9.99999907e-01 -4.42617260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.617627999999996 meters 0.016836474153725123 Centerline is valid? [True, True] Translation: X:23.42, Y:-2.64, Z:-0.04 [[ 9.93463532e-01 1.14149193e-01 4.16076647e-04 2.34240123e+01] [-1.14149178e-01 9.93463619e-01 -5.80085050e-05 -2.63744189e+00] [-4.19978635e-04 1.01345269e-05 9.99999912e-01 -4.28494186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.677628 meters 0.016785230533462578 Centerline is valid? [True, True] Translation: X:23.49, Y:-2.65, Z:-0.04 [[ 9.93726113e-01 1.11827296e-01 1.75164669e-03 2.34854332e+01] [-1.11827036e-01 9.93727656e-01 -2.45923673e-04 -2.64506092e+00] [-1.76816074e-03 4.84993177e-05 9.99998436e-01 -4.22460273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.737627999999997 meters 0.0181765731132698 Centerline is valid? [True, True] Translation: X:23.55, Y:-2.66, Z:-0.04 [[ 9.93950569e-01 1.09783196e-01 3.14907003e-03 2.35455007e+01] [-1.09782342e-01 9.93955553e-01 -4.43198303e-04 -2.65583962e+00] [-3.17869137e-03 9.48049217e-05 9.99994943e-01 -4.12406745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.797627999999996 meters 0.018127659356477574 Centerline is valid? [True, True] Translation: X:23.61, Y:-2.66, Z:-0.04 [[ 9.93845341e-01 1.10740452e-01 2.82685216e-03 2.36076296e+01] [-1.10739767e-01 9.93849357e-01 -3.98289131e-04 -2.66410002e+00] [-2.85357192e-03 8.27928467e-05 9.99995925e-01 -4.22532783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.857628 meters 0.016922468005617614 Centerline is valid? [True, True] Translation: X:23.67, Y:-2.67, Z:-0.04 [[ 9.93270744e-01 1.15789367e-01 2.46001450e-03 2.36674342e+01] [-1.15788863e-01 9.93273789e-01 -3.46741942e-04 -2.67022813e+00] [-2.48361696e-03 5.95663440e-05 9.99996914e-01 -4.29521692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.917627999999997 meters 0.015684243293776354 Centerline is valid? [True, True] Translation: X:23.73, Y:-2.68, Z:-0.04 [[ 9.92713579e-01 1.20450075e-01 3.39554368e-03 2.37281565e+01] [-1.20449142e-01 9.92719384e-01 -4.78703964e-04 -2.67647355e+00] [-3.42848196e-03 6.62256013e-05 9.99994121e-01 -4.25644284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.977628 meters 0.013573696303556424 Centerline is valid? [True, True] Translation: X:23.79, Y:-2.68, Z:-0.04 [[ 9.92098884e-01 1.25398215e-01 3.88487352e-03 2.37898629e+01] [-1.25397030e-01 9.92106488e-01 -5.48311500e-04 -2.68135854e+00] [-3.92296551e-03 5.68276274e-05 9.99992304e-01 -4.35827566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.037627999999998 meters 0.013260057582997035 Centerline is valid? [True, True] Translation: X:23.85, Y:-2.69, Z:-0.04 [[ 9.91744642e-01 1.28182707e-01 3.42918439e-03 2.38500836e+01] [-1.28181797e-01 9.91750569e-01 -4.84765673e-04 -2.69287738e+00] [-3.46303414e-03 4.12047420e-05 9.99994003e-01 -4.39021020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.097627999999997 meters 0.012936268360521343 Centerline is valid? [True, True] Translation: X:23.91, Y:-2.70, Z:-0.04 [[ 9.91398065e-01 1.30824491e-01 3.85090661e-03 2.39122419e+01] [-1.30823359e-01 9.91405543e-01 -5.45339259e-04 -2.69898036e+00] [-3.88915389e-03 3.68597465e-05 9.99992437e-01 -4.44159059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.157628 meters 0.01358319809034742 Centerline is valid? [True, True] Translation: X:23.97, Y:-2.71, Z:-0.05 [[ 9.91738731e-01 1.28224121e-01 3.58672806e-03 2.39724557e+01] [-1.28223121e-01 9.91745216e-01 -5.08552004e-04 -2.70827891e+00] [-3.62232903e-03 4.44492545e-05 9.99993438e-01 -4.60944116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.217627999999998 meters 0.014890467763068349 Centerline is valid? [True, True] Translation: X:24.03, Y:-2.72, Z:-0.05 [[ 9.92362609e-01 1.23281878e-01 4.24638208e-03 2.40334332e+01] [-1.23280428e-01 9.92371691e-01 -6.02512785e-04 -2.72065237e+00] [-4.28826827e-03 7.44153596e-05 9.99990803e-01 -4.53708502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.277627999999996 meters 0.015509801221493102 Centerline is valid? [True, True] Translation: X:24.09, Y:-2.73, Z:-0.05 [[ 9.93099369e-01 1.17157143e-01 5.27699777e-03 2.40935854e+01] [-1.17154817e-01 9.93113381e-01 -7.48950552e-04 -2.72861421e+00] [-5.32840201e-03 1.25556615e-04 9.99985796e-01 -4.52602177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.337628 meters 0.016869064254979582 Centerline is valid? [True, True] Translation: X:24.15, Y:-2.74, Z:-0.05 [[ 9.93624983e-01 1.12679190e-01 3.57672907e-03 2.41549192e+01] [-1.12678092e-01 9.93631415e-01 -5.07792339e-04 -2.73870410e+00] [-3.61116800e-03 1.01536147e-04 9.99993475e-01 -4.73453711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.397627999999997 meters 0.018494839713580805 Centerline is valid? [True, True] Translation: X:24.22, Y:-2.75, Z:-0.05 [[ 9.94112021e-01 1.08335481e-01 2.17110192e-03 2.42150818e+01] [-1.08335065e-01 9.94114389e-01 -3.08314055e-04 -2.74760838e+00] [-2.19172501e-03 7.12922398e-05 9.99997596e-01 -4.89388877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.457627999999996 meters 0.019294419681387828 Centerline is valid? [True, True] Translation: X:24.28, Y:-2.76, Z:-0.05 [[ 9.94188469e-01 1.07639725e-01 1.72540796e-03 2.42767232e+01] [-1.07639462e-01 9.94189965e-01 -2.45062897e-04 -2.75672683e+00] [-1.74176178e-03 5.79167234e-05 9.99998481e-01 -4.93913551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.517628 meters 0.017765903961330373 Centerline is valid? [True, True] Translation: X:24.34, Y:-2.76, Z:-0.05 [[ 9.94005647e-01 1.09319921e-01 1.38872836e-03 2.43388489e+01] [-1.09319751e-01 9.94006616e-01 -1.97501791e-04 -2.76060259e+00] [-1.40199606e-03 4.45024570e-05 9.99999016e-01 -5.01408787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.577627999999997 meters 0.016668913156579736 Centerline is valid? [True, True] Translation: X:24.40, Y:-2.77, Z:-0.05 [[ 9.93739310e-01 1.11702577e-01 2.17208555e-03 2.44009707e+01] [-1.11702167e-01 9.93741682e-01 -3.09690500e-04 -2.76652431e+00] [-2.19308517e-03 6.51249625e-05 9.99997593e-01 -5.04276705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.637627999999996 meters 0.01671526191110811 Centerline is valid? [True, True] Translation: X:24.46, Y:-2.77, Z:-0.05 [[ 9.93424343e-01 1.14464435e-01 2.44289629e-03 2.44613224e+01] [-1.14463923e-01 9.93427344e-01 -3.48891701e-04 -2.77488257e+00] [-2.46677567e-03 6.69740161e-05 9.99996955e-01 -5.03768073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.697627999999998 meters 0.01609276671830141 Centerline is valid? [True, True] Translation: X:24.52, Y:-2.78, Z:-0.05 [[ 9.93013574e-01 1.17986868e-01 1.77214108e-03 2.45224603e+01] [-1.17986604e-01 9.93015155e-01 -2.53272768e-04 -2.78202629e+00] [-1.78964581e-03 4.24143888e-05 9.99998398e-01 -5.20619969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.757627999999997 meters 0.014174182951234581 Centerline is valid? [True, True] Translation: X:24.58, Y:-2.79, Z:-0.05 [[ 9.92161532e-01 1.24957393e-01 1.06998365e-03 2.45841885e+01] [-1.24957301e-01 9.92162109e-01 -1.52925182e-04 -2.78767495e+00] [-1.08070637e-03 1.80242140e-05 9.99999416e-01 -5.30917394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.817628 meters 0.012873123902592667 Centerline is valid? [True, True] Translation: X:24.65, Y:-2.79, Z:-0.05 [[ 9.91116759e-01 1.32982883e-01 1.76738543e-03 2.46453678e+01] [-1.32982644e-01 9.91118334e-01 -2.52750255e-04 -2.79330711e+00] [-1.78529956e-03 1.54734268e-05 9.99998406e-01 -5.26999360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.877627999999998 meters 0.012487479280049452 Centerline is valid? [True, True] Translation: X:24.71, Y:-2.80, Z:-0.05 [[ 9.90468163e-01 1.37702406e-01 3.29620331e-03 2.47066457e+01] [-1.37701598e-01 9.90473648e-01 -4.71908453e-04 -2.80088321e+00] [-3.32978545e-03 1.35178357e-05 9.99994456e-01 -5.29335077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.937627999999997 meters 0.012392932652895622 Centerline is valid? [True, True] Translation: X:24.77, Y:-2.81, Z:-0.05 [[ 9.89740965e-01 1.42821451e-01 3.85428892e-03 2.47686228e+01] [-1.42820380e-01 9.89748470e-01 -5.52933944e-04 -2.81013867e+00] [-3.89374739e-03 -3.20963473e-06 9.99992419e-01 -5.26679479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.997628 meters 0.012517920279525982 Centerline is valid? [True, True] Translation: X:24.83, Y:-2.82, Z:-0.05 [[ 9.89257361e-01 1.46107351e-01 4.74499068e-03 2.48306402e+01] [-1.46105759e-01 9.89268741e-01 -6.82196723e-04 -2.81972194e+00] [-4.79374491e-03 -1.84023369e-05 9.99988510e-01 -5.25157864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.057627999999998 meters 0.01307839009092032 Centerline is valid? [True, True] Translation: X:24.89, Y:-2.83, Z:-0.05 [[ 9.88459364e-01 1.51387117e-01 5.47963726e-03 2.48916436e+01] [-1.51385070e-01 9.88474551e-01 -7.88880773e-04 -2.82500059e+00] [-5.53590837e-03 -4.97586832e-05 9.99984676e-01 -5.38510990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.117627999999996 meters 0.013356218392549296 Centerline is valid? [True, True] Translation: X:24.95, Y:-2.83, Z:-0.06 [[ 9.88077409e-01 1.53912706e-01 3.72989528e-03 2.49533331e+01] [-1.53911773e-01 9.88084448e-01 -5.37651387e-04 -2.83015492e+00] [-3.76820290e-03 -4.28336053e-05 9.99992899e-01 -5.67984398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.177628 meters 0.01299364224854956 Centerline is valid? [True, True] Translation: X:25.01, Y:-2.84, Z:-0.06 [[ 9.88483341e-01 1.51328601e-01 5.82850341e-04 2.50141090e+01] [-1.51328578e-01 9.88483512e-01 -8.39286359e-05 -2.83733518e+00] [-5.88838755e-04 -5.23985484e-06 9.99999827e-01 -6.06541276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.237627999999997 meters 0.01245695908526285 Centerline is valid? [True, True] Translation: X:25.07, Y:-2.85, Z:-0.06 [[ 9.88998074e-01 1.47927869e-01 -3.93754274e-04 2.50747488e+01] [-1.47927858e-01 9.88998152e-01 5.73722776e-05 -2.84917939e+00] [ 3.97909208e-04 1.50615427e-06 9.99999921e-01 -6.14853691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.297627999999996 meters 0.012360806731981375 Centerline is valid? [True, True] Translation: X:25.14, Y:-2.86, Z:-0.06 [[ 9.89977678e-01 1.41223772e-01 2.05604274e-04 2.51357882e+01] [-1.41223769e-01 9.89977700e-01 -2.96082047e-05 -2.86480017e+00] [-2.07725028e-04 2.75251201e-07 9.99999978e-01 -6.08174344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.357628 meters 0.012564208228674743 Centerline is valid? [True, True] Translation: X:25.20, Y:-2.88, Z:-0.06 [[ 9.90542212e-01 1.37196734e-01 1.78395268e-03 2.51972291e+01] [-1.37196492e-01 9.90543818e-01 -2.58249867e-04 -2.87517250e+00] [-1.80251434e-03 1.10553456e-05 9.99998375e-01 -6.04266668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.417627999999997 meters 0.014708574149991625 Centerline is valid? [True, True] Translation: X:25.26, Y:-2.89, Z:-0.06 [[ 9.91871121e-01 1.27204885e-01 3.25510439e-03 2.52561350e+01] [-1.27204020e-01 9.91876461e-01 -4.72204438e-04 -2.89169356e+00] [-3.28872813e-03 5.43035808e-05 9.99994591e-01 -5.86326429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.477627999999996 meters 0.015554864525868848 Centerline is valid? [True, True] Translation: X:25.32, Y:-2.90, Z:-0.06 [[ 9.92845122e-01 1.19297275e-01 5.16945942e-03 2.53162783e+01] [-1.19294985e-01 9.92858572e-01 -7.50309868e-04 -2.90287545e+00] [-5.22205202e-03 1.28250910e-04 9.99986357e-01 -5.69976800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.537627999999998 meters 0.018824506459354084 Centerline is valid? [True, True] Translation: X:25.38, Y:-2.91, Z:-0.05 [[ 9.94013131e-01 1.09017741e-01 7.28199815e-03 2.53755349e+01] [-1.09012919e-01 9.94039771e-01 -1.05699599e-03 -2.91495924e+00] [-7.35382708e-03 2.56836021e-04 9.99972927e-01 -5.46344870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.597627999999997 meters 0.021327946742952294 Centerline is valid? [True, True] Translation: X:25.44, Y:-2.92, Z:-0.06 [[ 9.95298233e-01 9.66724060e-02 5.98942663e-03 2.54357725e+01] [-9.66689204e-02 9.95316213e-01 -8.69432217e-04 -2.92476199e+00] [-6.04542353e-03 2.86352944e-04 9.99981685e-01 -5.71969499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.657628 meters 0.024361499375177943 Centerline is valid? [True, True] Translation: X:25.50, Y:-2.93, Z:-0.06 [[ 9.95969927e-01 8.96050191e-02 3.85289790e-03 2.54959035e+01] [-8.96035236e-02 9.95977357e-01 -5.59363345e-04 -2.93452373e+00] [-3.88752083e-03 2.11875842e-04 9.99992421e-01 -5.94361652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.717627999999998 meters 0.0273779585568058 Centerline is valid? [True, True] Translation: X:25.56, Y:-2.94, Z:-0.06 [[ 9.96445145e-01 8.42433602e-02 -3.59051511e-04 2.55564793e+01] [-8.42433469e-02 9.96445210e-01 5.21635548e-05 -2.94369831e+00] [ 3.62169591e-04 -2.17304200e-05 9.99999934e-01 -6.17715309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.777627999999996 meters 0.026167622759560003 Centerline is valid? [True, True] Translation: X:25.62, Y:-2.95, Z:-0.06 [[ 9.96460998e-01 8.40504169e-02 -1.00307017e-03 2.56190030e+01] [-8.40503121e-02 9.96461501e-01 1.46324914e-04 -2.94805447e+00] [ 1.01181948e-03 -6.14987093e-05 9.99999486e-01 -6.19447561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.837628 meters 0.024481349625892757 Centerline is valid? [True, True] Translation: X:25.68, Y:-2.95, Z:-0.06 [[ 9.96045098e-01 8.88480078e-02 4.40432447e-04 2.56801759e+01] [-8.88479881e-02 9.96045195e-01 -6.40582877e-05 -2.94868778e+00] [-4.44382073e-04 2.46734067e-05 9.99999901e-01 -5.96056045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.897627999999997 meters 0.024230550283980416 Centerline is valid? [True, True] Translation: X:25.74, Y:-2.95, Z:-0.06 [[ 9.95607316e-01 9.36071483e-02 1.94291812e-03 2.57394959e+01] [-9.36067744e-02 9.95609206e-01 -2.82648364e-04 -2.95246579e+00] [-1.96084508e-03 9.95364807e-05 9.99998073e-01 -5.85988463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.957627999999996 meters 0.0198015517125542 Centerline is valid? [True, True] Translation: X:25.80, Y:-2.95, Z:-0.06 [[ 9.94723002e-01 1.02546850e-01 3.20836505e-03 2.58008439e+01] [-1.02545877e-01 9.94728166e-01 -4.66913343e-04 -2.94936122e+00] [-3.23933158e-03 1.35444834e-04 9.99994744e-01 -5.58534136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.017628 meters 0.01800295338542673 Centerline is valid? [True, True] Translation: X:25.86, Y:-2.95, Z:-0.06 [[ 9.93929812e-01 1.09980894e-01 2.78047317e-03 2.58618126e+01] [-1.09980191e-01 9.93933697e-01 -4.04648551e-04 -2.95033012e+00] [-2.80810959e-03 9.63952868e-05 9.99996053e-01 -5.57998534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.077627999999997 meters 0.014480873842880075 Centerline is valid? [True, True] Translation: X:25.92, Y:-2.95, Z:-0.06 [[ 9.92525517e-01 1.22034398e-01 8.38562635e-04 2.59236000e+01] [-1.22034338e-01 9.92525871e-01 -1.22039371e-04 -2.94545726e+00] [-8.47188111e-04 1.87937532e-05 9.99999641e-01 -5.83990739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.137627999999996 meters 0.014014868354795927 Centerline is valid? [True, True] Translation: X:25.98, Y:-2.95, Z:-0.06 [[ 9.91841885e-01 1.27462884e-01 -1.69928760e-03 2.59841783e+01] [-1.27462647e-01 9.91843341e-01 2.47373209e-04 -2.94926886e+00] [ 1.71695800e-03 -2.87594146e-05 9.99998526e-01 -6.12978315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.197627999999998 meters 0.013202553726693454 Centerline is valid? [True, True] Translation: X:26.05, Y:-2.95, Z:-0.06 [[ 9.91482392e-01 1.30066770e-01 -6.73065215e-03 2.60468807e+01] [-1.30063099e-01 9.91505232e-01 9.82119960e-04 -2.95390702e+00] [ 6.80121800e-03 -9.83451678e-05 9.99976867e-01 -6.48643436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.257627999999997 meters 0.01363580876611513 Centerline is valid? [True, True] Translation: X:26.11, Y:-2.96, Z:-0.07 [[ 9.91839089e-01 1.27255199e-01 -7.83177932e-03 2.61077510e+01] [-1.27250126e-01 9.91869999e-01 1.14466709e-03 -2.96423843e+00] [ 7.91377179e-03 -1.38730658e-04 9.99968676e-01 -6.56311616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.317628 meters 0.01655897299522806 Centerline is valid? [True, True] Translation: X:26.17, Y:-2.98, Z:-0.06 [[ 9.93466105e-01 1.13916568e-01 -6.93641231e-03 2.61667693e+01] [-1.13912265e-01 9.93490296e-01 1.01358815e-03 -2.98260202e+00] [ 7.00672280e-03 -2.16823035e-04 9.99975429e-01 -6.39448831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.377627999999998 meters 0.021375003540789472 Centerline is valid? [True, True] Translation: X:26.22, Y:-3.01, Z:-0.06 [[ 9.95280264e-01 9.69331622e-02 -4.59989505e-03 2.62247868e+01] [-9.69310884e-02 9.95290868e-01 6.72168078e-04 -3.00547933e+00] [ 4.64338892e-03 -2.23122788e-04 9.99989195e-01 -6.05068542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.437627999999997 meters 0.023610982540429037 Centerline is valid? [True, True] Translation: X:26.28, Y:-3.02, Z:-0.06 [[ 9.96137064e-01 8.77157961e-02 -4.10965404e-03 2.62846190e+01] [-8.77140619e-02 9.96145513e-01 6.00680526e-04 -3.01984474e+00] [ 4.14650260e-03 -2.37885686e-04 9.99991375e-01 -5.96970764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.497628 meters 0.027917527574014438 Centerline is valid? [True, True] Translation: X:26.34, Y:-3.03, Z:-0.06 [[ 9.96640381e-01 8.16789252e-02 -6.04193732e-03 2.63445763e+01] [-8.16750653e-02 9.96658619e-01 8.83264701e-04 -3.03310837e+00] [ 6.09389302e-03 -3.86821642e-04 9.99981357e-01 -6.17567064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.557627999999998 meters 0.027724985246444483 Centerline is valid? [True, True] Translation: X:26.40, Y:-3.04, Z:-0.06 [[ 9.96550756e-01 8.27724064e-02 -5.94304860e-03 2.64049677e+01] [-8.27686850e-02 9.96568406e-01 8.69840516e-04 -3.04356030e+00] [ 5.99465326e-03 -3.74941906e-04 9.99981962e-01 -6.01154161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.617627999999996 meters 0.024394701766154957 Centerline is valid? [True, True] Translation: X:26.47, Y:-3.05, Z:-0.06 [[ 9.96206494e-01 8.66940075e-02 -7.53460712e-03 2.64657134e+01] [-8.66881400e-02 9.96234887e-01 1.10248787e-03 -3.04569121e+00] [ 7.60181757e-03 -4.45144496e-04 9.99971007e-01 -6.08094643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.677628 meters 0.022638963639264723 Centerline is valid? [True, True] Translation: X:26.53, Y:-3.05, Z:-0.06 [[ 9.95218551e-01 9.72105306e-02 -9.49464351e-03 2.65256894e+01] [-9.72016894e-02 9.95263735e-01 1.38933525e-03 -3.04751716e+00] [ 9.58473238e-03 -4.59796823e-04 9.99953960e-01 -6.20869514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.737627999999997 meters 0.018978393548774536 Centerline is valid? [True, True] Translation: X:26.59, Y:-3.05, Z:-0.06 [[ 9.94032745e-01 1.08607408e-01 -1.01652879e-02 2.65875383e+01] [-1.08597865e-01 9.94084650e-01 1.48764927e-03 -3.04720372e+00] [ 1.02667263e-02 -3.74843520e-04 9.99947226e-01 -6.15732243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.797627999999996 meters 0.017632960052388087 Centerline is valid? [True, True] Translation: X:26.65, Y:-3.05, Z:-0.06 [[ 9.93294823e-01 1.15263360e-01 -8.93046438e-03 2.66471073e+01] [-1.15256264e-01 9.93334931e-01 1.30688177e-03 -3.05137043e+00] [ 9.02157780e-03 -2.68826931e-04 9.99959269e-01 -6.02067522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.857628 meters 0.016111654869558466 Centerline is valid? [True, True] Translation: X:26.71, Y:-3.05, Z:-0.06 [[ 9.92509248e-01 1.22067382e-01 -4.99476030e-03 2.67066237e+01] [-1.22065246e-01 9.92521809e-01 7.31396009e-04 -3.05465194e+00] [ 5.04668813e-03 -1.16230656e-04 9.99987259e-01 -5.71342083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.917627999999997 meters 0.014134491959734652 Centerline is valid? [True, True] Translation: X:26.77, Y:-3.06, Z:-0.06 [[ 9.92197640e-01 1.24637294e-01 -3.06390083e-03 2.67693055e+01] [-1.24636502e-01 9.92202369e-01 4.49012750e-04 -3.05956147e+00] [ 3.09597340e-03 -6.36355099e-05 9.99995205e-01 -5.53759661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.977627999999996 meters 0.013720154092939064 Centerline is valid? [True, True] Translation: X:26.83, Y:-3.07, Z:-0.05 [[ 9.91876561e-01 1.27173175e-01 -2.80550083e-03 2.68309274e+01] [-1.27172518e-01 9.91880528e-01 4.12130064e-04 -3.06721151e+00] [ 2.83513354e-03 -5.19995461e-05 9.99995980e-01 -5.46666135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.037627999999998 meters 0.013803790425886588 Centerline is valid? [True, True] Translation: X:26.89, Y:-3.08, Z:-0.06 [[ 9.91736727e-01 1.28212347e-01 -4.45624035e-03 2.68929881e+01] [-1.28210695e-01 9.91746736e-01 6.55703295e-04 -3.07536689e+00] [ 4.50353107e-03 -7.89473696e-05 9.99989856e-01 -5.69038383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.097627999999997 meters 0.013706280486901607 Centerline is valid? [True, True] Translation: X:26.95, Y:-3.08, Z:-0.06 [[ 9.91868630e-01 1.27152385e-01 -5.37517283e-03 2.69546746e+01] [-1.27149959e-01 9.91883189e-01 7.92145061e-04 -3.08405466e+00] [ 5.43226670e-03 -1.02250833e-04 9.99985240e-01 -5.78255349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.157628 meters 0.014673772554338013 Centerline is valid? [True, True] Translation: X:27.01, Y:-3.10, Z:-0.06 [[ 9.92620820e-01 1.21067764e-01 -6.81939435e-03 2.70140743e+01] [-1.21063718e-01 9.92644230e-01 1.00460481e-03 -3.09715272e+00] [ 6.89085771e-03 -1.71610422e-04 9.99976243e-01 -5.80968503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.217627999999998 meters 0.020513176821240552 Centerline is valid? [True, True] Translation: X:27.07, Y:-3.12, Z:-0.06 [[ 9.93472647e-01 1.13834722e-01 -7.33185254e-03 2.70716854e+01] [-1.13829847e-01 9.93499673e-01 1.08006485e-03 -3.11823770e+00] [ 7.40714198e-03 -2.38431230e-04 9.99972538e-01 -6.00889671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.277627999999996 meters 0.021660342861338295 Centerline is valid? [True, True] Translation: X:27.13, Y:-3.13, Z:-0.06 [[ 9.95013355e-01 9.95198411e-02 -6.65008279e-03 2.71308142e+01] [-9.95155107e-02 9.95035529e-01 9.79761203e-04 -3.13229320e+00] [ 6.71457432e-03 -3.13089098e-04 9.99977408e-01 -5.85218390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.337628 meters 0.02278414008743183 Centerline is valid? [True, True] Translation: X:27.19, Y:-3.15, Z:-0.06 [[ 9.95873771e-01 9.05471171e-02 -6.05414764e-03 2.71906295e+01] [-9.05433613e-02 9.95892115e-01 8.92154536e-04 -3.14535091e+00] [ 6.11005991e-03 -3.40310425e-04 9.99981276e-01 -5.82018439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.397627999999997 meters 0.025252106786919793 Centerline is valid? [True, True] Translation: X:27.25, Y:-3.16, Z:-0.06 [[ 9.96514201e-01 8.31515849e-02 -6.72766536e-03 2.72497391e+01] [-8.31467788e-02 9.96536818e-01 9.91435563e-04 -3.16222624e+00] [ 6.78680567e-03 -4.28595915e-04 9.99976878e-01 -5.69003513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.457627999999996 meters 0.02597474316434965 Centerline is valid? [True, True] Translation: X:27.31, Y:-3.17, Z:-0.06 [[ 9.96529063e-01 8.28535900e-02 -8.06908387e-03 2.73106239e+01] [-8.28466479e-02 9.96561595e-01 1.19138839e-03 -3.17159721e+00] [ 8.14004990e-03 -5.18756602e-04 9.99966735e-01 -5.85070907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.517628 meters 0.024690379612589203 Centerline is valid? [True, True] Translation: X:27.37, Y:-3.18, Z:-0.06 [[ 9.96107427e-01 8.76760361e-02 -9.10531596e-03 2.73712651e+01] [-8.76674007e-02 9.96148895e-01 1.34399726e-03 -3.17612442e+00] [ 9.18808678e-03 -5.40526269e-04 9.99957643e-01 -6.02060482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.577627999999997 meters 0.02310661253645336 Centerline is valid? [True, True] Translation: X:27.43, Y:-3.18, Z:-0.06 [[ 9.95246061e-01 9.70244035e-02 -8.45831645e-03 2.74310624e+01] [-9.70172889e-02 9.95281913e-01 1.24840072e-03 -3.18112310e+00] [ 8.53953472e-03 -4.21862968e-04 9.99963449e-01 -5.89824003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.637627999999996 meters 0.023135059549643275 Centerline is valid? [True, True] Translation: X:27.49, Y:-3.19, Z:-0.06 [[ 9.94547485e-01 1.04065319e-01 -6.76085499e-03 2.74901546e+01] [-1.04060937e-01 9.94570423e-01 9.97730633e-04 -3.18759990e+00] [ 6.82797556e-03 -2.88749587e-04 9.99976647e-01 -5.89276502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.697627999999998 meters 0.01777879151651768 Centerline is valid? [True, True] Translation: X:27.55, Y:-3.18, Z:-0.06 [[ 9.93385787e-01 1.14698646e-01 -5.37575827e-03 2.75519187e+01] [-1.14696031e-01 9.93400318e-01 7.93336823e-04 -3.18447815e+00] [ 5.43127463e-03 -1.71511387e-04 9.99985236e-01 -5.86661626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.757627999999997 meters 0.016098445078135213 Centerline is valid? [True, True] Translation: X:27.61, Y:-3.19, Z:-0.06 [[ 9.92426240e-01 1.22768244e-01 -4.25626592e-03 2.76118217e+01] [-1.22766679e-01 9.92435362e-01 6.28124307e-04 -3.18943906e+00] [ 4.30118253e-03 -1.00839414e-04 9.99990745e-01 -5.84015016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.817627999999996 meters 0.012861105332098681 Centerline is valid? [True, True] Translation: X:27.67, Y:-3.19, Z:-0.06 [[ 9.90987131e-01 1.33873038e-01 -4.74518084e-03 2.76726106e+01] [-1.33871220e-01 9.90998489e-01 7.00277727e-04 -3.19133713e+00] [ 4.79621535e-03 -5.87230697e-05 9.99988496e-01 -5.81773030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.877627999999998 meters 0.011928762672498979 Centerline is valid? [True, True] Translation: X:27.73, Y:-3.20, Z:-0.06 [[ 9.89857653e-01 1.41994586e-01 -4.40045659e-03 2.77334903e+01] [-1.41993096e-01 9.89867434e-01 6.50795788e-04 -3.19753800e+00] [ 4.44827815e-03 -1.93607366e-05 9.99990106e-01 -5.88178911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.937627999999997 meters 0.011659321897422036 Centerline is valid? [True, True] Translation: X:27.80, Y:-3.21, Z:-0.06 [[ 9.89117533e-01 1.47036111e-01 -5.18530570e-03 2.77960661e+01] [-1.47034103e-01 9.89131125e-01 7.68424924e-04 -3.20637704e+00] [ 5.24193347e-03 2.35420672e-06 9.99986261e-01 -5.89635806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.997628 meters 0.012006004422536538 Centerline is valid? [True, True] Translation: X:27.86, Y:-3.22, Z:-0.06 [[ 9.88253018e-01 1.52666720e-01 -6.98896753e-03 2.78569398e+01] [-1.52663201e-01 9.88277730e-01 1.03727777e-03 -3.21772430e+00] [ 7.06539875e-03 4.18652743e-05 9.99975039e-01 -6.07245519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.057627999999998 meters 0.012285131405982783 Centerline is valid? [True, True] Translation: X:27.92, Y:-3.23, Z:-0.06 [[ 9.87989674e-01 1.54365255e-01 -6.91173717e-03 2.79177782e+01] [-1.54361841e-01 9.88013849e-01 1.02790538e-03 -3.23345245e+00] [ 6.98756492e-03 5.13485738e-05 9.99975585e-01 -6.11415344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.117627999999996 meters 0.012079585945372477 Centerline is valid? [True, True] Translation: X:27.98, Y:-3.25, Z:-0.06 [[ 9.88285713e-01 1.52481488e-01 -6.38322889e-03 2.79784058e+01] [-1.52478526e-01 9.88306326e-01 9.50928221e-04 -3.25018602e+00] [ 6.45358444e-03 3.35165581e-05 9.99979175e-01 -6.03512380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.177628 meters 0.012152125060223068 Centerline is valid? [True, True] Translation: X:28.04, Y:-3.27, Z:-0.06 [[ 9.89079381e-01 1.47252707e-01 -6.21438250e-03 2.80375050e+01] [-1.47249786e-01 9.89098903e-01 9.27367768e-04 -3.27303200e+00] [ 6.28319633e-03 -2.17384155e-06 9.99980261e-01 -6.01070023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.237627999999997 meters 0.012400977979433356 Centerline is valid? [True, True] Translation: X:28.10, Y:-3.29, Z:-0.06 [[ 9.89601166e-01 1.43641398e-01 -7.52870861e-03 2.80975409e+01] [-1.43636993e-01 9.89629803e-01 1.12533369e-03 -3.29326351e+00] [ 7.61227892e-03 -3.22304657e-05 9.99971026e-01 -6.02917779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.297627999999996 meters 0.013219801978988152 Centerline is valid? [True, True] Translation: X:28.16, Y:-3.32, Z:-0.06 [[ 9.90392919e-01 1.37983354e-01 -9.08077397e-03 2.81562609e+01] [-1.37976700e-01 9.90434544e-01 1.35821657e-03 -3.31775255e+00] [ 9.18132350e-03 -9.22328508e-05 9.99957847e-01 -6.12563257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.357628 meters 0.012630855865075731 Centerline is valid? [True, True] Translation: X:28.22, Y:-3.33, Z:-0.06 [[ 9.89613225e-01 1.43597469e-01 -6.74030251e-03 2.82171515e+01] [-1.43593921e-01 9.89636179e-01 1.00991551e-03 -3.32601525e+00] [ 6.81546853e-03 -3.15592802e-05 9.99976774e-01 -5.97140364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.417627999999997 meters 0.012605104881821044 Centerline is valid? [True, True] Translation: X:28.28, Y:-3.34, Z:-0.06 [[ 9.89277557e-01 1.45841707e-01 -7.75322320e-03 2.82796832e+01] [-1.45837063e-01 9.89307938e-01 1.16394666e-03 -3.33511075e+00] [ 7.84007723e-03 -2.07590094e-05 9.99969266e-01 -5.89238759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.477627999999996 meters 0.012684061711331764 Centerline is valid? [True, True] Translation: X:28.34, Y:-3.35, Z:-0.06 [[ 9.89290027e-01 1.45720772e-01 -8.40831165e-03 2.83413929e+01] [-1.45715286e-01 9.89325758e-01 1.26467298e-03 -3.34507565e+00] [ 8.50284843e-03 -2.59088301e-05 9.99963850e-01 -5.94224758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.537627999999998 meters 0.012954526775690573 Centerline is valid? [True, True] Translation: X:28.40, Y:-3.36, Z:-0.06 [[ 9.89681304e-01 1.43055373e-01 -8.12875307e-03 2.84036780e+01] [-1.43050137e-01 9.89714685e-01 1.22497042e-03 -3.35528921e+00] [ 8.22038488e-03 -4.95110855e-05 9.99966211e-01 -5.92231545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.597627999999997 meters 0.013916431987000677 Centerline is valid? [True, True] Translation: X:28.46, Y:-3.37, Z:-0.06 [[ 9.90377646e-01 1.38145362e-01 -8.24479183e-03 2.84633632e+01] [-1.38139806e-01 9.90411960e-01 1.24232758e-03 -3.36618986e+00] [ 8.33736223e-03 -9.14395225e-05 9.99965239e-01 -6.06398033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.657628 meters 0.01611821883025125 Centerline is valid? [True, True] Translation: X:28.52, Y:-3.38, Z:-0.06 [[ 9.91630987e-01 1.28917837e-01 -6.94092014e-03 2.85234787e+01] [-1.28913672e-01 9.91655268e-01 1.04610761e-03 -3.37943463e+00] [ 7.01786195e-03 -1.42573218e-04 9.99975364e-01 -6.05650853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.717627999999998 meters 0.018424516338854197 Centerline is valid? [True, True] Translation: X:28.58, Y:-3.39, Z:-0.06 [[ 9.92997496e-01 1.17980097e-01 -6.05555879e-03 2.85825203e+01] [-1.17976724e-01 9.93015941e-01 9.12580584e-04 -3.39238829e+00] [ 6.12093276e-03 -1.91775249e-04 9.99981249e-01 -5.82023540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.777627999999996 meters 0.019498254578469 Centerline is valid? [True, True] Translation: X:28.64, Y:-3.40, Z:-0.06 [[ 9.93758347e-01 1.11448500e-01 -4.85592607e-03 2.86424679e+01] [-1.11446252e-01 9.93770193e-01 7.31917653e-04 -3.40303775e+00] [ 4.90724571e-03 -1.86174519e-04 9.99987942e-01 -5.69927501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.837628 meters 0.02036583196228729 Centerline is valid? [True, True] Translation: X:28.70, Y:-3.41, Z:-0.06 [[ 9.94288859e-01 1.06636683e-01 -4.27583955e-03 2.87027324e+01] [-1.06634895e-01 9.94298036e-01 6.44565248e-04 -3.41201198e+00] [ 4.32019317e-03 -1.84930342e-04 9.99990651e-01 -5.67884612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.897627999999997 meters 0.020890381283783815 Centerline is valid? [True, True] Translation: X:28.76, Y:-3.42, Z:-0.06 [[ 9.94315192e-01 1.06391467e-01 -4.26085871e-03 2.87647177e+01] [-1.06389683e-01 9.94324304e-01 6.43773119e-04 -3.42033234e+00] [ 4.30516733e-03 -1.86801984e-04 9.99990715e-01 -5.70121356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.957627999999996 meters 0.022538422726327008 Centerline is valid? [True, True] Translation: X:28.82, Y:-3.43, Z:-0.06 [[ 9.94018099e-01 1.09111200e-01 -4.77128300e-03 2.88242959e+01] [-1.09108994e-01 9.94029530e-01 7.21111418e-04 -3.42777550e+00] [ 4.82147754e-03 -1.96207913e-04 9.99988357e-01 -5.91256492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.017628 meters 0.01946629403952079 Centerline is valid? [True, True] Translation: X:28.89, Y:-3.43, Z:-0.06 [[ 9.93422444e-01 1.14423419e-01 -4.37364471e-03 2.88852074e+01] [-1.14421617e-01 9.93432060e-01 6.60852461e-04 -3.42984841e+00] [ 4.42053587e-03 -1.56066168e-04 9.99990217e-01 -5.89491035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.077627999999997 meters 0.017905287358724285 Centerline is valid? [True, True] Translation: X:28.95, Y:-3.43, Z:-0.06 [[ 9.93094609e-01 1.17212112e-01 -4.94151615e-03 2.89475442e+01] [-1.17209838e-01 9.93106889e-01 7.48327281e-04 -3.43474742e+00] [ 4.99516676e-03 -1.63965480e-04 9.99987511e-01 -5.92538648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.137627999999996 meters 0.018306327026259714 Centerline is valid? [True, True] Translation: X:29.01, Y:-3.44, Z:-0.06 [[ 9.92970311e-01 1.18235242e-01 -5.51253821e-03 2.90081793e+01] [-1.18232421e-01 9.92985597e-01 8.35993838e-04 -3.44379063e+00] [ 5.57271497e-03 -1.78356325e-04 9.99984456e-01 -6.04190065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.197627999999998 meters 0.017310368583205997 Centerline is valid? [True, True] Translation: X:29.07, Y:-3.45, Z:-0.06 [[ 9.92735273e-01 1.20195720e-01 -5.44666093e-03 2.90694052e+01] [-1.20192988e-01 9.92750201e-01 8.27422397e-04 -3.45195531e+00] [ 5.50662636e-03 -1.66760948e-04 9.99984825e-01 -6.12193582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.257627999999997 meters 0.016877928197159497 Centerline is valid? [True, True] Translation: X:29.13, Y:-3.46, Z:-0.06 [[ 9.92534407e-01 1.21843364e-01 -5.44469285e-03 2.91309473e+01] [-1.21840651e-01 9.92549328e-01 8.28507859e-04 -3.46257110e+00] [ 5.50507441e-03 -1.58937635e-04 9.99984834e-01 -6.13685107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.317627999999996 meters 0.01790466407421399 Centerline is valid? [True, True] Translation: X:29.19, Y:-3.47, Z:-0.06 [[ 9.92536846e-01 1.21824716e-01 -5.41734073e-03 2.91917501e+01] [-1.21822021e-01 9.92551617e-01 8.25826371e-04 -3.47454847e+00] [ 5.47759637e-03 -1.59711704e-04 9.99984985e-01 -6.19271451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.377627999999998 meters 0.016563421626790295 Centerline is valid? [True, True] Translation: X:29.25, Y:-3.48, Z:-0.06 [[ 9.92545991e-01 1.21772709e-01 -4.88502598e-03 2.92537034e+01] [-1.21770510e-01 9.92558001e-01 7.46205217e-04 -3.48387246e+00] [ 4.93953905e-03 -1.45790893e-04 9.99987790e-01 -6.04753555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.437627999999997 meters 0.0179806884121813 Centerline is valid? [True, True] Translation: X:29.31, Y:-3.50, Z:-0.06 [[ 9.92472185e-01 1.22403358e-01 -4.04713607e-03 2.93131432e+01] [-1.22401852e-01 9.92480430e-01 6.18637486e-04 -3.49878563e+00] [ 4.09242666e-03 -1.18603547e-04 9.99991619e-01 -5.98264792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.497628 meters 0.016833918781581487 Centerline is valid? [True, True] Translation: X:29.38, Y:-3.51, Z:-0.06 [[ 9.92304451e-01 1.23728844e-01 -4.80103980e-03 2.93752535e+01] [-1.23726739e-01 9.92316056e-01 7.34175934e-04 -3.50664715e+00] [ 4.85498761e-03 -1.34509048e-04 9.99988205e-01 -6.06517645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.557627999999998 meters 0.016148316475969187 Centerline is valid? [True, True] Translation: X:29.44, Y:-3.52, Z:-0.06 [[ 9.91940101e-01 1.26601490e-01 -5.18641152e-03 2.94365922e+01] [-1.26599064e-01 9.91953651e-01 7.94663069e-04 -3.51573318e+00] [ 5.24528537e-03 -1.31663321e-04 9.99986235e-01 -6.17988625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.617627999999996 meters 0.015053600230762128 Centerline is valid? [True, True] Translation: X:29.50, Y:-3.53, Z:-0.06 [[ 9.91541769e-01 1.29732719e-01 -3.78719617e-03 2.94977271e+01] [-1.29731444e-01 9.91548997e-01 5.81362753e-04 -3.52702282e+00] [ 3.83061233e-03 -8.51270244e-05 9.99992660e-01 -5.90774779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.677628 meters 0.014703048522634916 Centerline is valid? [True, True] Translation: X:29.56, Y:-3.54, Z:-0.06 [[ 9.91152266e-01 1.32695850e-01 -2.99963775e-03 2.95594583e+01] [-1.32695064e-01 9.91156803e-01 4.60551738e-04 -3.53795525e+00] [ 3.03422467e-03 -5.84397763e-05 9.99995395e-01 -5.86539877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.737627999999997 meters 0.014316786367659737 Centerline is valid? [True, True] Translation: X:29.62, Y:-3.55, Z:-0.06 [[ 9.90774253e-01 1.35457519e-01 -4.19992757e-03 2.96212272e+01] [-1.35455997e-01 9.90783153e-01 6.46094951e-04 -3.54703719e+00] [ 4.24873590e-03 -7.12288654e-05 9.99990972e-01 -6.07230074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.797627999999996 meters 0.013070804324512107 Centerline is valid? [True, True] Translation: X:29.68, Y:-3.55, Z:-0.06 [[ 9.89770153e-01 1.42550666e-01 -5.86105116e-03 2.96832458e+01] [-1.42547819e-01 9.89787505e-01 9.02931041e-04 -3.55399114e+00] [ 5.92990863e-03 -5.82141362e-05 9.99982416e-01 -6.20340344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.857628 meters 0.012300397973762624 Centerline is valid? [True, True] Translation: X:29.74, Y:-3.56, Z:-0.06 [[ 9.88888508e-01 1.48573660e-01 -5.03839713e-03 2.97446293e+01] [-1.48571627e-01 9.88901344e-01 7.77557276e-04 -3.56063209e+00] [ 5.09800222e-03 -2.03545978e-05 9.99987005e-01 -6.06859292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.917627999999997 meters 0.012176448828583512 Centerline is valid? [True, True] Translation: X:29.81, Y:-3.57, Z:-0.06 [[ 9.88668104e-01 1.50087177e-01 -3.03623376e-03 2.98061339e+01] [-1.50086442e-01 9.88672767e-01 4.69504746e-04 -3.56878076e+00] [ 3.07230828e-03 -8.48684350e-06 9.99995280e-01 -6.05827886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.977627999999996 meters 0.012138774524630596 Centerline is valid? [True, True] Translation: X:29.87, Y:-3.58, Z:-0.06 [[ 9.88645555e-01 1.50264133e-01 -8.10012842e-04 2.98674763e+01] [-1.50264081e-01 9.88645887e-01 1.25802882e-04 -3.57979439e+00] [ 8.19719526e-04 -2.65862559e-06 9.99999664e-01 -5.97895055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.037627999999998 meters 0.012077912691523652 Centerline is valid? [True, True] Translation: X:29.93, Y:-3.59, Z:-0.06 [[ 9.88677015e-01 1.50057802e-01 -6.44674427e-04 2.99297765e+01] [-1.50057768e-01 9.88677225e-01 1.00401659e-04 -3.59164602e+00] [ 6.52440976e-04 -2.52640635e-06 9.99999787e-01 -5.88425060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.097627999999997 meters 0.01213308434737456 Centerline is valid? [True, True] Translation: X:29.99, Y:-3.60, Z:-0.06 [[ 9.88611972e-01 1.50478244e-01 -1.63331681e-03 2.99921943e+01] [-1.50478029e-01 9.88613321e-01 2.54142469e-04 -3.60038209e+00] [ 1.65296167e-03 -5.46999265e-06 9.99998634e-01 -5.99318450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.157628 meters 0.012063750433976898 Centerline is valid? [True, True] Translation: X:30.05, Y:-3.61, Z:-0.06 [[ 9.88640087e-01 1.50264543e-01 -3.36822762e-03 3.00546319e+01] [-1.50263628e-01 9.88645825e-01 5.24582850e-04 -3.60864132e+00] [ 3.40881038e-03 -1.25015325e-05 9.99994190e-01 -6.24356062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.217627999999998 meters 0.0122038527415252 Centerline is valid? [True, True] Translation: X:30.12, Y:-3.62, Z:-0.06 [[ 9.88593478e-01 1.50545922e-01 -4.34287327e-03 3.01154227e+01] [-1.50544399e-01 9.88603017e-01 6.77354336e-04 -3.61836025e+00] [ 4.39535055e-03 -1.58328309e-05 9.99990340e-01 -6.44135993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.277627999999996 meters 0.011988706076849171 Centerline is valid? [True, True] Translation: X:30.18, Y:-3.63, Z:-0.06 [[ 9.88522205e-01 1.51000693e-01 -4.75831609e-03 3.01778654e+01] [-1.50998864e-01 9.88533657e-01 7.43549102e-04 -3.62647828e+00] [ 4.81603203e-03 -1.65144762e-05 9.99988403e-01 -6.38823029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.337628 meters 0.012028372435503056 Centerline is valid? [True, True] Translation: X:30.24, Y:-3.64, Z:-0.07 [[ 9.88600033e-01 1.50439561e-01 -6.15741121e-03 3.02398114e+01] [-1.50436478e-01 9.88619208e-01 9.63518655e-04 -3.63513408e+00] [ 6.23228631e-03 -2.62353205e-05 9.99980579e-01 -6.50741726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.397627999999997 meters 0.012719623671545404 Centerline is valid? [True, True] Translation: X:30.30, Y:-3.65, Z:-0.07 [[ 9.88940323e-01 1.48166648e-01 -6.60928966e-03 3.02998778e+01] [-1.48163040e-01 9.88962407e-01 1.03490794e-03 -3.64661483e+00] [ 6.68967785e-03 -4.42097388e-05 9.99977623e-01 -6.67806907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.457627999999996 meters 0.013213924412683532 Centerline is valid? [True, True] Translation: X:30.36, Y:-3.66, Z:-0.06 [[ 9.89825839e-01 1.42230773e-01 -3.90076321e-03 3.03605165e+01] [-1.42229465e-01 9.89833524e-01 6.12051985e-04 -3.66065309e+00] [ 3.94815882e-03 -5.10214038e-05 9.99992205e-01 -6.19092994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.517628 meters 0.015377630609947048 Centerline is valid? [True, True] Translation: X:30.42, Y:-3.68, Z:-0.06 [[ 9.91031194e-01 1.33601979e-01 -2.77184278e-03 3.04200473e+01] [-1.33601285e-01 9.91035069e-01 4.34703078e-04 -3.67503551e+00] [ 2.80507059e-03 -6.04825524e-05 9.99996064e-01 -6.16567514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.577627999999997 meters 0.01737515743727469 Centerline is valid? [True, True] Translation: X:30.48, Y:-3.69, Z:-0.06 [[ 9.91729514e-01 1.28325785e-01 -2.25048314e-03 3.04793831e+01] [-1.28325314e-01 9.91732065e-01 3.52983291e-04 -3.68767482e+00] [ 2.27717315e-03 -6.12699923e-05 9.99997405e-01 -6.19922446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.637627999999996 meters 0.018042736598341942 Centerline is valid? [True, True] Translation: X:30.54, Y:-3.70, Z:-0.06 [[ 9.92406764e-01 1.22963988e-01 -2.94479500e-03 3.05393353e+01] [-1.22963158e-01 9.92411129e-01 4.61929256e-04 -3.69774107e+00] [ 2.97924799e-03 -9.63204246e-05 9.99995557e-01 -6.11169163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.697627999999998 meters 0.019106229680748994 Centerline is valid? [True, True] Translation: X:30.60, Y:-3.71, Z:-0.06 [[ 9.92733936e-01 1.20256556e-01 -4.20627767e-03 3.06007088e+01] [-1.20254837e-01 9.92742836e-01 6.60185827e-04 -3.70912986e+00] [ 4.25514369e-03 -1.49563638e-04 9.99990936e-01 -6.11379394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.757627999999997 meters 0.019386572172314733 Centerline is valid? [True, True] Translation: X:30.66, Y:-3.72, Z:-0.06 [[ 9.92910581e-01 1.18749204e-01 -5.21588704e-03 3.06628244e+01] [-1.18746531e-01 9.92924261e-01 8.20224387e-04 -3.71603077e+00] [ 5.27638178e-03 -1.95040980e-04 9.99986061e-01 -6.24483154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.817627999999996 meters 0.02086878861953738 Centerline is valid? [True, True] Translation: X:30.72, Y:-3.73, Z:-0.06 [[ 9.92805368e-01 1.19602543e-01 -5.72122585e-03 3.07227606e+01] [-1.19599334e-01 9.92821831e-01 9.00926558e-04 -3.72533630e+00] [ 5.78791103e-03 -2.10189920e-04 9.99983228e-01 -6.40181675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.877627999999998 meters 0.01865348435463052 Centerline is valid? [True, True] Translation: X:30.78, Y:-3.73, Z:-0.06 [[ 9.92378792e-01 1.23089350e-01 -5.77456720e-03 3.07844512e+01] [-1.23086140e-01 9.92395574e-01 9.09339928e-04 -3.72932513e+00] [ 5.84258500e-03 -1.91640470e-04 9.99982914e-01 -6.23128658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.937627999999997 meters 0.01867972568429537 Centerline is valid? [True, True] Translation: X:30.84, Y:-3.74, Z:-0.06 [[ 9.91982075e-01 1.26280025e-01 -4.99172410e-03 3.08446873e+01] [-1.26277666e-01 9.91994623e-01 7.86220340e-04 -3.73694288e+00] [ 5.05104739e-03 -1.49573216e-04 9.99987232e-01 -6.20194200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.997628 meters 0.015104260202956087 Centerline is valid? [True, True] Translation: X:30.91, Y:-3.74, Z:-0.06 [[ 9.91363117e-01 1.31062908e-01 -4.65662249e-03 3.09071955e+01] [-1.31060907e-01 9.91374047e-01 7.33737778e-04 -3.73639677e+00] [ 4.71262048e-03 -1.17099407e-04 9.99988889e-01 -6.09885347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.057628 meters 0.016702938014685045 Centerline is valid? [True, True] Translation: X:30.97, Y:-3.75, Z:-0.06 [[ 9.91059307e-01 1.33313753e-01 -5.37516691e-03 3.09677052e+01] [-1.33311111e-01 9.91073876e-01 8.48516624e-04 -3.74704893e+00] [ 5.44030644e-03 -1.24360825e-04 9.99985194e-01 -6.28983641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.117628 meters 0.014757897908315944 Centerline is valid? [True, True] Translation: X:31.03, Y:-3.75, Z:-0.06 [[ 9.90804830e-01 1.35093287e-01 -7.45610943e-03 3.10293515e+01] [-1.35088240e-01 9.90832871e-01 1.17879713e-03 -3.75452564e+00] [ 7.54700589e-03 -1.60725191e-04 9.99971508e-01 -6.13835060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.177628 meters 0.015016221332289127 Centerline is valid? [True, True] Translation: X:31.09, Y:-3.76, Z:-0.06 [[ 9.90707499e-01 1.35795854e-01 -7.62480790e-03 3.10917896e+01] [-1.35790579e-01 9.90736827e-01 1.20771690e-03 -3.76362633e+00] [ 7.71818093e-03 -1.61117111e-04 9.99970201e-01 -6.22616180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.237628 meters 0.014761973210859492 Centerline is valid? [True, True] Translation: X:31.15, Y:-3.77, Z:-0.06 [[ 9.90632131e-01 1.36382689e-01 -6.90965978e-03 3.11529584e+01] [-1.36378359e-01 9.90656218e-01 1.09619264e-03 -3.77246278e+00] [ 6.99459913e-03 -1.43595584e-04 9.99975527e-01 -6.17275032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.297628 meters 0.014236735025314534 Centerline is valid? [True, True] Translation: X:31.21, Y:-3.78, Z:-0.06 [[ 9.90475928e-01 1.37613481e-01 -4.46820778e-03 3.12138724e+01] [-1.37611677e-01 9.90486003e-01 7.10171816e-04 -3.78362575e+00] [ 4.52342648e-03 -8.85305226e-05 9.99989765e-01 -5.83900100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.357628 meters 0.013911317125291037 Centerline is valid? [True, True] Translation: X:31.28, Y:-3.79, Z:-0.06 [[ 9.90005660e-01 1.40991648e-01 -3.18573889e-03 3.12752945e+01] [-1.40990746e-01 9.90010784e-01 5.07262335e-04 -3.79284911e+00] [ 3.22543561e-03 -5.30328802e-05 9.99994797e-01 -5.81739111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.417628 meters 0.013650489027280128 Centerline is valid? [True, True] Translation: X:31.34, Y:-3.80, Z:-0.06 [[ 9.89396086e-01 1.45199074e-01 -3.55152670e-03 3.13362257e+01] [-1.45197976e-01 9.89402460e-01 5.66249707e-04 -3.80099283e+00] [ 3.59610818e-03 -4.45707548e-05 9.99993533e-01 -5.94385273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.477628 meters 0.01253512354844908 Centerline is valid? [True, True] Translation: X:31.40, Y:-3.81, Z:-0.06 [[ 9.88366883e-01 1.51950244e-01 -6.48296220e-03 3.13977320e+01] [-1.51946723e-01 9.88388143e-01 1.03499918e-03 -3.80742525e+00] [ 6.56495135e-03 -3.78940459e-05 9.99978450e-01 -6.05398622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.537628 meters 0.012470944444611502 Centerline is valid? [True, True] Translation: X:31.46, Y:-3.82, Z:-0.06 [[ 9.87906075e-01 1.54806190e-01 -8.75387260e-03 3.14597392e+01] [-1.54799862e-01 9.87944858e-01 1.39998410e-03 -3.81620105e+00] [ 8.86506963e-03 -2.79545205e-05 9.99960704e-01 -6.27272406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.597628 meters 0.012491028298253314 Centerline is valid? [True, True] Translation: X:31.52, Y:-3.83, Z:-0.06 [[ 9.87636823e-01 1.56449745e-01 -9.84795432e-03 3.15217758e+01] [-1.56441791e-01 9.87685920e-01 1.57769318e-03 -3.82755519e+00] [ 9.97351552e-03 -1.75562663e-05 9.99950263e-01 -6.42302182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.657628 meters 0.012828079038852901 Centerline is valid? [True, True] Translation: X:31.58, Y:-3.85, Z:-0.06 [[ 9.88045322e-01 1.53886760e-01 -9.23615170e-03 3.15814153e+01] [-1.53879629e-01 9.88088490e-01 1.48209664e-03 -3.84510940e+00] [ 9.35421023e-03 -4.31230556e-05 9.99956247e-01 -6.33906975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.717628 meters 0.012844115507838552 Centerline is valid? [True, True] Translation: X:31.64, Y:-3.86, Z:-0.06 [[ 9.88369524e-01 1.51893333e-01 -7.35522107e-03 3.16429602e+01] [-1.51888739e-01 9.88396890e-01 1.18243151e-03 -3.85952360e+00] [ 7.44948109e-03 -5.15040148e-05 9.99972251e-01 -6.19244974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.777628 meters 0.012560024006783356 Centerline is valid? [True, True] Translation: X:31.70, Y:-3.87, Z:-0.06 [[ 9.88294835e-01 1.52499526e-01 -4.14902744e-03 3.17040464e+01] [-1.52498064e-01 9.88303543e-01 6.68207143e-04 -3.87186196e+00] [ 4.20239979e-03 -2.76670154e-05 9.99991169e-01 -5.96278746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.837628 meters 0.012357112789080372 Centerline is valid? [True, True] Translation: X:31.77, Y:-3.88, Z:-0.06 [[ 9.87873008e-01 1.55229705e-01 -3.26491068e-03 3.17651910e+01] [-1.55228812e-01 9.87878403e-01 5.26728457e-04 -3.88252916e+00] [ 3.30709865e-03 -1.35326185e-05 9.99994531e-01 -5.87938985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.897628 meters 0.015201396306126234 Centerline is valid? [True, True] Translation: X:31.83, Y:-3.89, Z:-0.06 [[ 9.87118433e-01 1.59929648e-01 -4.43916323e-03 3.18274260e+01] [-1.59928039e-01 9.87128415e-01 7.17366203e-04 -3.89251784e+00] [ 4.49675229e-03 1.82126934e-06 9.99989890e-01 -6.17684476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.957628 meters 0.012464374247301 Centerline is valid? [True, True] Translation: X:31.89, Y:-3.90, Z:-0.06 [[ 9.86368488e-01 1.64496090e-01 -4.27107589e-03 3.18893872e+01] [-1.64494638e-01 9.86377735e-01 6.91454631e-04 -3.90046557e+00] [ 4.32663575e-03 2.05400235e-05 9.99990640e-01 -5.96879233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.017628 meters 0.013116022092171846 Centerline is valid? [True, True] Translation: X:31.95, Y:-3.91, Z:-0.06 [[ 9.85335457e-01 1.70485324e-01 -6.98503795e-03 3.19506786e+01] [-1.70481581e-01 9.85360213e-01 1.13208207e-03 -3.90745778e+00] [ 7.07578186e-03 7.53397115e-05 9.99974964e-01 -6.13236042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.077628000000004 meters 0.013568223770904216 Centerline is valid? [True, True] Translation: X:32.01, Y:-3.91, Z:-0.06 [[ 9.84848358e-01 1.73180711e-01 -9.06378775e-03 3.20124475e+01] [-1.73174503e-01 9.84890058e-01 1.47120891e-03 -3.91435548e+00] [ 9.18161945e-03 1.20699264e-04 9.99957841e-01 -6.35074515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.137628 meters 0.01656915594155564 Centerline is valid? [True, True] Translation: X:32.07, Y:-3.92, Z:-0.07 [[ 9.84731316e-01 1.73732478e-01 -1.10118836e-02 3.20738468e+01] [-1.73723320e-01 9.84792873e-01 1.79012808e-03 -3.92262049e+00] [ 1.11554279e-02 1.50225795e-04 9.99937765e-01 -6.73610405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.197628 meters 0.013410189871696752 Centerline is valid? [True, True] Translation: X:32.13, Y:-3.94, Z:-0.06 [[ 9.85132939e-01 1.71651963e-01 -6.97824920e-03 3.21345752e+01] [-1.71648220e-01 9.85157651e-01 1.13629751e-03 -3.93548253e+00] [ 7.06972329e-03 7.83999502e-05 9.99975006e-01 -6.14818117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.257628000000004 meters 0.012651512227644013 Centerline is valid? [True, True] Translation: X:32.19, Y:-3.95, Z:-0.06 [[ 9.85888643e-01 1.67337898e-01 -4.64883108e-03 3.21948397e+01] [-1.67336183e-01 9.85899603e-01 7.58295709e-04 -3.95027760e+00] [ 4.71017233e-03 3.03225200e-05 9.99988907e-01 -5.87840130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.317628 meters 0.012404042807663397 Centerline is valid? [True, True] Translation: X:32.26, Y:-3.96, Z:-0.06 [[ 9.86317168e-01 1.64816496e-01 -3.73719520e-03 3.22557208e+01] [-1.64815365e-01 9.86324248e-01 6.10635504e-04 -3.96296372e+00] [ 3.78672905e-03 1.36669117e-05 9.99992830e-01 -5.76786190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.377628 meters 0.012409764128055004 Centerline is valid? [True, True] Translation: X:32.32, Y:-3.98, Z:-0.06 [[ 9.87232026e-01 1.59273344e-01 -2.22008487e-03 3.23167579e+01] [-1.59272929e-01 9.87234522e-01 3.63480239e-04 -3.97501798e+00] [ 2.24963714e-03 -5.23991328e-06 9.99997470e-01 -5.75589360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.437628000000004 meters 0.01272550820615412 Centerline is valid? [True, True] Translation: X:32.38, Y:-3.99, Z:-0.06 [[ 9.87888992e-01 1.55059122e-01 -5.65761305e-03 3.23779559e+01] [-1.55056355e-01 9.87905191e-01 9.27071614e-04 -3.98675676e+00] [ 5.73293622e-03 -3.85949849e-05 9.99983566e-01 -5.94843119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.497628 meters 0.013201791794456923 Centerline is valid? [True, True] Translation: X:32.44, Y:-4.00, Z:-0.06 [[ 9.88359922e-01 1.51941520e-01 -7.64450466e-03 3.24385942e+01] [-1.51936362e-01 9.88389482e-01 1.25443860e-03 -3.99834364e+00] [ 7.74634931e-03 -7.83586053e-05 9.99969994e-01 -6.06997483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.557628 meters 0.014355798764242008 Centerline is valid? [True, True] Translation: X:32.50, Y:-4.01, Z:-0.06 [[ 9.89195786e-01 1.46313117e-01 -9.17438559e-03 3.24993928e+01] [-1.46305443e-01 9.89238318e-01 1.50576221e-03 -4.00980052e+00] [ 9.29596653e-03 -1.47231081e-04 9.99956781e-01 -6.26021884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.617628 meters 0.015083424316213193 Centerline is valid? [True, True] Translation: X:32.56, Y:-4.02, Z:-0.06 [[ 9.89683964e-01 1.43030316e-01 -8.24498450e-03 3.25602669e+01] [-1.43023994e-01 9.89718295e-01 1.35441643e-03 -4.01994702e+00] [ 8.35393461e-03 -1.61213615e-04 9.99965092e-01 -6.16179033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.677628 meters 0.01603935936481411 Centerline is valid? [True, True] Translation: X:32.62, Y:-4.03, Z:-0.06 [[ 9.89908293e-01 1.41509507e-01 -7.52533108e-03 3.26203590e+01] [-1.41504188e-01 9.89936884e-01 1.23723069e-03 -4.02966448e+00] [ 7.62468270e-03 -1.59879054e-04 9.99970919e-01 -6.02731940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.737628 meters 0.014507597998882583 Centerline is valid? [True, True] Translation: X:32.68, Y:-4.03, Z:-0.06 [[ 9.89457098e-01 1.44671122e-01 -6.70201732e-03 3.26823730e+01] [-1.44666963e-01 9.89479788e-01 1.10378414e-03 -4.03380480e+00] [ 6.79119637e-03 -1.22586562e-04 9.99976932e-01 -5.80669681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.797628 meters 0.015597889393937019 Centerline is valid? [True, True] Translation: X:32.74, Y:-4.04, Z:-0.06 [[ 9.88922819e-01 1.48256618e-01 -7.18565065e-03 3.27434075e+01] [-1.48251926e-01 9.88948919e-01 1.18425138e-03 -4.04025466e+00] [ 7.28181454e-03 -1.05846666e-04 9.99973482e-01 -6.10459587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.857628 meters 0.012537191234515603 Centerline is valid? [True, True] Translation: X:32.81, Y:-4.04, Z:-0.06 [[ 9.87842598e-01 1.55278936e-01 -7.44671504e-03 3.28059977e+01] [-1.55274081e-01 9.87870664e-01 1.22936303e-03 -4.04152284e+00] [ 7.54728552e-03 -5.81353375e-05 9.99971517e-01 -6.03876034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.917628 meters 0.015027547644468954 Centerline is valid? [True, True] Translation: X:32.87, Y:-4.05, Z:-0.06 [[ 9.87198496e-01 1.59194116e-01 -9.81642492e-03 3.28688342e+01] [-1.59185843e-01 9.87247300e-01 1.62337438e-03 -4.04909699e+00] [ 9.94967065e-03 -3.99568675e-05 9.99950500e-01 -6.45534734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.977628 meters 0.015010152912240305 Centerline is valid? [True, True] Translation: X:32.93, Y:-4.06, Z:-0.06 [[ 9.86278635e-01 1.64742962e-01 -1.06869246e-02 3.29314861e+01] [-1.64733450e-01 9.86336533e-01 1.77036875e-03 -4.05701691e+00] [ 1.08325600e-02 1.44170906e-05 9.99941326e-01 -6.39903889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.037628 meters 0.012084392546929815 Centerline is valid? [True, True] Translation: X:32.99, Y:-4.07, Z:-0.06 [[ 9.86271185e-01 1.64969198e-01 -7.36970174e-03 3.29928387e+01] [-1.64964666e-01 9.86298719e-01 1.22278274e-03 -4.06710489e+00] [ 7.47044888e-03 9.74501082e-06 9.99972096e-01 -5.99636777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.097628 meters 0.012111838826001123 Centerline is valid? [True, True] Translation: X:33.05, Y:-4.08, Z:-0.06 [[ 9.86833150e-01 1.61620840e-01 -6.24798978e-03 3.30543166e+01] [-1.61617504e-01 9.86852929e-01 1.03857516e-03 -4.08082393e+00] [ 6.33370241e-03 -1.51158816e-05 9.99979942e-01 -5.96210259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.157628 meters 0.013314748107680376 Centerline is valid? [True, True] Translation: X:33.11, Y:-4.10, Z:-0.06 [[ 9.88330533e-01 1.52190437e-01 -6.38974012e-03 3.31139845e+01] [-1.52186740e-01 9.88351185e-01 1.06365911e-03 -4.10159448e+00] [ 6.47718596e-03 -7.88130604e-05 9.99979020e-01 -5.85323223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.217628 meters 0.014909398953319185 Centerline is valid? [True, True] Translation: X:33.17, Y:-4.12, Z:-0.06 [[ 9.89434365e-01 1.44839182e-01 -6.42250981e-03 3.31737034e+01] [-1.44835283e-01 9.89455201e-01 1.07057832e-03 -4.11936514e+00] [ 6.50984742e-03 -1.29060953e-04 9.99978802e-01 -5.74805980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.277628 meters 0.018517623887857652 Centerline is valid? [True, True] Translation: X:33.23, Y:-4.14, Z:-0.06 [[ 9.90659522e-01 1.36191320e-01 -6.75540272e-03 3.32316731e+01] [-1.36186806e-01 9.90682535e-01 1.12595508e-03 -4.13856986e+00] [ 6.84580480e-03 -1.95441403e-04 9.99976548e-01 -5.83414024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.337628 meters 0.017490255561489452 Centerline is valid? [True, True] Translation: X:33.29, Y:-4.15, Z:-0.06 [[ 9.90945150e-01 1.33976719e-01 -8.82881344e-03 3.32925993e+01] [-1.33968915e-01 9.90984441e-01 1.47223153e-03 -4.15074378e+00] [ 8.94646151e-03 -2.76114144e-04 9.99959941e-01 -5.80116663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.397628 meters 0.017966757501910888 Centerline is valid? [True, True] Translation: X:33.35, Y:-4.16, Z:-0.06 [[ 9.90706724e-01 1.35547441e-01 -1.12728940e-02 3.33527635e+01] [-1.35534786e-01 9.90770800e-01 1.88264288e-03 -4.16256253e+00] [ 1.14240416e-02 -3.37277687e-04 9.99934687e-01 -6.01756997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.457628 meters 0.019882387442031454 Centerline is valid? [True, True] Translation: X:33.41, Y:-4.17, Z:-0.06 [[ 9.90445136e-01 1.37321570e-01 -1.26971869e-02 3.34144696e+01] [-1.37305650e-01 9.90526455e-01 2.12133848e-03 -4.17341587e+00] [ 1.28682051e-02 -3.57673872e-04 9.99917137e-01 -6.39736050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.517628 meters 0.01578351391316353 Centerline is valid? [True, True] Translation: X:33.48, Y:-4.18, Z:-0.06 [[ 9.89900757e-01 1.41485350e-01 -8.85364349e-03 3.34753245e+01] [-1.41477773e-01 9.89940327e-01 1.47947386e-03 -4.18030225e+00] [ 8.97390261e-03 -2.11938531e-04 9.99959711e-01 -5.78327037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.577628000000004 meters 0.01448798936941597 Centerline is valid? [True, True] Translation: X:33.54, Y:-4.19, Z:-0.05 [[ 9.89094817e-01 1.47188189e-01 -5.20382325e-03 3.35364674e+01] [-1.47185649e-01 9.89108502e-01 8.69913109e-04 -4.18902977e+00] [ 5.27518675e-03 -9.44984457e-05 9.99986082e-01 -5.34798105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.637628 meters 0.013408984295765449 Centerline is valid? [True, True] Translation: X:33.60, Y:-4.20, Z:-0.05 [[ 9.88267943e-01 1.52661879e-01 -4.56316275e-03 3.35981401e+01] [-1.52659983e-01 9.88278477e-01 7.63202936e-04 -4.19567051e+00] [ 4.62618753e-03 -5.76366501e-05 9.99989297e-01 -5.30332515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.697628 meters 0.012351948025697735 Centerline is valid? [True, True] Translation: X:33.66, Y:-4.20, Z:-0.06 [[ 9.86917723e-01 1.61127150e-01 -5.60791395e-03 3.36608000e+01] [-1.61124412e-01 9.86933656e-01 9.39650322e-04 -4.19882524e+00] [ 5.68604220e-03 -2.37857182e-05 9.99983834e-01 -5.62493905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.757628000000004 meters 0.015537880191754437 Centerline is valid? [True, True] Translation: X:33.72, Y:-4.21, Z:-0.06 [[ 9.86206133e-01 1.65335281e-01 -7.85544542e-03 3.37235412e+01] [-1.65330024e-01 9.86237418e-01 1.31846182e-03 -4.20711746e+00] [ 7.96532246e-03 -1.53415141e-06 9.99968276e-01 -6.05674137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.817628 meters 0.012359347746171244 Centerline is valid? [True, True] Translation: X:33.78, Y:-4.22, Z:-0.06 [[ 9.85237444e-01 1.71047169e-01 -7.07426045e-03 3.37847995e+01] [-1.71043038e-01 9.85262840e-01 1.18928919e-03 -4.21627509e+00] [ 7.17343049e-03 3.82707601e-05 9.99974270e-01 -5.73153775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.877628 meters 0.012415945384864617 Centerline is valid? [True, True] Translation: X:33.85, Y:-4.23, Z:-0.06 [[ 9.84864093e-01 1.73181878e-01 -7.12431909e-03 3.38465617e+01] [-1.73177730e-01 9.84889859e-01 1.19983408e-03 -4.22721762e+00] [ 7.22445914e-03 5.20999055e-05 9.99973902e-01 -5.71233986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.937628000000004 meters 0.012390329392529025 Centerline is valid? [True, True] Translation: X:33.91, Y:-4.24, Z:-0.06 [[ 9.84857148e-01 1.73253069e-01 -6.30645572e-03 3.39081856e+01] [-1.73249808e-01 9.84877339e-01 1.06397754e-03 -4.23945153e+00] [ 6.39542270e-03 4.47263575e-05 9.99979548e-01 -5.70212439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.997628 meters 0.01218034514830026 Centerline is valid? [True, True] Translation: X:33.97, Y:-4.25, Z:-0.06 [[ 9.85095629e-01 1.71895213e-01 -6.21598583e-03 3.39686873e+01] [-1.71892007e-01 9.85115239e-01 1.05025584e-03 -4.25349724e+00] [ 6.30399632e-03 3.38758446e-05 9.99980129e-01 -5.80405266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.057628 meters 0.012130097629417422 Centerline is valid? [True, True] Translation: X:34.03, Y:-4.27, Z:-0.06 [[ 9.85303851e-01 1.70703093e-01 -6.06426249e-03 3.40293990e+01] [-1.70700009e-01 9.85322512e-01 1.02629006e-03 -4.26633876e+00] [ 6.15044524e-03 2.39621128e-05 9.99981086e-01 -5.88328436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.117628 meters 0.012113233872038559 Centerline is valid? [True, True] Translation: X:34.09, Y:-4.28, Z:-0.06 [[ 9.85139818e-01 1.71674024e-01 -5.25048372e-03 3.40913517e+01] [-1.71671718e-01 9.85153810e-01 8.90179187e-04 -4.27761600e+00] [ 5.32535469e-03 2.44085989e-05 9.99985820e-01 -5.61150963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.177628 meters 0.012125839971843577 Centerline is valid? [True, True] Translation: X:34.15, Y:-4.29, Z:-0.06 [[ 9.85168421e-01 1.71500330e-01 -5.55147156e-03 3.41534646e+01] [-1.71497741e-01 9.85184062e-01 9.42773680e-04 -4.28814368e+00] [ 5.63090730e-03 2.32739714e-05 9.99984146e-01 -5.66025639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.237628 meters 0.011985249201555878 Centerline is valid? [True, True] Translation: X:34.21, Y:-4.30, Z:-0.06 [[ 9.85821169e-01 1.67695240e-01 -5.91011297e-03 3.42147984e+01] [-1.67692228e-01 9.85838885e-01 1.00518202e-03 -4.29900251e+00] [ 5.99498342e-03 1.50293378e-07 9.99982030e-01 -5.88301746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.297628 meters 0.015355854602093115 Centerline is valid? [True, True] Translation: X:34.28, Y:-4.31, Z:-0.06 [[ 9.86834205e-01 1.61614901e-01 -6.23507374e-03 3.42750603e+01] [-1.61611417e-01 9.86853901e-01 1.06190452e-03 -4.31319886e+00] [ 6.32472644e-03 -4.02645948e-05 9.99979998e-01 -6.06010213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.357628 meters 0.015360516292841474 Centerline is valid? [True, True] Translation: X:34.33, Y:-4.33, Z:-0.06 [[ 9.88791408e-01 1.49249580e-01 -4.01434410e-03 3.43343733e+01] [-1.49248034e-01 9.88799554e-01 6.83624608e-04 -4.33083990e+00] [ 4.07141234e-03 -7.68291729e-05 9.99991709e-01 -5.55960890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.417628 meters 0.017171951913330055 Centerline is valid? [True, True] Translation: X:34.39, Y:-4.34, Z:-0.05 [[ 9.90309326e-01 1.38834119e-01 -3.53930202e-03 3.43944587e+01] [-1.38832851e-01 9.90315645e-01 6.02759435e-04 -4.34279823e+00] [ 3.58870974e-03 -1.05546901e-04 9.99993555e-01 -5.42003153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.477628 meters 0.021040201312278566 Centerline is valid? [True, True] Translation: X:34.45, Y:-4.36, Z:-0.05 [[ 9.92472538e-01 1.22390174e-01 -4.34809666e-03 3.44537334e+01] [-1.22388102e-01 9.92482042e-01 7.40506175e-04 -4.35549580e+00] [ 4.40603853e-03 -2.02776748e-04 9.99990273e-01 -5.44718648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.537628 meters 0.02309554087202667 Centerline is valid? [True, True] Translation: X:34.51, Y:-4.37, Z:-0.05 [[ 9.93550400e-01 1.13346506e-01 -3.18946868e-03 3.45138157e+01] [-1.13345344e-01 9.93555503e-01 5.43324783e-04 -4.36665503e+00] [ 3.23049813e-03 -1.78309130e-04 9.99994766e-01 -5.37483386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.597628 meters 0.025681786155029775 Centerline is valid? [True, True] Translation: X:34.57, Y:-4.38, Z:-0.05 [[ 9.94249975e-01 1.07057088e-01 -2.40162084e-03 3.45745275e+01] [-1.07056411e-01 9.94252864e-01 4.09208699e-04 -4.37590486e+00] [ 2.43162709e-03 -1.49746831e-04 9.99997032e-01 -5.30215533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.657628 meters 0.02481381011707264 Centerline is valid? [True, True] Translation: X:34.64, Y:-4.38, Z:-0.05 [[ 9.93905048e-01 1.10227747e-01 -1.61224953e-03 3.46361330e+01] [-1.10227446e-01 9.93906351e-01 2.74732359e-04 -4.37905435e+00] [ 1.63270817e-03 -9.53437309e-05 9.99998663e-01 -5.21803629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.717628 meters 0.026882805231317197 Centerline is valid? [True, True] Translation: X:34.70, Y:-4.39, Z:-0.05 [[ 9.93277366e-01 1.15745440e-01 -1.75165813e-03 3.46954037e+01] [-1.15745093e-01 9.93278906e-01 2.98416006e-04 -4.38762107e+00] [ 1.77442536e-03 -9.36640307e-05 9.99998421e-01 -5.22612489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.777628 meters 0.023488700637795817 Centerline is valid? [True, True] Translation: X:34.76, Y:-4.38, Z:-0.06 [[ 9.92337408e-01 1.23535184e-01 -2.35087617e-03 3.47578364e+01] [-1.23534581e-01 9.92340187e-01 4.00529465e-04 -4.38130845e+00] [ 2.38234838e-03 -1.07045869e-04 9.99997156e-01 -5.52102935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.837628 meters 0.02093853705748735 Centerline is valid? [True, True] Translation: X:34.82, Y:-4.39, Z:-0.05 [[ 9.91827957e-01 1.27576872e-01 -1.20258981e-03 3.48188545e+01] [-1.27576717e-01 9.91828684e-01 2.04940715e-04 -4.38623642e+00] [ 1.21890877e-03 -4.98434704e-05 9.99999256e-01 -5.28387159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.897628 meters 0.02299595354848471 Centerline is valid? [True, True] Translation: X:34.88, Y:-4.40, Z:-0.05 [[ 9.92074173e-01 1.25653619e-01 -5.51040324e-05 3.48795189e+01] [-1.25653618e-01 9.92074175e-01 9.77782110e-06 -4.39552343e+00] [ 5.58959060e-05 -2.77630273e-06 9.99999998e-01 -5.10045781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.957628 meters 0.022250337210714705 Centerline is valid? [True, True] Translation: X:34.94, Y:-4.40, Z:-0.05 [[ 9.92536297e-01 1.21947228e-01 7.56583340e-04 3.49409510e+01] [-1.21947165e-01 9.92536585e-01 -1.29056441e-04 -4.40112575e+00] [-7.66674719e-04 3.58300082e-05 9.99999705e-01 -5.09398108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.017628 meters 0.02256972231266682 Centerline is valid? [True, True] Translation: X:35.00, Y:-4.41, Z:-0.05 [[ 9.92938477e-01 1.18623614e-01 1.27262089e-03 3.50021807e+01] [-1.18623433e-01 9.92939290e-01 -2.17167140e-04 -4.40602767e+00] [-1.28939643e-03 6.46709512e-05 9.99999167e-01 -5.13276312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.077628 meters 0.02263700075182064 Centerline is valid? [True, True] Translation: X:35.06, Y:-4.41, Z:-0.05 [[ 9.92643939e-01 1.21069874e-01 -3.08878407e-04 3.50636171e+01] [-1.21069864e-01 9.92643987e-01 5.27942240e-05 -4.41037631e+00] [ 3.12998083e-04 -1.50099999e-05 9.99999951e-01 -5.28155391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.137628 meters 0.01943861205842059 Centerline is valid? [True, True] Translation: X:35.13, Y:-4.41, Z:-0.05 [[ 9.91962222e-01 1.26510307e-01 -2.46824639e-03 3.51255748e+01] [-1.26509649e-01 9.91965287e-01 4.21476881e-04 -4.41114358e+00] [ 2.50173591e-03 -1.05832158e-04 9.99996865e-01 -5.44728609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.197628 meters 0.017996287703221366 Centerline is valid? [True, True] Translation: X:35.19, Y:-4.41, Z:-0.06 [[ 9.90538537e-01 1.37149835e-01 -4.83000915e-03 3.51854794e+01] [-1.37147443e-01 9.90550301e-01 8.24598643e-04 -4.41278993e+00] [ 4.89746059e-03 -1.54373331e-04 9.99987995e-01 -5.65831667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.257628000000004 meters 0.01872913146973989 Centerline is valid? [True, True] Translation: X:35.25, Y:-4.42, Z:-0.06 [[ 9.89658397e-01 1.43351408e-01 -5.16051268e-03 3.52457217e+01] [-1.43348761e-01 9.89671843e-01 8.81054186e-04 -4.41744988e+00] [ 5.23351446e-03 -1.32189574e-04 9.99986296e-01 -5.80884817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.317628 meters 0.013850976383121594 Centerline is valid? [True, True] Translation: X:35.31, Y:-4.42, Z:-0.06 [[ 9.88162342e-01 1.53387348e-01 -2.73998981e-03 3.53070380e+01] [-1.53386641e-01 9.88166140e-01 4.67877026e-04 -4.41943518e+00] [ 2.77933157e-03 -4.20606261e-05 9.99996137e-01 -5.54444048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.377628 meters 0.012761635195499858 Centerline is valid? [True, True] Translation: X:35.37, Y:-4.43, Z:-0.06 [[ 9.87063053e-01 1.60314395e-01 -2.41328552e-03 3.53681459e+01] [-1.60313865e-01 9.87066003e-01 4.12638209e-04 -4.42556009e+00] [ 2.44822393e-03 -2.04168029e-05 9.99997003e-01 -5.54741404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.437628000000004 meters 0.012065563360011869 Centerline is valid? [True, True] Translation: X:35.43, Y:-4.43, Z:-0.05 [[ 9.85306355e-01 1.70789998e-01 -1.47097585e-03 3.54302837e+01] [-1.70789811e-01 9.85307453e-01 2.52173297e-04 -4.42934685e+00] [ 1.49243215e-03 2.75973625e-06 9.99998886e-01 -5.45280365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.497628 meters 0.012455893446737823 Centerline is valid? [True, True] Translation: X:35.49, Y:-4.44, Z:-0.06 [[ 9.84379654e-01 1.76051452e-01 -1.60700992e-03 3.54908075e+01] [-1.76051236e-01 9.84380966e-01 2.75798035e-04 -4.43638809e+00] [ 1.63046463e-03 1.14261092e-05 9.99998671e-01 -5.52010758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.557628 meters 0.012739516721473708 Centerline is valid? [True, True] Translation: X:35.55, Y:-4.45, Z:-0.06 [[ 9.83936598e-01 1.78499391e-01 -2.59591846e-03 3.55515020e+01] [-1.78498835e-01 9.83940022e-01 4.45982864e-04 -4.44813995e+00] [ 2.63383574e-03 2.45495604e-05 9.99996531e-01 -5.61726775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.617628 meters 0.012428462502554612 Centerline is valid? [True, True] Translation: X:35.61, Y:-4.47, Z:-0.06 [[ 9.84430631e-01 1.75680707e-01 -5.71155598e-03 3.56124596e+01] [-1.75677964e-01 9.84447199e-01 9.82469067e-04 -4.46518581e+00] [ 5.79532615e-03 3.62218787e-05 9.99983206e-01 -6.01275100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.677628 meters 0.012456143525614805 Centerline is valid? [True, True] Translation: X:35.67, Y:-4.48, Z:-0.06 [[ 9.85087639e-01 1.71868423e-01 -7.97426828e-03 3.56735315e+01] [-1.71862933e-01 9.85119914e-01 1.37385664e-03 -4.48241204e+00] [ 8.09173306e-03 1.71119414e-05 9.99967261e-01 -6.25001017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.737628 meters 0.01305954594515116 Centerline is valid? [True, True] Translation: X:35.73, Y:-4.51, Z:-0.06 [[ 9.86346079e-01 1.64398999e-01 -9.71502868e-03 3.57317017e+01] [-1.64390478e-01 9.86393920e-01 1.67473362e-03 -4.50526682e+00] [ 9.85816976e-03 -5.48087316e-05 9.99951406e-01 -6.45832594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.797628 meters 0.01360407699797222 Centerline is valid? [True, True] Translation: X:35.79, Y:-4.53, Z:-0.06 [[ 9.87156390e-01 1.59515497e-01 -8.77877546e-03 3.57912935e+01] [-1.59508324e-01 9.87195420e-01 1.51576546e-03 -4.52503711e+00] [ 8.90815501e-03 -9.60097984e-05 9.99960317e-01 -6.22716860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.857628 meters 0.01712280018081723 Centerline is valid? [True, True] Translation: X:35.85, Y:-4.55, Z:-0.06 [[ 9.88422105e-01 1.51549112e-01 -7.38978019e-03 3.58500039e+01] [-1.51543805e-01 9.88449719e-01 1.27624736e-03 -4.54906112e+00] [ 7.49784031e-03 -1.41595694e-04 9.99971881e-01 -6.17742164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.917628 meters 0.01712961870605736 Centerline is valid? [True, True] Translation: X:35.91, Y:-4.57, Z:-0.06 [[ 9.89241311e-01 1.46177657e-01 -5.80707992e-03 3.59100355e+01] [-1.46174284e-01 9.89258344e-01 1.00336810e-03 -4.56725039e+00] [ 5.89137226e-03 -1.43727423e-04 9.99982635e-01 -6.02952138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.977628 meters 0.01778467044068279 Centerline is valid? [True, True] Translation: X:35.97, Y:-4.59, Z:-0.06 [[ 9.90192799e-01 1.39642881e-01 -4.25290455e-03 3.59677001e+01] [-1.39641011e-01 9.90201923e-01 7.34850069e-04 -4.59160532e+00] [ 4.31385084e-03 -1.33763354e-04 9.99990686e-01 -5.77350902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.037628 meters 0.019512742421538453 Centerline is valid? [True, True] Translation: X:36.03, Y:-4.61, Z:-0.06 [[ 9.90339527e-01 1.38506518e-01 -6.60039022e-03 3.60281710e+01] [-1.38501976e-01 9.90361498e-01 1.14251437e-03 -4.60724468e+00] [ 6.69501803e-03 -2.17310048e-04 9.99977565e-01 -6.07321491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.097628 meters 0.01747690474364183 Centerline is valid? [True, True] Translation: X:36.09, Y:-4.62, Z:-0.06 [[ 9.90125940e-01 1.40002522e-01 -7.06518830e-03 3.60886613e+01] [-1.39997343e-01 9.90151122e-01 1.22476832e-03 -4.61967390e+00] [ 7.16707478e-03 -2.23567292e-04 9.99974291e-01 -6.06169131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.157628 meters 0.01996208844089132 Centerline is valid? [True, True] Translation: X:36.15, Y:-4.64, Z:-0.06 [[ 9.89749259e-01 1.42605763e-01 -7.74599756e-03 3.61480488e+01] [-1.42599604e-01 9.89779544e-01 1.34453710e-03 -4.63508748e+00] [ 7.85856867e-03 -2.26178407e-04 9.99969095e-01 -6.33574615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.217628 meters 0.0170733254161285 Centerline is valid? [True, True] Translation: X:36.21, Y:-4.65, Z:-0.06 [[ 9.89112022e-01 1.47030579e-01 -6.27832147e-03 3.62085420e+01] [-1.47026621e-01 9.89131935e-01 1.08988545e-03 -4.64847710e+00] [ 6.37033475e-03 -1.54938414e-04 9.99979697e-01 -6.10298014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.277628 meters 0.01575093479399222 Centerline is valid? [True, True] Translation: X:36.27, Y:-4.66, Z:-0.06 [[ 9.88657915e-01 1.50118266e-01 -4.47585480e-03 3.62694119e+01] [-1.50116285e-01 9.88668042e-01 7.77253452e-04 -4.65858797e+00] [ 4.54181454e-03 -9.65390848e-05 9.99989681e-01 -5.99171585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.337628 meters 0.015141313022792237 Centerline is valid? [True, True] Translation: X:36.33, Y:-4.67, Z:-0.06 [[ 9.87997711e-01 1.54440714e-01 -2.93063680e-03 3.63286173e+01] [-1.54439884e-01 9.88002056e-01 5.08941520e-04 -4.67109298e+00] [ 2.97407648e-03 -5.02258494e-05 9.99995576e-01 -5.94973765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.397628 meters 0.014239081187240474 Centerline is valid? [True, True] Translation: X:36.39, Y:-4.68, Z:-0.06 [[ 9.87299652e-01 1.58830274e-01 -3.51302425e-03 3.63893547e+01] [-1.58829104e-01 9.87305901e-01 6.11300676e-04 -4.68405071e+00] [ 3.56552262e-03 -4.55664497e-05 9.99993642e-01 -6.02241080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.457628 meters 0.01371982540298445 Centerline is valid? [True, True] Translation: X:36.45, Y:-4.69, Z:-0.06 [[ 9.86885913e-01 1.61366033e-01 -4.14712577e-03 3.64509326e+01] [-1.61364421e-01 9.86894625e-01 7.22596333e-04 -4.69444900e+00] [ 4.20937863e-03 -4.39215947e-05 9.99991140e-01 -6.24759774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.517628 meters 0.013276473237743915 Centerline is valid? [True, True] Translation: X:36.51, Y:-4.70, Z:-0.06 [[ 9.86204230e-01 1.65436426e-01 -5.65733880e-03 3.65124071e+01] [-1.65433486e-01 9.86220456e-01 9.87014933e-04 -4.70185174e+00] [ 5.74267147e-03 -3.74850222e-05 9.99983510e-01 -6.45826784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.577628 meters 0.013344617265064642 Centerline is valid? [True, True] Translation: X:36.57, Y:-4.71, Z:-0.06 [[ 9.86427120e-01 1.64086996e-01 -6.08234034e-03 3.65734948e+01] [-1.64083562e-01 9.86445870e-01 1.06269832e-03 -4.71308102e+00] [ 6.17427448e-03 -5.02623766e-05 9.99980938e-01 -6.30799044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.637628 meters 0.014494536712517056 Centerline is valid? [True, True] Translation: X:36.63, Y:-4.73, Z:-0.06 [[ 9.87435502e-01 1.57953109e-01 -4.68462262e-03 3.66332244e+01] [-1.57950997e-01 9.87446612e-01 8.19647291e-04 -4.72771292e+00] [ 4.75528057e-03 -6.94080183e-05 9.99988691e-01 -6.20840329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.697628 meters 0.016646731110515428 Centerline is valid? [True, True] Translation: X:36.69, Y:-4.74, Z:-0.06 [[ 9.89218830e-01 1.46444409e-01 -3.74957205e-04 3.66927658e+01] [-1.46444395e-01 9.89218901e-01 6.56101920e-05 -4.74049331e+00] [ 3.80523000e-04 -9.99245632e-06 9.99999928e-01 -5.98474841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.757628000000004 meters 0.018778145897932287 Centerline is valid? [True, True] Translation: X:36.75, Y:-4.75, Z:-0.06 [[ 9.90520589e-01 1.37364113e-01 -2.52587560e-04 3.67526439e+01] [-1.37364106e-01 9.90520621e-01 4.42122579e-05 -4.75381820e+00] [ 2.56266364e-04 -9.09668738e-06 9.99999967e-01 -5.98103242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.817628 meters 0.021696800913421205 Centerline is valid? [True, True] Translation: X:36.81, Y:-4.77, Z:-0.06 [[ 9.91747128e-01 1.28155078e-01 -3.72961815e-03 3.68127190e+01] [-1.28153528e-01 9.91754126e-01 6.52541036e-04 -4.76718878e+00] [ 3.78249064e-03 -1.69191972e-04 9.99992832e-01 -6.09814324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.877628 meters 0.023240408326682834 Centerline is valid? [True, True] Translation: X:36.87, Y:-4.78, Z:-0.06 [[ 9.92085135e-01 1.25382300e-01 -6.80902733e-03 3.68731281e+01] [-1.25377070e-01 9.92108447e-01 1.19138673e-03 -4.77587958e+00] [ 6.90467234e-03 -3.28261170e-04 9.99976109e-01 -6.45121417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.937628000000004 meters 0.021482044035533252 Centerline is valid? [True, True] Translation: X:36.93, Y:-4.78, Z:-0.06 [[ 9.91699257e-01 1.28300246e-01 -8.46350571e-03 3.69349721e+01] [-1.28292266e-01 9.91735297e-01 1.48139079e-03 -4.78160622e+00] [ 8.58362015e-03 -3.83291817e-04 9.99963087e-01 -6.43148529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.997628 meters 0.021235941759928136 Centerline is valid? [True, True] Translation: X:36.99, Y:-4.79, Z:-0.07 [[ 9.90389728e-01 1.37931410e-01 -1.01544149e-02 3.69949170e+01] [-1.37920427e-01 9.90441718e-01 1.77741686e-03 -4.78684864e+00] [ 1.03025178e-02 -3.59834154e-04 9.99946863e-01 -6.63305690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.057628 meters 0.017982462755224998 Centerline is valid? [True, True] Translation: X:37.06, Y:-4.79, Z:-0.07 [[ 9.89064762e-01 1.47133159e-01 -1.01356067e-02 3.70560151e+01] [-1.47122697e-01 9.89116658e-01 1.77432475e-03 -4.79071663e+00] [ 1.02863595e-02 -2.63744294e-04 9.99947059e-01 -6.57521483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.117628 meters 0.013544334487690988 Centerline is valid? [True, True] Translation: X:37.12, Y:-4.79, Z:-0.06 [[ 9.86883638e-01 1.61319612e-01 -6.05533242e-03 3.71177949e+01] [-1.61316144e-01 9.86902213e-01 1.06008303e-03 -4.79032255e+00] [ 6.14703314e-03 -6.93557200e-05 9.99981104e-01 -6.17083225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.177628 meters 0.012273967961229601 Centerline is valid? [True, True] Translation: X:37.18, Y:-4.79, Z:-0.06 [[ 9.85352819e-01 1.70510431e-01 -2.45266947e-03 3.71800826e+01] [-1.70509888e-01 9.85355871e-01 4.30365654e-04 -4.79284880e+00] [ 2.49013409e-03 -5.85761308e-06 9.99996900e-01 -5.98016309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.237628 meters 0.01282227389117965 Centerline is valid? [True, True] Translation: X:37.24, Y:-4.80, Z:-0.06 [[ 9.83438621e-01 1.81239803e-01 7.81926789e-04 3.72420806e+01] [-1.81239752e-01 9.83438932e-01 -1.36861066e-04 -4.79622506e+00] [-7.93781919e-04 -7.12175883e-06 9.99999685e-01 -5.72325395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.297628 meters 0.013376628785655464 Centerline is valid? [True, True] Translation: X:37.30, Y:-4.81, Z:-0.06 [[ 9.82774092e-01 1.84808299e-01 9.88152665e-04 3.73036504e+01] [-1.84808218e-01 9.82774589e-01 -1.73312494e-04 -4.80624286e+00] [-1.00316092e-03 -1.22917044e-05 9.99999497e-01 -5.72793773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.357628 meters 0.013411120497607714 Centerline is valid? [True, True] Translation: X:37.37, Y:-4.82, Z:-0.06 [[ 9.82701045e-01 1.85193730e-01 -1.39250372e-03 3.73650118e+01] [-1.85193568e-01 9.82702031e-01 2.45678750e-04 -4.81909094e+00] [ 1.41391440e-03 1.64539687e-05 9.99999000e-01 -6.03820559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.417628 meters 0.012780278127310429 Centerline is valid? [True, True] Translation: X:37.42, Y:-4.84, Z:-0.07 [[ 9.83391405e-01 1.81426494e-01 -5.07654678e-03 3.74237231e+01] [-1.81424289e-01 9.83404508e-01 8.95477477e-04 -4.83628406e+00] [ 5.15476233e-03 4.04040349e-05 9.99986713e-01 -6.59625106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.477628 meters 0.012494945063613087 Centerline is valid? [True, True] Translation: X:37.48, Y:-4.86, Z:-0.07 [[ 9.84115186e-01 1.77377305e-01 -7.38858954e-03 3.74837425e+01] [-1.77372505e-01 9.84142922e-01 1.30527589e-03 -4.85578837e+00] [ 7.50295442e-03 2.59908043e-05 9.99971852e-01 -6.80042326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.537628 meters 0.01571814973754419 Centerline is valid? [True, True] Translation: X:37.54, Y:-4.88, Z:-0.07 [[ 9.85443593e-01 1.69697364e-01 -1.01847860e-02 3.75424106e+01] [-1.69687809e-01 9.85496221e-01 1.80146460e-03 -4.88118923e+00] [ 1.03427719e-02 -4.70077314e-05 9.99946511e-01 -7.18962668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.597628 meters 0.015426190355580616 Centerline is valid? [True, True] Translation: X:37.60, Y:-4.89, Z:-0.07 [[ 9.84911352e-01 1.72915031e-01 -7.07257284e-03 3.76045077e+01] [-1.72910502e-01 9.84936745e-01 1.25144885e-03 -4.88958894e+00] [ 7.18243119e-03 -9.64405261e-06 9.99974206e-01 -6.97960247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.657628 meters 0.01222432011914254 Centerline is valid? [True, True] Translation: X:37.66, Y:-4.90, Z:-0.06 [[ 9.84445929e-01 1.75622852e-01 -4.77763505e-03 3.76644299e+01] [-1.75620812e-01 9.84457523e-01 8.46676859e-04 -4.90122057e+00] [ 4.85207457e-03 5.54455796e-06 9.99988229e-01 -6.49229965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.717628 meters 0.012218790419603439 Centerline is valid? [True, True] Translation: X:37.72, Y:-4.91, Z:-0.06 [[ 9.84511179e-01 1.75315377e-01 -1.50255859e-03 3.77243976e+01] [-1.75315174e-01 9.84512325e-01 2.66839000e-04 -4.91189966e+00] [ 1.52606843e-03 7.15342554e-07 9.99998836e-01 -6.23538798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.777628 meters 0.012160494050708466 Centerline is valid? [True, True] Translation: X:37.79, Y:-4.92, Z:-0.06 [[ 9.84687747e-01 1.74326735e-01 -4.79710258e-04 3.77867114e+01] [-1.74326714e-01 9.84687864e-01 8.56332549e-05 -4.92259139e+00] [ 4.87293035e-04 -6.95703903e-07 9.99999881e-01 -6.23998180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.837628 meters 0.012330159146471852 Centerline is valid? [True, True] Translation: X:37.85, Y:-4.93, Z:-0.07 [[ 9.85247356e-01 1.71126405e-01 -1.84412939e-03 3.78465499e+01] [-1.71126090e-01 9.85249082e-01 3.28274532e-04 -4.93416687e+00] [ 1.87310323e-03 -7.85296232e-06 9.99998246e-01 -6.50430412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.897628 meters 0.012490477438776156 Centerline is valid? [True, True] Translation: X:37.91, Y:-4.95, Z:-0.06 [[ 9.85637400e-01 1.68859523e-01 -2.31879400e-03 3.79079318e+01] [-1.68859018e-01 9.85640128e-01 4.13315032e-04 -4.94507787e+00] [ 2.35528860e-03 -1.58294753e-05 9.99997226e-01 -6.49161823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.957628 meters 0.013565672569830668 Centerline is valid? [True, True] Translation: X:37.97, Y:-4.96, Z:-0.07 [[ 9.86043650e-01 1.66446793e-01 -3.65870595e-03 3.79673589e+01] [-1.66445517e-01 9.86050437e-01 6.52702651e-04 -4.95813426e+00] [ 3.71630886e-03 -3.46180999e-05 9.99993094e-01 -6.67765385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.017628 meters 0.01477659630512257 Centerline is valid? [True, True] Translation: X:38.03, Y:-4.97, Z:-0.07 [[ 9.86509094e-01 1.63661068e-01 -3.85509323e-03 3.80272360e+01] [-1.63659627e-01 9.86516626e-01 6.88463255e-04 -4.97142359e+00] [ 3.91578820e-03 -4.82521432e-05 9.99992332e-01 -6.71150143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.077628 meters 0.01936955483095768 Centerline is valid? [True, True] Translation: X:38.09, Y:-4.98, Z:-0.07 [[ 9.87218192e-01 1.59326584e-01 -3.90899151e-03 3.80870078e+01] [-1.59325066e-01 9.87225929e-01 6.98860620e-04 -4.98338611e+00] [ 3.97040485e-03 -6.71275893e-05 9.99992116e-01 -6.99469382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.137628 meters 0.014617739456612778 Centerline is valid? [True, True] Translation: X:38.15, Y:-4.99, Z:-0.07 [[ 9.87430444e-01 1.58021889e-01 -3.19374607e-03 3.81493926e+01] [-1.58020866e-01 9.87435608e-01 5.71922510e-04 -4.98966801e+00] [ 3.24399486e-03 -6.00551803e-05 9.99994736e-01 -6.59936102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.197628 meters 0.01575708566808519 Centerline is valid? [True, True] Translation: X:38.21, Y:-5.00, Z:-0.07 [[ 9.87710363e-01 1.56274567e-01 -2.54932627e-03 3.82091715e+01] [-1.56273908e-01 9.87713651e-01 4.57150127e-04 -5.00282390e+00] [ 2.58944530e-03 -5.31387401e-05 9.99996646e-01 -6.52324709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.257628000000004 meters 0.015378932639864708 Centerline is valid? [True, True] Translation: X:38.27, Y:-5.01, Z:-0.07 [[ 9.87329392e-01 1.58671940e-01 -1.97158893e-03 3.82710637e+01] [-1.58671549e-01 9.87331360e-01 3.54117268e-04 -5.01137496e+00] [ 2.00280005e-03 -3.67953192e-05 9.99997994e-01 -6.51891390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.317628 meters 0.013361794101491749 Centerline is valid? [True, True] Translation: X:38.33, Y:-5.02, Z:-0.06 [[ 9.86481740e-01 1.63861043e-01 -1.82652384e-03 3.83335412e+01] [-1.63860715e-01 9.86483430e-01 3.28575982e-04 -5.01637169e+00] [ 1.85567631e-03 -2.48387027e-05 9.99998278e-01 -6.49006136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.377628 meters 0.012038230337177887 Centerline is valid? [True, True] Translation: X:38.40, Y:-5.02, Z:-0.07 [[ 9.84919863e-01 1.73005748e-01 -1.36924798e-03 3.83957292e+01] [-1.73005572e-01 9.84920815e-01 2.46776311e-04 -5.02023106e+00] [ 1.39129455e-03 -6.16736089e-06 9.99999032e-01 -6.55302468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.437628000000004 meters 0.014562944742740133 Centerline is valid? [True, True] Translation: X:38.46, Y:-5.03, Z:-0.07 [[ 9.83881715e-01 1.78806431e-01 -2.24292163e-03 3.84584579e+01] [-1.78805973e-01 9.83884272e-01 4.04696595e-04 -5.02780437e+00] [ 2.27913767e-03 2.87420417e-06 9.99997403e-01 -6.81739154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.497628 meters 0.011937343031128483 Centerline is valid? [True, True] Translation: X:38.52, Y:-5.04, Z:-0.07 [[ 9.83667785e-01 1.79974895e-01 -2.59324591e-03 3.85200690e+01] [-1.79974285e-01 9.83671204e-01 4.68580686e-04 -5.03964357e+00] [ 2.63523409e-03 5.78985397e-06 9.99996528e-01 -6.67722223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.557628 meters 0.01204657532112975 Centerline is valid? [True, True] Translation: X:38.58, Y:-5.06, Z:-0.07 [[ 9.84303186e-01 1.76451417e-01 -3.48355475e-03 3.85811253e+01] [-1.76450291e-01 9.84309351e-01 6.30317615e-04 -5.05683418e+00] [ 3.54011595e-03 -5.74938716e-06 9.99993734e-01 -6.74891914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.617628 meters 0.012317500707218732 Centerline is valid? [True, True] Translation: X:38.64, Y:-5.07, Z:-0.07 [[ 9.84921246e-01 1.72961018e-01 -3.82418306e-03 3.86412385e+01] [-1.72959632e-01 9.84928670e-01 6.92817250e-04 -5.07238504e+00] [ 3.88637791e-03 -2.09411351e-05 9.99992448e-01 -6.76066801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.677628 meters 0.015692104171019235 Centerline is valid? [True, True] Translation: X:38.70, Y:-5.08, Z:-0.07 [[ 9.85205191e-01 1.71324220e-01 -4.32940568e-03 3.87021498e+01] [-1.71322423e-01 9.85214703e-01 7.85382204e-04 -5.08351086e+00] [ 4.39994912e-03 -3.20383549e-05 9.99990320e-01 -6.99579790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.737628 meters 0.012807631714128602 Centerline is valid? [True, True] Translation: X:38.76, Y:-5.10, Z:-0.07 [[ 9.85605223e-01 1.68968753e-01 -5.64843087e-03 3.87627497e+01] [-1.68965647e-01 9.85621407e-01 1.02597963e-03 -5.09743353e+00] [ 5.74057288e-03 -5.68201019e-05 9.99983521e-01 -6.75623883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.797628 meters 0.012957222920843888 Centerline is valid? [True, True] Translation: X:38.82, Y:-5.11, Z:-0.07 [[ 9.85611778e-01 1.68961956e-01 -4.61307141e-03 3.88234667e+01] [-1.68959878e-01 9.85622572e-01 8.39258790e-04 -5.10853212e+00] [ 4.68855012e-03 -4.77593647e-05 9.99989008e-01 -6.66448698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.857628 meters 0.01522505535162858 Centerline is valid? [True, True] Translation: X:38.88, Y:-5.12, Z:-0.07 [[ 9.85837816e-01 1.67611059e-01 -5.50756291e-03 3.88849919e+01] [-1.67608070e-01 9.85853198e-01 1.00328421e-03 -5.11702294e+00] [ 5.59781004e-03 -6.59635309e-05 9.99984330e-01 -7.02040398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.917628 meters 0.014079493141117776 Centerline is valid? [True, True] Translation: X:38.94, Y:-5.13, Z:-0.07 [[ 9.86196910e-01 1.65478782e-01 -5.69453274e-03 3.89444192e+01] [-1.65475543e-01 9.86213347e-01 1.03861709e-03 -5.13006778e+00] [ 5.78789329e-03 -8.19750678e-05 9.99983247e-01 -6.90675963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.977628 meters 0.01497641333629694 Centerline is valid? [True, True] Translation: X:39.00, Y:-5.14, Z:-0.07 [[ 9.87307633e-01 1.58725350e-01 -5.46818981e-03 3.90045004e+01] [-1.58722260e-01 9.87322769e-01 9.97226546e-04 -5.14273716e+00] [ 5.55715343e-03 -1.16645938e-04 9.99984552e-01 -6.71845392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.037628 meters 0.016655481803627244 Centerline is valid? [True, True] Translation: X:39.06, Y:-5.16, Z:-0.07 [[ 9.88280156e-01 1.52590590e-01 -4.29487191e-03 3.90646798e+01] [-1.52588625e-01 9.88289481e-01 7.83417175e-04 -5.15503352e+00] [ 4.36411881e-03 -1.18887048e-04 9.99990470e-01 -6.64191095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.097628 meters 0.016808788864972644 Centerline is valid? [True, True] Translation: X:39.13, Y:-5.17, Z:-0.07 [[ 9.88486912e-01 1.51241573e-01 -4.42854555e-03 3.91255401e+01] [-1.51239463e-01 9.88496823e-01 8.09280510e-04 -5.16565782e+00] [ 4.50000007e-03 -1.30192339e-04 9.99989866e-01 -6.65427187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.157628 meters 0.016938958156215645 Centerline is valid? [True, True] Translation: X:39.19, Y:-5.18, Z:-0.07 [[ 9.88562326e-01 1.50711871e-01 -5.51896221e-03 3.91869107e+01] [-1.50708580e-01 9.88577718e-01 1.00985176e-03 -5.17571755e+00] [ 5.60811972e-03 -1.66546450e-04 9.99984261e-01 -6.76026455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.217628 meters 0.018719593961105264 Centerline is valid? [True, True] Translation: X:39.25, Y:-5.18, Z:-0.07 [[ 9.88535901e-01 1.50880975e-01 -5.63068552e-03 3.92488557e+01] [-1.50877542e-01 9.88551922e-01 1.03200046e-03 -5.18489805e+00] [ 5.72193423e-03 -1.70625507e-04 9.99983615e-01 -7.02613393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.277628 meters 0.017663966645125626 Centerline is valid? [True, True] Translation: X:39.31, Y:-5.20, Z:-0.07 [[ 9.88128393e-01 1.53565662e-01 -4.45711561e-03 3.93084999e+01] [-1.53563536e-01 9.88138438e-01 8.17408236e-04 -5.19660219e+00] [ 4.52977309e-03 -1.23253856e-04 9.99989733e-01 -6.67936628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.337628 meters 0.01547840677262212 Centerline is valid? [True, True] Translation: X:39.37, Y:-5.20, Z:-0.07 [[ 9.87185723e-01 1.59501056e-01 -4.87447047e-03 3.93704215e+01] [-1.59498586e-01 9.87197752e-01 8.93931820e-04 -5.19900483e+00] [ 4.95464937e-03 -1.05005583e-04 9.99987720e-01 -6.86737545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.397628 meters 0.015160540076079579 Centerline is valid? [True, True] Translation: X:39.43, Y:-5.21, Z:-0.07 [[ 9.86308760e-01 1.64855792e-01 -4.19490062e-03 3.94301407e+01] [-1.64854010e-01 9.86317679e-01 7.69360336e-04 -5.20642581e+00] [ 4.26433815e-03 -6.72806507e-05 9.99990905e-01 -6.97761965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.457628 meters 0.012201249821340179 Centerline is valid? [True, True] Translation: X:39.49, Y:-5.21, Z:-0.07 [[ 9.84900758e-01 1.73097502e-01 -2.78436759e-03 3.94920357e+01] [-1.73096749e-01 9.84904693e-01 5.10885600e-04 -5.21134694e+00] [ 2.83076973e-03 -2.12066362e-05 9.99995993e-01 -6.79911740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.517628 meters 0.011667042731897316 Centerline is valid? [True, True] Translation: X:39.55, Y:-5.22, Z:-0.07 [[ 9.83692199e-01 1.79844574e-01 -2.36375504e-03 3.95539863e+01] [-1.79844049e-01 9.83695039e-01 4.34662368e-04 -5.21884372e+00] [ 2.40338577e-03 -2.46670496e-06 9.99997112e-01 -6.84737573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.577628 meters 0.011774867414338603 Centerline is valid? [True, True] Translation: X:39.61, Y:-5.23, Z:-0.07 [[ 9.83130470e-01 1.82885398e-01 -2.72212413e-03 3.96146350e+01] [-1.82884711e-01 9.83134239e-01 5.01262819e-04 -5.22873145e+00] [ 2.76788709e-03 5.02813328e-06 9.99996169e-01 -7.02394342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.637628 meters 0.011838359623236188 Centerline is valid? [True, True] Translation: X:39.68, Y:-5.24, Z:-0.07 [[ 9.82797249e-01 1.84658392e-01 -3.29324648e-03 3.96761044e+01] [-1.84657394e-01 9.82802767e-01 6.07327971e-04 -5.24148211e+00] [ 3.34875996e-03 1.12420523e-05 9.99994393e-01 -7.17883224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.697628 meters 0.011813932694339897 Centerline is valid? [True, True] Translation: X:39.74, Y:-5.26, Z:-0.07 [[ 9.82810737e-01 1.84579994e-01 -3.64440178e-03 3.97371504e+01] [-1.84578767e-01 9.82817494e-01 6.73104148e-04 -5.25614613e+00] [ 3.70602338e-03 1.11452049e-05 9.99993133e-01 -7.18634264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.757628000000004 meters 0.01186213084216953 Centerline is valid? [True, True] Translation: X:39.80, Y:-5.27, Z:-0.07 [[ 9.83216174e-01 1.82389053e-01 -4.49328670e-03 3.97964832e+01] [-1.82387160e-01 9.83226441e-01 8.30951039e-04 -5.27470373e+00] [ 4.56947466e-03 2.51329689e-06 9.99989560e-01 -7.24990635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.817628 meters 0.011855444010129739 Centerline is valid? [True, True] Translation: X:39.86, Y:-5.29, Z:-0.07 [[ 9.83443098e-01 1.81176440e-01 -3.84337536e-03 3.98577978e+01] [-1.81175041e-01 9.83450608e-01 7.11945496e-04 -5.29076964e+00] [ 3.90875758e-03 -3.83419453e-06 9.99992361e-01 -7.24732625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.877628 meters 0.011891596568900544 Centerline is valid? [True, True] Translation: X:39.92, Y:-5.30, Z:-0.07 [[ 9.83259536e-01 1.82202894e-01 -1.67034356e-03 3.99186511e+01] [-1.82202630e-01 9.83260955e-01 3.10027272e-04 -5.30373096e+00] [ 1.69887147e-03 -4.96282352e-07 9.99998557e-01 -7.08337224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.937628000000004 meters 0.01180434480685046 Centerline is valid? [True, True] Translation: X:39.98, Y:-5.32, Z:-0.07 [[ 9.83094377e-01 1.83089890e-01 -1.88073538e-03 3.99802825e+01] [-1.83089556e-01 9.83096176e-01 3.49618725e-04 -5.31501218e+00] [ 1.91295542e-03 6.34804226e-07 9.99998170e-01 -7.10426355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.997628 meters 0.011965473121921378 Centerline is valid? [True, True] Translation: X:40.04, Y:-5.33, Z:-0.07 [[ 9.83084824e-01 1.83109262e-01 -3.90213627e-03 4.00407602e+01] [-1.83107824e-01 9.83092568e-01 7.25876620e-04 -5.32744394e+00] [ 3.96907590e-03 9.13390217e-07 9.99992123e-01 -7.28007956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.057628 meters 0.012179347281811165 Centerline is valid? [True, True] Translation: X:40.10, Y:-5.34, Z:-0.07 [[ 9.83841377e-01 1.79003589e-01 -3.72292424e-03 4.01021724e+01] [-1.79002245e-01 9.83848421e-01 6.93682995e-04 -5.34273820e+00] [ 3.78696488e-03 -1.60622344e-05 9.99992829e-01 -7.23906105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.117628 meters 0.014863760537460382 Centerline is valid? [True, True] Translation: X:40.16, Y:-5.35, Z:-0.07 [[ 9.84288553e-01 1.76541169e-01 -3.04301238e-03 4.01640670e+01] [-1.76540256e-01 9.84293257e-01 5.67978746e-04 -5.35482549e+00] [ 3.09548820e-03 -2.18407930e-05 9.99995209e-01 -7.32283953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.177628 meters 0.012621964900250394 Centerline is valid? [True, True] Translation: X:40.23, Y:-5.37, Z:-0.07 [[ 9.84695159e-01 1.74253471e-01 -3.34237896e-03 4.02253768e+01] [-1.74252354e-01 9.84700831e-01 6.24616558e-04 -5.36635807e+00] [ 3.40008494e-03 -3.26394978e-05 9.99994219e-01 -7.00241292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.237628 meters 0.01302954995266756 Centerline is valid? [True, True] Translation: X:40.29, Y:-5.38, Z:-0.07 [[ 9.85218015e-01 1.71268541e-01 -3.54247410e-03 4.02863021e+01] [-1.71267265e-01 9.85224383e-01 6.62918415e-04 -5.37673505e+00] [ 3.60366893e-03 -4.64093158e-05 9.99993506e-01 -7.03782596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.297628 meters 0.013763615369440783 Centerline is valid? [True, True] Translation: X:40.35, Y:-5.39, Z:-0.07 [[ 9.85546387e-01 1.69384656e-01 -2.67547122e-03 4.03459054e+01] [-1.69383920e-01 9.85550017e-01 5.00954759e-04 -5.38978991e+00] [ 2.72166476e-03 -4.05323493e-05 9.99996295e-01 -6.95326009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.357628 meters 0.014480573905285777 Centerline is valid? [True, True] Translation: X:40.41, Y:-5.40, Z:-0.07 [[ 9.85900421e-01 1.67329965e-01 -1.02078938e-03 4.04058527e+01] [-1.67329856e-01 9.85900950e-01 1.91401612e-04 -5.40124805e+00] [ 1.03842444e-03 -1.78943903e-05 9.99999461e-01 -6.79045546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.417628 meters 0.01404742216053533 Centerline is valid? [True, True] Translation: X:40.47, Y:-5.41, Z:-0.07 [[ 9.85906073e-01 1.67293408e-01 -1.45937938e-03 4.04678437e+01] [-1.67293186e-01 9.85907153e-01 2.74231274e-04 -5.41074339e+00] [ 1.48468965e-03 -2.62220531e-05 9.99998898e-01 -6.84244646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.477628 meters 0.017543345014597186 Centerline is valid? [True, True] Translation: X:40.53, Y:-5.42, Z:-0.07 [[ 9.85932702e-01 1.67100919e-01 -3.74024587e-03 4.05275358e+01] [-1.67099457e-01 9.85939794e-01 7.02342954e-04 -5.42225081e+00] [ 3.80501940e-03 -6.74698327e-05 9.99992759e-01 -7.23940009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.537628 meters 0.01664181623656492 Centerline is valid? [True, True] Translation: X:40.59, Y:-5.43, Z:-0.07 [[ 9.85673679e-01 1.68573560e-01 -5.50946978e-03 4.05890668e+01] [-1.68570402e-01 9.85689072e-01 1.03606836e-03 -5.43136000e+00] [ 5.60527788e-03 -9.24917756e-05 9.99984286e-01 -7.41532105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.597628 meters 0.013828327553102688 Centerline is valid? [True, True] Translation: X:40.65, Y:-5.44, Z:-0.07 [[ 9.85420012e-01 1.70061180e-01 -5.15709553e-03 4.06498241e+01] [-1.70058426e-01 9.85433503e-01 9.71166163e-04 -5.44226277e+00] [ 5.24713238e-03 -7.99990251e-05 9.99986231e-01 -7.19683778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.657628 meters 0.013956679970317938 Centerline is valid? [True, True] Translation: X:40.71, Y:-5.46, Z:-0.07 [[ 9.85522974e-01 1.69474084e-01 -4.79603677e-03 4.07118095e+01] [-1.69471688e-01 9.85534641e-01 9.04685337e-04 -5.45548974e+00] [ 4.87998110e-03 -7.87957385e-05 9.99988090e-01 -7.07122335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.717628 meters 0.01454309557763163 Centerline is valid? [True, True] Translation: X:40.77, Y:-5.47, Z:-0.07 [[ 9.86109226e-01 1.66066507e-01 -3.24182915e-03 4.07720072e+01] [-1.66065393e-01 9.86114553e-01 6.11846425e-04 -5.46852897e+00] [ 3.29842210e-03 -6.49917739e-05 9.99994558e-01 -7.02332860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.777628 meters 0.015674588779700505 Centerline is valid? [True, True] Translation: X:40.83, Y:-5.48, Z:-0.07 [[ 9.86580445e-01 1.63273080e-01 -9.62898864e-04 4.08315584e+01] [-1.63272980e-01 9.86580914e-01 1.82284249e-04 -5.48316705e+00] [ 9.79739752e-04 -2.26227085e-05 9.99999520e-01 -6.89309526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.837628 meters 0.017411507875832094 Centerline is valid? [True, True] Translation: X:40.89, Y:-5.50, Z:-0.07 [[ 9.86841529e-01 1.61688591e-01 -7.72181812e-04 4.08927747e+01] [-1.61688526e-01 9.86841831e-01 1.46496378e-04 -5.49504991e+00] [ 7.85708106e-04 -1.97157700e-05 9.99999691e-01 -7.05475386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.897628 meters 0.015300656725260039 Centerline is valid? [True, True] Translation: X:40.95, Y:-5.51, Z:-0.07 [[ 9.86463375e-01 1.63969309e-01 -2.01860898e-03 4.09542843e+01] [-1.63968869e-01 9.86465440e-01 3.82795664e-04 -5.50550775e+00] [ 2.05405474e-03 -4.66248716e-05 9.99997889e-01 -7.10603634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.957628 meters 0.017016286646704612 Centerline is valid? [True, True] Translation: X:41.02, Y:-5.52, Z:-0.07 [[ 9.86084319e-01 1.66210434e-01 -3.43605804e-03 4.10152899e+01] [-1.66209170e-01 9.86090303e-01 6.52172878e-04 -5.51574523e+00] [ 3.49666145e-03 -7.19930933e-05 9.99993884e-01 -7.49381417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.017628 meters 0.016656940216450887 Centerline is valid? [True, True] Translation: X:41.08, Y:-5.52, Z:-0.08 [[ 9.85368604e-01 1.70344251e-01 -5.61694130e-03 4.10770742e+01] [-1.70340934e-01 9.85384609e-01 1.06727835e-03 -5.52461834e+00] [ 5.71665224e-03 -9.48675455e-05 9.99983655e-01 -7.63373180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.077628 meters 0.014327374023836235 Centerline is valid? [True, True] Translation: X:41.14, Y:-5.53, Z:-0.07 [[ 9.84898765e-01 1.73042500e-01 -5.54210712e-03 4.11375105e+01] [-1.73039307e-01 9.84914355e-01 1.05432982e-03 -5.53471658e+00] [ 5.64094473e-03 -7.94057675e-05 9.99984087e-01 -7.40599228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.137628 meters 0.014018240201574422 Centerline is valid? [True, True] Translation: X:41.20, Y:-5.55, Z:-0.07 [[ 9.84888776e-01 1.73158436e-01 -3.20223730e-03 4.11984043e+01] [-1.73157367e-01 9.84893981e-01 6.10220820e-04 -5.54532889e+00] [ 3.25952912e-03 -4.65086584e-05 9.99994687e-01 -7.16465044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.197628 meters 0.01740780444664546 Centerline is valid? [True, True] Translation: X:41.26, Y:-5.56, Z:-0.07 [[ 9.85703978e-01 1.68475501e-01 -1.91672964e-03 4.12580719e+01] [-1.68475108e-01 9.85705841e-01 3.65837893e-04 -5.55889662e+00] [ 1.95096633e-03 -3.76866339e-05 9.99998096e-01 -7.47420838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.257628 meters 0.015832530438352272 Centerline is valid? [True, True] Translation: X:41.32, Y:-5.57, Z:-0.07 [[ 9.86417838e-01 1.64254700e-01 -4.92384619e-04 4.13187741e+01] [-1.64254673e-01 9.86417961e-01 9.40371462e-05 -5.57315710e+00] [ 5.01143075e-04 -1.18834437e-05 9.99999874e-01 -7.03738358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.317628 meters 0.019019800653438963 Centerline is valid? [True, True] Translation: X:41.38, Y:-5.59, Z:-0.07 [[ 9.87678280e-01 1.56475770e-01 2.63616132e-03 4.13762798e+01] [-1.56474985e-01 9.87681794e-01 -5.02815629e-04 -5.59073153e+00] [-2.68236701e-03 8.41267729e-05 9.99996399e-01 -6.66320028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.377628 meters 0.019878433005618482 Centerline is valid? [True, True] Translation: X:41.44, Y:-5.60, Z:-0.07 [[ 9.88965402e-01 1.48117017e-01 2.96374176e-03 4.14367302e+01] [-1.48115987e-01 9.88969835e-01 -5.65327453e-04 -5.60044817e+00] [-3.01478582e-03 1.20111754e-04 9.99995448e-01 -6.80429093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.437628000000004 meters 0.020758203786622877 Centerline is valid? [True, True] Translation: X:41.50, Y:-5.61, Z:-0.07 [[ 9.89574976e-01 1.44004842e-01 1.99324058e-03 4.14965471e+01] [-1.44004367e-01 9.89576979e-01 -3.80247379e-04 -5.61231723e+00] [-2.02722245e-03 8.92479423e-05 9.99997941e-01 -6.86111726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.497628 meters 0.025118173518982958 Centerline is valid? [True, True] Translation: X:41.55, Y:-5.63, Z:-0.07 [[ 9.90037523e-01 1.40798945e-01 -1.16614140e-03 4.15548850e+01] [-1.40798780e-01 9.90038208e-01 2.22506127e-04 -5.62662830e+00] [ 1.18585317e-03 -5.60981276e-05 9.99999295e-01 -7.07354512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.557628 meters 0.0249742906703787 Centerline is valid? [True, True] Translation: X:41.62, Y:-5.63, Z:-0.08 [[ 9.89958656e-01 1.41310351e-01 -3.63924711e-03 4.16182311e+01] [-1.41308746e-01 9.89965330e-01 6.95904079e-04 -5.63058506e+00] [ 3.70106692e-03 -1.74658822e-04 9.99993136e-01 -7.60473352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.617628 meters 0.020836975896994823 Centerline is valid? [True, True] Translation: X:41.68, Y:-5.63, Z:-0.07 [[ 9.89065198e-01 1.47472115e-01 -1.41787134e-03 4.16796692e+01] [-1.47471878e-01 9.89066212e-01 2.71009091e-04 -5.63203900e+00] [ 1.44233492e-03 -5.89495111e-05 9.99998958e-01 -7.21247869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.677628 meters 0.01898687730375978 Centerline is valid? [True, True] Translation: X:41.74, Y:-5.64, Z:-0.07 [[ 9.88134120e-01 1.53593392e-01 -1.76177215e-04 4.17409562e+01] [-1.53593388e-01 9.88134136e-01 3.37016933e-05 -5.63769994e+00] [ 1.79263078e-04 -6.24213760e-06 9.99999984e-01 -6.93865810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.737628 meters 0.015587691370239841 Centerline is valid? [True, True] Translation: X:41.80, Y:-5.64, Z:-0.07 [[ 9.85970712e-01 1.66911821e-01 1.48286923e-03 4.18025099e+01] [-1.66911584e-01 9.85971827e-01 -2.83422002e-04 -5.63528047e+00] [-1.50937377e-03 3.19377407e-05 9.99998860e-01 -6.82619757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.797628 meters 0.014166508027026459 Centerline is valid? [True, True] Translation: X:41.86, Y:-5.64, Z:-0.07 [[ 9.85142320e-01 1.71731708e-01 1.68213235e-03 4.18639302e+01] [-1.71731409e-01 9.85143756e-01 -3.21515738e-04 -5.64007640e+00] [-1.71235662e-03 2.78638018e-05 9.99998534e-01 -6.84952354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.857628 meters 0.012488208344985301 Centerline is valid? [True, True] Translation: X:41.93, Y:-5.64, Z:-0.07 [[ 9.82883602e-01 1.84201384e-01 3.11041131e-03 4.19269226e+01] [-1.84200424e-01 9.82888524e-01 -5.94706043e-04 -5.63903566e+00] [-3.16673326e-03 1.15877358e-05 9.99994986e-01 -6.73389811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.917628 meters 0.012480055891696632 Centerline is valid? [True, True] Translation: X:41.99, Y:-5.64, Z:-0.07 [[ 9.81634303e-01 1.90751492e-01 2.82186856e-03 4.19894153e+01] [-1.90750728e-01 9.81638359e-01 -5.39950787e-04 -5.64355908e+00] [-2.87305084e-03 -8.23926701e-06 9.99995873e-01 -6.87146953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.977628 meters 0.012465738408269339 Centerline is valid? [True, True] Translation: X:42.05, Y:-5.65, Z:-0.07 [[ 9.81455411e-01 1.91683236e-01 1.67741712e-03 4.20515227e+01] [-1.91682966e-01 9.81456844e-01 -3.21248294e-04 -5.65321204e+00] [-1.70789043e-03 -6.24141429e-06 9.99998542e-01 -7.12086659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.037628 meters 0.012443942976366652 Centerline is valid? [True, True] Translation: X:42.11, Y:-5.67, Z:-0.07 [[ 9.81555228e-01 1.91178800e-01 -1.76324653e-05 4.21125428e+01] [-1.91178800e-01 9.81555228e-01 3.86891418e-06 -5.66637273e+00] [ 1.80468928e-05 -4.26599381e-07 1.00000000e+00 -7.26738853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.097628 meters 0.012410991710386562 Centerline is valid? [True, True] Translation: X:42.17, Y:-5.68, Z:-0.07 [[ 9.81897073e-01 1.89412365e-01 -1.04611481e-03 4.21733543e+01] [-1.89412258e-01 9.81897630e-01 2.01739006e-04 -5.68178069e+00] [ 1.06538951e-03 6.00278635e-08 9.99999432e-01 -7.37868088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.157628 meters 0.012394524688012538 Centerline is valid? [True, True] Translation: X:42.23, Y:-5.70, Z:-0.08 [[ 9.82064531e-01 1.88532243e-01 -2.20251981e-03 4.22342504e+01] [-1.88531764e-01 9.82067000e-01 4.24864392e-04 -5.69583000e+00] [ 2.24312266e-03 -1.99930549e-06 9.99997484e-01 -7.57209553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.217628 meters 0.012499598565547887 Centerline is valid? [True, True] Translation: X:42.30, Y:-5.71, Z:-0.08 [[ 9.82111676e-01 1.88256573e-01 -4.01483237e-03 4.22950662e+01] [-1.88254977e-01 9.82119882e-01 7.75251885e-04 -5.71201854e+00] [ 4.08899296e-03 -5.57175335e-06 9.99991640e-01 -7.76081740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.277628 meters 0.012532832355898091 Centerline is valid? [True, True] Translation: X:42.36, Y:-5.73, Z:-0.08 [[ 9.82107551e-01 1.88264124e-01 -4.62350931e-03 4.23561836e+01] [-1.88262001e-01 9.82118435e-01 8.94066482e-04 -5.72903419e+00] [ 4.70915437e-03 -7.63832716e-06 9.99988912e-01 -7.84264870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.337628 meters 0.01259741288584134 Centerline is valid? [True, True] Translation: X:42.42, Y:-5.75, Z:-0.08 [[ 9.82241946e-01 1.87571150e-01 -4.22170554e-03 4.24174019e+01] [-1.87569368e-01 9.82251019e-01 8.17646950e-04 -5.74563077e+00] [ 4.30014155e-03 -1.12644897e-05 9.99990754e-01 -7.78835331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.397628 meters 0.0161177281304892 Centerline is valid? [True, True] Translation: X:42.48, Y:-5.76, Z:-0.08 [[ 9.82603656e-01 1.85620908e-01 -5.91046538e-03 4.24755807e+01] [-1.85617378e-01 9.82621432e-01 1.14500110e-03 -5.76415133e+00] [ 6.02028610e-03 -2.79971804e-05 9.99981878e-01 -8.09540994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.457628 meters 0.012806847545969615 Centerline is valid? [True, True] Translation: X:42.54, Y:-5.78, Z:-0.08 [[ 9.82532838e-01 1.85983132e-01 -6.28467823e-03 4.25354985e+01] [-1.85979135e-01 9.82552937e-01 1.21960558e-03 -5.78321902e+00] [ 6.40185512e-03 -2.94835082e-05 9.99979507e-01 -7.95834974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.517628 meters 0.015154215278001058 Centerline is valid? [True, True] Translation: X:42.59, Y:-5.80, Z:-0.08 [[ 9.82770140e-01 1.84648088e-01 -8.24233268e-03 4.25947465e+01] [-1.84641153e-01 9.82804701e-01 1.60120124e-03 -5.80025947e+00] [ 8.39626206e-03 -5.17389585e-05 9.99964749e-01 -8.27075296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.577628 meters 0.013121830732936466 Centerline is valid? [True, True] Translation: X:42.65, Y:-5.82, Z:-0.08 [[ 9.83182233e-01 1.82551548e-01 -5.25639416e-03 4.26549838e+01] [-1.82548688e-01 9.83196283e-01 1.02291314e-03 -5.82087680e+00] [ 5.35480158e-03 -4.61621682e-05 9.99985662e-01 -7.91984328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.637628 meters 0.013306462207596452 Centerline is valid? [True, True] Translation: X:42.71, Y:-5.84, Z:-0.08 [[ 9.83383699e-01 1.81525056e-01 -2.27033731e-03 4.27142459e+01] [-1.81524519e-01 9.83386320e-01 4.42163598e-04 -5.83820571e+00] [ 2.31288242e-03 -2.26945872e-05 9.99997325e-01 -7.58457982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.697628 meters 0.013130584098176266 Centerline is valid? [True, True] Translation: X:42.78, Y:-5.85, Z:-0.08 [[ 9.83153805e-01 1.82774963e-01 -1.38160418e-03 4.27750573e+01] [-1.82774765e-01 9.83154776e-01 2.69700306e-04 -5.84955926e+00] [ 1.40762522e-03 -1.26345021e-05 9.99999009e-01 -7.55526994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.757628 meters 0.01308122506049378 Centerline is valid? [True, True] Translation: X:42.84, Y:-5.86, Z:-0.08 [[ 9.83023006e-01 1.83467482e-01 -2.33531713e-03 4.28368901e+01] [-1.83466915e-01 9.83025779e-01 4.56334293e-04 -5.86017406e+00] [ 2.37939945e-03 -2.01336767e-05 9.99997169e-01 -7.72837132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.817628 meters 0.013958818601348734 Centerline is valid? [True, True] Translation: X:42.90, Y:-5.87, Z:-0.08 [[ 9.83981667e-01 1.78258437e-01 -2.00226502e-03 4.28975598e+01] [-1.78258009e-01 9.83983703e-01 3.91765686e-04 -5.87372867e+00] [ 2.04003168e-03 -2.85704775e-05 9.99997919e-01 -7.74351468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.877628 meters 0.01597597253172033 Centerline is valid? [True, True] Translation: X:42.96, Y:-5.89, Z:-0.08 [[ 9.85524424e-01 1.69519491e-01 -2.17994076e-03 4.29574681e+01] [-1.69518963e-01 9.85526833e-01 4.26215799e-04 -5.88776796e+00] [ 2.22064200e-03 -5.05047816e-05 9.99997533e-01 -7.79218457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.937628000000004 meters 0.02214089418105519 Centerline is valid? [True, True] Translation: X:43.01, Y:-5.91, Z:-0.08 [[ 9.88097304e-01 1.53805924e-01 -2.73030795e-03 4.30149205e+01] [-1.53805036e-01 9.88101071e-01 5.33738387e-04 -5.90613089e+00] [ 2.77991234e-03 -1.07450349e-04 9.99996130e-01 -7.94228877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.997628 meters 0.022033131126070006 Centerline is valid? [True, True] Translation: X:43.08, Y:-5.92, Z:-0.08 [[ 9.89441346e-01 1.44907381e-01 -2.77024859e-03 4.30753038e+01] [-1.44906431e-01 9.89445215e-01 5.41683234e-04 -5.91707045e+00] [ 2.81950311e-03 -1.34536953e-04 9.99996016e-01 -7.89221210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.057628 meters 0.022864123192481614 Centerline is valid? [True, True] Translation: X:43.14, Y:-5.93, Z:-0.08 [[ 9.90433867e-01 1.37965905e-01 -2.48264930e-03 4.31352277e+01] [-1.37965120e-01 9.90436969e-01 4.85580465e-04 -5.92622367e+00] [ 2.52590120e-03 -1.38416328e-04 9.99996800e-01 -8.03644251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.117628 meters 0.023756784102069873 Centerline is valid? [True, True] Translation: X:43.20, Y:-5.94, Z:-0.08 [[ 9.90006803e-01 1.41000350e-01 -2.33052004e-03 4.31951527e+01] [-1.40999667e-01 9.90009538e-01 4.55832646e-04 -5.93513750e+00] [ 2.37150964e-03 -1.22674871e-04 9.99997180e-01 -8.04228237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.177628 meters 0.021716453197348717 Centerline is valid? [True, True] Translation: X:43.26, Y:-5.94, Z:-0.08 [[ 9.89013101e-01 1.47814651e-01 -1.97849328e-03 4.32557486e+01] [-1.47814172e-01 9.89015076e-01 3.86984413e-04 -5.93995445e+00] [ 2.01396165e-03 -9.02833088e-05 9.99997968e-01 -7.98801587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.237628 meters 0.017473286171128092 Centerline is valid? [True, True] Translation: X:43.32, Y:-5.94, Z:-0.08 [[ 9.86643548e-01 1.62877103e-01 -2.35767653e-03 4.33177689e+01] [-1.62876466e-01 9.86646362e-01 4.61178964e-04 -5.93838430e+00] [ 2.40130847e-03 -7.10092278e-05 9.99997114e-01 -8.10589994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.297628 meters 0.015049046726189109 Centerline is valid? [True, True] Translation: X:43.38, Y:-5.94, Z:-0.08 [[ 9.84880508e-01 1.73225991e-01 -1.77254891e-03 4.33788751e+01] [-1.73225647e-01 9.84882102e-01 3.46763842e-04 -5.94174568e+00] [ 1.80582021e-03 -3.44700162e-05 9.99998369e-01 -8.08468357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.357628 meters 0.013002920511599403 Centerline is valid? [True, True] Translation: X:43.44, Y:-5.94, Z:-0.08 [[ 9.82805908e-01 1.84634073e-01 -1.67496306e-03 4.34414270e+01] [-1.84633783e-01 9.82807336e-01 3.27829020e-04 -5.94301227e+00] [ 1.70669439e-03 -1.29375328e-05 9.99998544e-01 -8.23320074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.417628 meters 0.01261669417243502 Centerline is valid? [True, True] Translation: X:43.50, Y:-5.95, Z:-0.08 [[ 9.81923194e-01 1.89275855e-01 -1.22135436e-03 4.35029498e+01] [-1.89275703e-01 9.81923954e-01 2.39705747e-04 -5.95088764e+00] [ 1.24464761e-03 -4.19992756e-06 9.99999225e-01 -8.30262322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.477628 meters 0.012649527101834363 Centerline is valid? [True, True] Translation: X:43.56, Y:-5.96, Z:-0.08 [[ 9.81963880e-01 1.89067675e-01 -5.94031180e-04 4.35639865e+01] [-1.89067639e-01 9.81964059e-01 1.17048449e-04 -5.96409176e+00] [ 6.05447347e-04 -2.62527664e-06 9.99999817e-01 -8.31437985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.537628 meters 0.013155532572958706 Centerline is valid? [True, True] Translation: X:43.62, Y:-5.98, Z:-0.08 [[ 9.82978630e-01 1.83716204e-01 -1.17032088e-03 4.36237169e+01] [-1.83716060e-01 9.82979326e-01 2.30364947e-04 -5.98270519e+00] [ 1.19272300e-03 -1.14370789e-05 9.99999289e-01 -8.34494119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.597628 meters 0.013934903230352685 Centerline is valid? [True, True] Translation: X:43.68, Y:-6.00, Z:-0.08 [[ 9.83727441e-01 1.79655688e-01 -2.03876520e-03 4.36831289e+01] [-1.79655242e-01 9.83729553e-01 4.01517774e-04 -6.00105969e+00] [ 2.07772853e-03 -2.87091975e-05 9.99997841e-01 -8.38945827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.657628 meters 0.014707643202890423 Centerline is valid? [True, True] Translation: X:43.74, Y:-6.02, Z:-0.08 [[ 9.84387185e-01 1.75992926e-01 -2.89121980e-03 4.37423691e+01] [-1.75992010e-01 9.84391430e-01 5.69963916e-04 -6.01973159e+00] [ 2.94640161e-03 -5.22335895e-05 9.99995658e-01 -8.49635846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.717628 meters 0.01480031841008414 Centerline is valid? [True, True] Translation: X:43.80, Y:-6.03, Z:-0.09 [[ 9.84506732e-01 1.75291897e-01 -4.38696548e-03 4.38026151e+01] [-1.75289779e-01 9.84516503e-01 8.65743838e-04 -6.03466898e+00] [ 4.47079779e-03 -8.33404281e-05 9.99990002e-01 -8.66609694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.777628 meters 0.01503375096084479 Centerline is valid? [True, True] Translation: X:43.86, Y:-6.05, Z:-0.09 [[ 9.84680308e-01 1.74283348e-01 -5.47774562e-03 4.38622126e+01] [-1.74280023e-01 9.84695538e-01 1.08232000e-03 -6.05165838e+00] [ 5.58254202e-03 -1.11077559e-04 9.99984411e-01 -8.72724113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.837628 meters 0.015459184394339992 Centerline is valid? [True, True] Translation: X:43.92, Y:-6.07, Z:-0.09 [[ 9.85047504e-01 1.72177334e-01 -6.03161715e-03 4.39217996e+01] [-1.72173253e-01 9.85065961e-01 1.19328424e-03 -6.07053921e+00] [ 6.14699724e-03 -1.36958518e-04 9.99981098e-01 -8.76562085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.897628 meters 0.015139922828946197 Centerline is valid? [True, True] Translation: X:43.98, Y:-6.08, Z:-0.09 [[ 9.84557263e-01 1.74968038e-01 -5.76027432e-03 4.39818922e+01] [-1.74964355e-01 9.84574107e-01 1.14108614e-03 -6.08361044e+00] [ 5.87107055e-03 -1.15621968e-04 9.99982758e-01 -8.76349620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.957628 meters 0.013784118614837573 Centerline is valid? [True, True] Translation: X:44.04, Y:-6.09, Z:-0.09 [[ 9.83374085e-01 1.81494123e-01 -5.94077297e-03 4.40427065e+01] [-1.81490326e-01 9.83392026e-01 1.17668904e-03 -6.09338151e+00] [ 6.05567091e-03 -7.89326796e-05 9.99981661e-01 -8.69257740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.017628 meters 0.012873595270700493 Centerline is valid? [True, True] Translation: X:44.10, Y:-6.10, Z:-0.09 [[ 9.82116708e-01 1.88224687e-01 -4.27064929e-03 4.41040700e+01] [-1.88222782e-01 9.82125993e-01 8.47356704e-04 -6.10174153e+00] [ 4.35380912e-03 -2.83696879e-05 9.99990522e-01 -8.58710268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.077628 meters 0.015139515552308903 Centerline is valid? [True, True] Translation: X:44.17, Y:-6.11, Z:-0.09 [[ 9.81586528e-01 1.90984835e-01 -3.56101409e-03 4.41655000e+01] [-1.90983525e-01 9.81592987e-01 7.07561695e-04 -6.11098045e+00] [ 3.63060001e-03 -1.44380034e-05 9.99993409e-01 -8.80177982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.137628 meters 0.012293100786004586 Centerline is valid? [True, True] Translation: X:44.23, Y:-6.12, Z:-0.08 [[ 9.80877357e-01 1.94620307e-01 1.59596461e-03 4.42272137e+01] [-1.94620049e-01 9.80878655e-01 -3.16910882e-04 -6.11893919e+00] [-1.62712492e-03 2.43997509e-07 9.99998676e-01 -8.37138445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.197628 meters 0.01246934634951323 Centerline is valid? [True, True] Translation: X:44.29, Y:-6.13, Z:-0.08 [[ 9.80500239e-01 1.96475028e-01 4.10426686e-03 4.42882902e+01] [-1.96473331e-01 9.80508829e-01 -8.16751658e-04 -6.12928215e+00] [-4.18474119e-03 -5.55378397e-06 9.99991244e-01 -8.15036252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.257628 meters 0.012417723156444446 Centerline is valid? [True, True] Translation: X:44.35, Y:-6.14, Z:-0.08 [[ 9.80385079e-01 1.97059326e-01 3.56629281e-03 4.43502297e+01] [-1.97058045e-01 9.80391566e-01 -7.10630547e-04 -6.14067496e+00] [-3.63639977e-03 -6.07510166e-06 9.99993388e-01 -8.25720980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.317628 meters 0.012366327593602865 Centerline is valid? [True, True] Translation: X:44.41, Y:-6.15, Z:-0.09 [[ 9.80550135e-01 1.96260820e-01 1.76730894e-03 4.44124534e+01] [-1.96260504e-01 9.80551728e-01 -3.52426642e-04 -6.15273937e+00] [-1.80210538e-03 -1.28095232e-06 9.99998376e-01 -8.64269668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.377628 meters 0.012233806437782555 Centerline is valid? [True, True] Translation: X:44.47, Y:-6.17, Z:-0.09 [[ 9.80864508e-01 1.94691508e-01 -1.82761548e-04 4.44736543e+01] [-1.94691504e-01 9.80864525e-01 3.70094170e-05 -6.16713176e+00] [ 1.86469738e-04 -7.19102862e-07 9.99999983e-01 -8.81063992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.437628000000004 meters 0.012797028264822381 Centerline is valid? [True, True] Translation: X:44.53, Y:-6.19, Z:-0.09 [[ 9.81940204e-01 1.89188053e-01 -1.14764178e-03 4.45332849e+01] [-1.89187913e-01 9.81940874e-01 2.30167705e-04 -6.18518915e+00] [ 1.17046135e-03 -8.89097012e-06 9.99999315e-01 -9.00114871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.497628 meters 0.014062091675004681 Centerline is valid? [True, True] Translation: X:44.59, Y:-6.20, Z:-0.09 [[ 9.83083166e-01 1.83159726e-01 6.57834556e-05 4.45931605e+01] [-1.83159725e-01 9.83083168e-01 -1.27893265e-05 -6.20249099e+00] [-6.70130975e-05 5.24091890e-07 9.99999998e-01 -9.02627647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.557628 meters 0.01454450076739015 Centerline is valid? [True, True] Translation: X:44.65, Y:-6.22, Z:-0.09 [[ 9.83576939e-01 1.80488723e-01 4.75647007e-04 4.46537839e+01] [-1.80488698e-01 9.83577054e-01 -9.50564777e-05 -6.21703986e+00] [-4.84992104e-04 7.64645017e-06 9.99999882e-01 -9.01853556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.617628 meters 0.01453028076745696 Centerline is valid? [True, True] Translation: X:44.72, Y:-6.23, Z:-0.09 [[ 9.83901037e-01 1.78713389e-01 5.22849838e-04 4.47150531e+01] [-1.78713358e-01 9.83901176e-01 -1.04650164e-04 -6.22918633e+00] [-5.33134956e-04 9.52515421e-06 9.99999858e-01 -9.01374828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.677628 meters 0.01466863910211984 Centerline is valid? [True, True] Translation: X:44.78, Y:-6.24, Z:-0.09 [[ 9.83946594e-01 1.78461687e-01 7.25641069e-04 4.47770783e+01] [-1.78461628e-01 9.83946861e-01 -1.45554021e-04 -6.24093975e+00] [-7.39968068e-04 1.37182963e-05 9.99999726e-01 -9.08909604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.737628 meters 0.014562751880056575 Centerline is valid? [True, True] Translation: X:44.84, Y:-6.25, Z:-0.09 [[ 9.83834761e-01 1.79078634e-01 -7.93210598e-05 4.48388202e+01] [-1.79078633e-01 9.83834764e-01 1.64659145e-05 -6.25164770e+00] [ 8.09875096e-05 -1.99503204e-06 9.99999997e-01 -9.15759516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.797628 meters 0.014221942757238598 Centerline is valid? [True, True] Translation: X:44.90, Y:-6.26, Z:-0.09 [[ 9.83699404e-01 1.79820681e-01 -7.17505007e-05 4.49004496e+01] [-1.79820681e-01 9.83699407e-01 1.49019955e-05 -6.26125302e+00] [ 7.32606119e-05 -1.75686027e-06 9.99999997e-01 -9.11231925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.857628 meters 0.014372731132892702 Centerline is valid? [True, True] Translation: X:44.96, Y:-6.27, Z:-0.09 [[ 9.83663097e-01 1.80018582e-01 4.71009367e-04 4.49625190e+01] [-1.80018557e-01 9.83663210e-01 -9.47060958e-05 -6.27209667e+00] [-4.80363443e-04 8.36846493e-06 9.99999885e-01 -9.03700799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.917628 meters 0.014195098920206761 Centerline is valid? [True, True] Translation: X:45.03, Y:-6.28, Z:-0.09 [[ 9.83652345e-01 1.80077303e-01 -4.78174852e-04 4.50250154e+01] [-1.80077277e-01 9.83652461e-01 9.72630625e-05 -6.28123346e+00] [ 4.87872740e-04 -9.56461442e-06 9.99999881e-01 -9.15696191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.977628 meters 0.014005209115233555 Centerline is valid? [True, True] Translation: X:45.09, Y:-6.29, Z:-0.09 [[ 9.83344166e-01 1.81749536e-01 -1.16505695e-03 4.50865988e+01] [-1.81749384e-01 9.83344856e-01 2.36052293e-04 -6.29252468e+00] [ 1.18855516e-03 -2.03722618e-05 9.99999293e-01 -9.18456965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.037628 meters 0.013796870915953217 Centerline is valid? [True, True] Translation: X:45.15, Y:-6.30, Z:-0.09 [[ 9.82990912e-01 1.83653442e-01 -5.28586434e-04 4.51464313e+01] [-1.83653411e-01 9.82991055e-01 1.07537028e-04 -6.30344068e+00] [ 5.39345281e-04 -8.63122040e-06 9.99999855e-01 -9.18951025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.097628 meters 0.012992709690796342 Centerline is valid? [True, True] Translation: X:45.21, Y:-6.31, Z:-0.09 [[ 9.82294354e-01 1.87342027e-01 -8.75555512e-04 4.52070589e+01] [-1.87341942e-01 9.82294744e-01 1.78133147e-04 -6.31495246e+00] [ 8.93425403e-04 -1.09509146e-05 9.99999601e-01 -9.13429087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.157628 meters 0.012553254612882783 Centerline is valid? [True, True] Translation: X:45.27, Y:-6.33, Z:-0.09 [[ 9.81423167e-01 1.91850465e-01 -1.40232183e-03 4.52667822e+01] [-1.91850253e-01 9.81424169e-01 2.85344993e-04 -6.32633756e+00] [ 1.43101610e-03 -1.10083902e-05 9.99998976e-01 -9.12967290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.217628 meters 0.012154226087557141 Centerline is valid? [True, True] Translation: X:45.33, Y:-6.33, Z:-0.09 [[ 9.79879508e-01 1.99567353e-01 -3.00366442e-03 4.53275413e+01] [-1.99566417e-01 9.79884111e-01 6.11023805e-04 -6.33465284e+00] [ 3.06518345e-03 7.00841820e-07 9.99995302e-01 -9.31010099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.277628 meters 0.012558297907821397 Centerline is valid? [True, True] Translation: X:45.39, Y:-6.34, Z:-0.09 [[ 9.78397997e-01 2.06691287e-01 -4.00886724e-03 4.53889477e+01] [-2.06689676e-01 9.78406210e-01 8.16585222e-04 -6.34402000e+00] [ 4.09108166e-03 2.96461258e-05 9.99991631e-01 -9.40479173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.337628 meters 0.0129798525309 Centerline is valid? [True, True] Translation: X:45.45, Y:-6.36, Z:-0.09 [[ 9.77650208e-01 2.10203493e-01 -3.81603613e-03 4.54494211e+01] [-2.10202056e-01 9.77657655e-01 7.78312015e-04 -6.35758565e+00] [ 3.89438084e-03 4.12217376e-05 9.99992416e-01 -9.28586843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.397628 meters 0.013559330359180817 Centerline is valid? [True, True] Translation: X:45.51, Y:-6.37, Z:-0.09 [[ 9.76982083e-01 2.13294090e-01 -3.41196331e-03 4.55098852e+01] [-2.13292956e-01 9.76988039e-01 6.96807785e-04 -6.37227216e+00] [ 3.48207232e-03 4.69790203e-05 9.99993936e-01 -9.13962418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.457628 meters 0.013007533819135535 Centerline is valid? [True, True] Translation: X:45.57, Y:-6.39, Z:-0.09 [[ 9.77357097e-01 2.11532134e-01 -5.22113579e-03 4.55696077e+01] [-2.11529450e-01 9.77371041e-01 1.06743589e-03 -6.38774478e+00] [ 5.32878391e-03 6.11579354e-05 9.99985800e-01 -9.25571501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.517628 meters 0.012513951078965798 Centerline is valid? [True, True] Translation: X:45.63, Y:-6.40, Z:-0.10 [[ 9.78374725e-01 2.06637229e-01 -9.16260014e-03 4.56292552e+01] [-2.06628730e-01 9.78417627e-01 1.87507558e-03 -6.40011529e+00] [ 9.35230990e-03 5.87298658e-05 9.99956264e-01 -9.66461127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.577628 meters 0.012469411329206294 Centerline is valid? [True, True] Translation: X:45.69, Y:-6.41, Z:-0.10 [[ 9.78734050e-01 2.04863871e-01 -1.05097362e-02 4.56908361e+01] [-2.04852553e-01 9.78790474e-01 2.15385706e-03 -6.41310649e+00] [ 1.07280771e-02 4.48930502e-05 9.99942452e-01 -9.76203926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.637628 meters 0.012393825711010475 Centerline is valid? [True, True] Translation: X:45.75, Y:-6.43, Z:-0.10 [[ 9.79477458e-01 2.01213033e-01 -1.17143313e-02 4.57517585e+01] [-2.01198671e-01 9.79547505e-01 2.40408626e-03 -6.42709036e+00] [ 1.19584775e-02 2.15959195e-06 9.99928495e-01 -9.73973528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.697628 meters 0.012629938781133146 Centerline is valid? [True, True] Translation: X:45.81, Y:-6.44, Z:-0.09 [[ 9.80558783e-01 1.95925874e-01 -1.08409285e-02 4.58122914e+01] [-1.95913214e-01 9.80618707e-01 2.22804517e-03 -6.44424914e+00] [ 1.10673490e-02 -6.08481104e-05 9.99938753e-01 -9.45725469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.757628 meters 0.012957582375190378 Centerline is valid? [True, True] Translation: X:45.87, Y:-6.46, Z:-0.09 [[ 9.81353728e-01 1.91971667e-01 -9.57808636e-03 4.58725484e+01] [-1.91961572e-01 9.81400464e-01 1.97098063e-03 -6.45882726e+00] [ 9.77831083e-03 -9.56046715e-05 9.99952187e-01 -9.28650283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.817628 meters 0.0138520180433207 Centerline is valid? [True, True] Translation: X:45.93, Y:-6.47, Z:-0.09 [[ 9.82492352e-01 1.86158717e-01 -7.32878765e-03 4.59327696e+01] [-1.86152630e-01 9.82519678e-01 1.51011625e-03 -6.47302721e+00] [ 7.48179939e-03 -1.19404565e-04 9.99972004e-01 -9.24446125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.877628 meters 0.014886026157481804 Centerline is valid? [True, True] Translation: X:45.99, Y:-6.49, Z:-0.09 [[ 9.83416147e-01 1.81263971e-01 -6.00451623e-03 4.59934821e+01] [-1.81259793e-01 9.83434470e-01 1.23746497e-03 -6.48808911e+00] [ 6.12935605e-03 -1.28565663e-04 9.99981207e-01 -8.98967788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.937628000000004 meters 0.0155580403418986 Centerline is valid? [True, True] Translation: X:46.05, Y:-6.50, Z:-0.09 [[ 9.83645069e-01 1.80004101e-01 -6.39547198e-03 4.60537545e+01] [-1.79999323e-01 9.83665849e-01 1.31981122e-03 -6.50059865e+00] [ 6.52857880e-03 -1.47045178e-04 9.99978678e-01 -9.01027048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.997628 meters 0.016115564814071424 Centerline is valid? [True, True] Translation: X:46.12, Y:-6.51, Z:-0.09 [[ 9.83513072e-01 1.80648237e-01 -8.26150932e-03 4.61152092e+01] [-1.80640268e-01 9.83547752e-01 1.70706738e-03 -6.50971169e+00] [ 8.43396763e-03 -1.86561830e-04 9.99964416e-01 -9.34154895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.057628 meters 0.01629521059159622 Centerline is valid? [True, True] Translation: X:46.18, Y:-6.52, Z:-0.10 [[ 9.83258298e-01 1.81969791e-01 -9.49287807e-03 4.61758075e+01] [-1.81959320e-01 9.83304101e-01 1.96253976e-03 -6.52021184e+00] [ 9.69150888e-03 -2.02365862e-04 9.99953016e-01 -9.50127969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.117628 meters 0.01561150065896555 Centerline is valid? [True, True] Translation: X:46.24, Y:-6.53, Z:-0.09 [[ 9.82948474e-01 1.83614027e-01 -9.90887540e-03 4.62370900e+01] [-1.83602675e-01 9.82998398e-01 2.05113690e-03 -6.53014137e+00] [ 1.01170261e-02 -1.96865858e-04 9.99948802e-01 -9.34523531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.177628 meters 0.015018725385701596 Centerline is valid? [True, True] Translation: X:46.30, Y:-6.54, Z:-0.09 [[ 9.82270668e-01 1.87287704e-01 -8.22496213e-03 4.62984475e+01] [-1.87279994e-01 9.82305094e-01 1.70461167e-03 -6.53809125e+00] [ 8.39867500e-03 -1.34019187e-04 9.99964722e-01 -9.24459597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.237628 meters 0.012803716808965925 Centerline is valid? [True, True] Translation: X:46.36, Y:-6.54, Z:-0.09 [[ 9.81218816e-01 1.92792685e-01 -6.37302697e-03 4.63601512e+01] [-1.92788173e-01 9.81239510e-01 1.32079387e-03 -6.54370541e+00] [ 6.50810526e-03 -6.73435682e-05 9.99978820e-01 -8.92558066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.297628 meters 0.012509786272430226 Centerline is valid? [True, True] Translation: X:46.42, Y:-6.55, Z:-0.09 [[ 9.80475970e-01 1.96527315e-01 -6.62468065e-03 4.64214041e+01] [-1.96522511e-01 9.80498349e-01 1.37500739e-03 -6.55375790e+00] [ 6.76571495e-03 -4.62628305e-05 9.99977111e-01 -8.97042263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.357628 meters 0.012172141873153002 Centerline is valid? [True, True] Translation: X:46.48, Y:-6.56, Z:-0.09 [[ 9.79383332e-01 2.01914059e-01 -6.24507067e-03 4.64829140e+01] [-2.01909888e-01 9.79403243e-01 1.29782412e-03 -6.56185344e+00] [ 6.37849140e-03 -1.01257929e-05 9.99979657e-01 -9.12123548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.417628 meters 0.012073250248078194 Centerline is valid? [True, True] Translation: X:46.55, Y:-6.57, Z:-0.09 [[ 9.78571751e-01 2.05837646e-01 -5.30965908e-03 4.65451425e+01] [-2.05834680e-01 9.78586155e-01 1.10512682e-03 -6.57315617e+00] [ 5.42343557e-03 1.14660921e-05 9.99985293e-01 -9.05019108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.477628 meters 0.012621478228456136 Centerline is valid? [True, True] Translation: X:46.61, Y:-6.58, Z:-0.09 [[ 9.77480947e-01 2.10919165e-01 -6.64107361e-03 4.66053321e+01] [-2.10914638e-01 9.77503506e-01 1.38277461e-03 -6.58388966e+00] [ 6.78332640e-03 4.90638061e-05 9.99976992e-01 -9.28989826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.537628 meters 0.012998198749829094 Centerline is valid? [True, True] Translation: X:46.67, Y:-6.60, Z:-0.10 [[ 9.76911391e-01 2.13471899e-01 -8.59547387e-03 4.66663623e+01] [-2.13464393e-01 9.76949201e-01 1.79202507e-03 -6.59669262e+00] [ 8.77988832e-03 8.41779123e-05 9.99961452e-01 -9.50518304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.597628 meters 0.012953479885696216 Centerline is valid? [True, True] Translation: X:46.73, Y:-6.61, Z:-0.10 [[ 9.76877449e-01 2.13548802e-01 -1.03614105e-02 4.67261744e+01] [-2.13537873e-01 9.76932392e-01 2.16278728e-03 -6.61442250e+00] [ 1.05842581e-02 9.97754266e-05 9.99943980e-01 -9.57789424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.657628 meters 0.01251802259650535 Centerline is valid? [True, True] Translation: X:46.79, Y:-6.63, Z:-0.09 [[ 9.77434012e-01 2.11070522e-01 -8.48455301e-03 4.67862119e+01] [-2.11063095e-01 9.77470834e-01 1.77163224e-03 -6.63339998e+00] [ 8.66734245e-03 5.91224051e-05 9.99962436e-01 -9.35248259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.717628 meters 0.012229435931929152 Centerline is valid? [True, True] Translation: X:46.84, Y:-6.65, Z:-0.09 [[ 9.78440600e-01 2.06412835e-01 -6.90902209e-03 4.68448763e+01] [-2.06407779e-01 9.78464992e-01 1.44475511e-03 -6.65420579e+00] [ 7.05845225e-03 1.24688528e-05 9.99975089e-01 -9.16907947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.777628 meters 0.012424383298424175 Centerline is valid? [True, True] Translation: X:46.90, Y:-6.67, Z:-0.09 [[ 9.79391573e-01 2.01877459e-01 -6.13504202e-03 4.69046666e+01] [-2.01873372e-01 9.79410788e-01 1.28466199e-03 -6.67217850e+00] [ 6.26807063e-03 -1.96855080e-05 9.99980355e-01 -9.23009055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.837628 meters 0.01263769993069249 Centerline is valid? [True, True] Translation: X:46.97, Y:-6.69, Z:-0.09 [[ 9.80082032e-01 1.98506058e-01 -5.87839822e-03 4.69650593e+01] [-1.98502237e-01 9.80099660e-01 1.23244982e-03 -6.68648655e+00] [ 6.00606485e-03 -4.10267269e-05 9.99981963e-01 -9.12304361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.897628 meters 0.013438656973013554 Centerline is valid? [True, True] Translation: X:47.02, Y:-6.70, Z:-0.09 [[ 9.80949139e-01 1.94109123e-01 -7.77400199e-03 4.70248962e+01] [-1.94102287e-01 9.80979939e-01 1.63156111e-03 -6.70110555e+00] [ 7.94284089e-03 -9.15269046e-05 9.99968451e-01 -9.15687216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.957628 meters 0.014309040908088204 Centerline is valid? [True, True] Translation: X:47.09, Y:-6.72, Z:-0.09 [[ 9.82020599e-01 1.88614833e-01 -7.74524763e-03 4.70851590e+01] [-1.88607874e-01 9.82051132e-01 1.62583588e-03 -6.71621598e+00] [ 7.91288597e-03 -1.35789632e-04 9.99968683e-01 -9.14776505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.017628 meters 0.016685156980603206 Centerline is valid? [True, True] Translation: X:47.14, Y:-6.73, Z:-0.09 [[ 9.83645830e-01 1.79991945e-01 -6.61666418e-03 4.71433307e+01] [-1.79986672e-01 9.83668068e-01 1.38882654e-03 -6.73008093e+00] [ 6.75857887e-03 -1.75202068e-04 9.99977145e-01 -9.22479705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.077628 meters 0.021573123534280456 Centerline is valid? [True, True] Translation: X:47.20, Y:-6.75, Z:-0.10 [[ 9.85015438e-01 1.72329108e-01 -6.87492182e-03 4.72019689e+01] [-1.72323228e-01 9.85039401e-01 1.44317476e-03 -6.74539831e+00] [ 7.02076990e-03 -2.36840703e-04 9.99975326e-01 -9.50662663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.137628 meters 0.02311827357583491 Centerline is valid? [True, True] Translation: X:47.26, Y:-6.76, Z:-0.09 [[ 9.86285742e-01 1.64990790e-01 -4.29816977e-03 4.72596247e+01] [-1.64988421e-01 9.86295091e-01 9.02518402e-04 -6.76242738e+00] [ 4.38817097e-03 -1.80992789e-04 9.99990356e-01 -8.94853916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.197628 meters 0.01964875710326281 Centerline is valid? [True, True] Translation: X:47.32, Y:-6.76, Z:-0.09 [[ 9.86175455e-01 1.65693818e-01 -1.87912203e-03 4.73224216e+01] [-1.65693365e-01 9.86177242e-01 3.95457008e-04 -6.76478125e+00] [ 1.91867216e-03 -7.86319427e-05 9.99998156e-01 -8.75357452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.257628 meters 0.018520812616220034 Centerline is valid? [True, True] Translation: X:47.38, Y:-6.77, Z:-0.09 [[ 9.85391009e-01 1.70303289e-01 -1.16145788e-03 4.73838328e+01] [-1.70303120e-01 9.85391693e-01 2.44214765e-04 -6.76963158e+00] [ 1.18608152e-03 -4.28471340e-05 9.99999296e-01 -8.85307388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.317628 meters 0.016427868229062774 Centerline is valid? [True, True] Translation: X:47.44, Y:-6.77, Z:-0.09 [[ 9.83492710e-01 1.80939170e-01 -1.76222442e-03 4.74441587e+01] [-1.80938797e-01 9.83494288e-01 3.70465720e-04 -6.77245997e+00] [ 1.80016941e-03 -4.54955690e-05 9.99998379e-01 -8.85050435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.377628 meters 0.014075909157144895 Centerline is valid? [True, True] Translation: X:47.51, Y:-6.77, Z:-0.09 [[ 9.81617956e-01 1.90826729e-01 -3.36857523e-03 4.75060627e+01] [-1.90825422e-01 9.81623735e-01 7.08184445e-04 -6.77179746e+00] [ 3.44181392e-03 -5.23567759e-05 9.99994076e-01 -9.12832480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.437628000000004 meters 0.013242862024064916 Centerline is valid? [True, True] Translation: X:47.57, Y:-6.78, Z:-0.09 [[ 9.80429551e-01 1.96825785e-01 -4.18390604e-03 4.75677945e+01] [-1.96823820e-01 9.80438478e-01 8.80435128e-04 -6.77691484e+00] [ 4.27535480e-03 -3.97122491e-05 9.99990860e-01 -9.32133411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.497628 meters 0.012892039785479066 Centerline is valid? [True, True] Translation: X:47.63, Y:-6.79, Z:-0.09 [[ 9.79864561e-01 1.99615155e-01 -4.38544408e-03 4.76289031e+01] [-1.99613018e-01 9.79874374e-01 9.24134701e-04 -6.78675685e+00] [ 4.48165557e-03 -3.01351145e-05 9.99989957e-01 -9.35646827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.557628 meters 0.012651879826102623 Centerline is valid? [True, True] Translation: X:47.69, Y:-6.80, Z:-0.09 [[ 9.79099407e-01 2.03314066e-01 -5.26712694e-03 4.76900411e+01] [-2.03311030e-01 9.79113574e-01 1.11116475e-03 -6.79521392e+00] [ 5.38303091e-03 -1.70757384e-05 9.99985511e-01 -9.46132446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.617628 meters 0.012619897976404084 Centerline is valid? [True, True] Translation: X:47.75, Y:-6.81, Z:-0.10 [[ 9.78799144e-01 2.04733849e-01 -6.02388005e-03 4.77519315e+01] [-2.04729894e-01 9.78817680e-01 1.27257258e-03 -6.80550682e+00] [ 6.15681898e-03 -1.23246286e-05 9.99981047e-01 -9.54758913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.677628 meters 0.012603333831605735 Centerline is valid? [True, True] Translation: X:47.81, Y:-6.82, Z:-0.09 [[ 9.78240585e-01 2.07437972e-01 -3.85296319e-03 4.78118346e+01] [-2.07436371e-01 9.78248173e-01 8.14929574e-04 -6.81678590e+00] [ 3.93820154e-03 2.04752023e-06 9.99992245e-01 -9.31815556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.737628 meters 0.012686769131622326 Centerline is valid? [True, True] Translation: X:47.87, Y:-6.83, Z:-0.09 [[ 9.78076292e-01 2.08239798e-01 -1.71856290e-03 4.78723207e+01] [-2.08239480e-01 9.78077802e-01 3.64192255e-04 -6.83097335e+00] [ 1.75672755e-03 1.66483429e-06 9.99998457e-01 -9.00508361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.797628 meters 0.01258872719672203 Centerline is valid? [True, True] Translation: X:47.93, Y:-6.85, Z:-0.09 [[ 9.78226201e-01 2.07532872e-01 -1.89920265e-03 4.79336285e+01] [-2.07532480e-01 9.78228045e-01 4.03043803e-04 -6.84597566e+00] [ 1.94149814e-03 -1.21770420e-07 9.99998115e-01 -9.04120861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.857628 meters 0.012952420067758933 Centerline is valid? [True, True] Translation: X:47.99, Y:-6.87, Z:-0.09 [[ 9.78811581e-01 2.04734940e-01 -3.39010156e-03 4.79935443e+01] [-2.04733674e-01 9.78817452e-01 7.20057812e-04 -6.86501162e+00] [ 3.46571156e-03 -1.07329791e-05 9.99993994e-01 -9.19552636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.917628 meters 0.013147951239452095 Centerline is valid? [True, True] Translation: X:48.05, Y:-6.88, Z:-0.09 [[ 9.79315009e-01 2.02264541e-01 -5.58284008e-03 4.80518040e+01] [-2.02261064e-01 9.79330922e-01 1.18644655e-03 -6.88238590e+00] [ 5.70742399e-03 -3.27137366e-05 9.99983712e-01 -9.37526257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.977628 meters 0.01385150544822861 Centerline is valid? [True, True] Translation: X:48.11, Y:-6.90, Z:-0.09 [[ 9.80590203e-01 1.95912847e-01 -7.81085317e-03 4.81109228e+01] [-1.95905837e-01 9.80621307e-01 1.66019374e-03 -6.90389046e+00] [ 7.98474232e-03 -9.77779863e-05 9.99968117e-01 -9.41165571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.037628 meters 0.015273447835565045 Centerline is valid? [True, True] Translation: X:48.17, Y:-6.93, Z:-0.09 [[ 9.82029748e-01 1.88564389e-01 -7.81315725e-03 4.81685868e+01] [-1.88557140e-01 9.82060816e-01 1.66091116e-03 -6.92711859e+00] [ 7.98618429e-03 -1.57837575e-04 9.99968097e-01 -9.35372893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.097628 meters 0.01904365281898505 Centerline is valid? [True, True] Translation: X:48.22, Y:-6.95, Z:-0.09 [[ 9.83220139e-01 1.82344005e-01 -5.36860494e-03 4.82244159e+01] [-1.82340489e-01 9.83234785e-01 1.14133745e-03 -6.95372434e+00] [ 5.48671517e-03 -1.43271914e-04 9.99984938e-01 -9.15414009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.157628 meters 0.018324237687085302 Centerline is valid? [True, True] Translation: X:48.28, Y:-6.97, Z:-0.09 [[ 9.83879715e-01 1.78803104e-01 -3.18700292e-03 4.82847582e+01] [-1.78801846e-01 9.83884872e-01 6.77871249e-04 -6.96942426e+00] [ 3.25684944e-03 -9.71017668e-05 9.99994692e-01 -8.88896260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.217628 meters 0.01843083747443216 Centerline is valid? [True, True] Translation: X:48.34, Y:-6.99, Z:-0.09 [[ 9.84769556e-01 1.73855789e-01 -1.75666914e-03 4.83441337e+01] [-1.73855399e-01 9.84771121e-01 3.73702289e-04 -6.98513654e+00] [ 1.79488734e-03 -6.26042250e-05 9.99998387e-01 -8.86850601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.277628 meters 0.01906476402328084 Centerline is valid? [True, True] Translation: X:48.40, Y:-7.00, Z:-0.09 [[ 9.85032808e-01 1.72353922e-01 -2.11944755e-03 4.84040975e+01] [-1.72353349e-01 9.85035085e-01 4.51779652e-04 -7.00056415e+00] [ 2.16559619e-03 -7.97238968e-05 9.99997652e-01 -8.89310121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.337628 meters 0.020400198837931833 Centerline is valid? [True, True] Translation: X:48.46, Y:-7.02, Z:-0.09 [[ 9.85283385e-01 1.70917810e-01 -1.93754426e-03 4.84635924e+01] [-1.70917327e-01 9.85285287e-01 4.13465751e-04 -7.01563039e+00] [ 1.97970251e-03 -7.62210485e-05 9.99998037e-01 -8.78390020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.397628 meters 0.02052573640554254 Centerline is valid? [True, True] Translation: X:48.52, Y:-7.03, Z:-0.09 [[ 9.85111656e-01 1.71905532e-01 -1.87435456e-03 4.85245864e+01] [-1.71905080e-01 9.85113437e-01 4.00491143e-04 -7.02610731e+00] [ 1.91529851e-03 -7.23174218e-05 9.99998163e-01 -8.86226040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.457628 meters 0.01805637948440934 Centerline is valid? [True, True] Translation: X:48.59, Y:-7.03, Z:-0.09 [[ 9.84192386e-01 1.77073186e-01 -3.23015174e-03 4.85857852e+01] [-1.77071875e-01 9.84197681e-01 6.89562434e-04 -7.03198500e+00] [ 3.30121087e-03 -1.06693072e-04 9.99994545e-01 -8.95523102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.517628 meters 0.016580678203430125 Centerline is valid? [True, True] Translation: X:48.65, Y:-7.04, Z:-0.09 [[ 9.82792684e-01 1.84668776e-01 -3.99790009e-03 4.86459079e+01] [-1.84666831e-01 9.82800810e-01 8.53421605e-04 -7.03684012e+00] [ 4.08673978e-03 -1.00456967e-04 9.99991644e-01 -9.11220357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.577628 meters 0.014358429713984884 Centerline is valid? [True, True] Translation: X:48.71, Y:-7.04, Z:-0.09 [[ 9.81246555e-01 1.92699325e-01 -4.70839730e-03 4.87078554e+01] [-1.92696719e-01 9.81257848e-01 1.00527424e-03 -7.03957015e+00] [ 4.81386747e-03 -7.91291701e-05 9.99988410e-01 -9.35998259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.637628 meters 0.012999932736448349 Centerline is valid? [True, True] Translation: X:48.77, Y:-7.05, Z:-0.09 [[ 9.79840378e-01 1.99708533e-01 -5.41614368e-03 4.87693951e+01] [-1.99705190e-01 9.79855346e-01 1.15672054e-03 -7.04752046e+00] [ 5.53804431e-03 -5.17694915e-05 9.99984664e-01 -9.23452480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.697628 meters 0.012518866989558949 Centerline is valid? [True, True] Translation: X:48.83, Y:-7.06, Z:-0.09 [[ 9.78841909e-01 2.04540582e-01 -5.62735951e-03 4.88310545e+01] [-2.04537042e-01 9.78858085e-01 1.20360089e-03 -7.05602249e+00] [ 5.75457158e-03 -2.71315201e-05 9.99983442e-01 -9.34931582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.757628 meters 0.012270767737162014 Centerline is valid? [True, True] Translation: X:48.89, Y:-7.06, Z:-0.09 [[ 9.77402393e-01 2.11317244e-01 -5.43919060e-03 4.88925777e+01] [-2.11314034e-01 9.77417527e-01 1.16475814e-03 -7.06397376e+00] [ 5.56249370e-03 1.09399204e-05 9.99984529e-01 -9.47616510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.817628 meters 0.012422097840471774 Centerline is valid? [True, True] Translation: X:48.95, Y:-7.08, Z:-0.09 [[ 9.76724556e-01 2.14452692e-01 -4.37989809e-03 4.89528293e+01] [-2.14450640e-01 9.76734376e-01 9.38561604e-04 -7.07604609e+00] [ 4.47927410e-03 2.25557812e-05 9.99989968e-01 -9.39432956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.877628 meters 0.012463603619649415 Centerline is valid? [True, True] Translation: X:49.01, Y:-7.09, Z:-0.09 [[ 9.76260238e-01 2.16585357e-01 -2.59457087e-03 4.90139877e+01] [-2.16584641e-01 9.76263685e-01 5.57079249e-04 -7.09036751e+00] [ 2.65364052e-03 1.80898804e-05 9.99996479e-01 -9.22126594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.937628000000004 meters 0.012642761257120189 Centerline is valid? [True, True] Translation: X:49.07, Y:-7.10, Z:-0.09 [[ 9.76138074e-01 2.17140752e-01 -2.08674362e-03 4.90741928e+01] [-2.17140289e-01 9.76140304e-01 4.48671948e-04 -7.10423590e+00] [ 2.13437952e-03 1.51503430e-05 9.99997722e-01 -9.18047602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.997628 meters 0.012545860195793426 Centerline is valid? [True, True] Translation: X:49.13, Y:-7.12, Z:-0.09 [[ 9.76001372e-01 2.17734281e-01 -3.62003893e-03 4.91347640e+01] [-2.17732889e-01 9.76008085e-01 7.79140106e-04 -7.12097939e+00] [ 3.70283277e-03 2.77597202e-05 9.99993144e-01 -9.26987426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.057628 meters 0.012460052512519828 Centerline is valid? [True, True] Translation: X:49.20, Y:-7.14, Z:-0.09 [[ 9.76015662e-01 2.17638539e-01 -5.18593920e-03 4.91957510e+01] [-2.17635673e-01 9.76029439e-01 1.11749449e-03 -7.13601521e+00] [ 5.30483919e-03 3.79532475e-05 9.99985929e-01 -9.39858144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.117628 meters 0.012239804395180812 Centerline is valid? [True, True] Translation: X:49.26, Y:-7.15, Z:-0.10 [[ 9.76552048e-01 2.15155336e-01 -7.36741395e-03 4.92561453e+01] [-2.15149466e-01 9.76579838e-01 1.58955687e-03 -7.15312074e+00] [ 7.53686956e-03 3.28101614e-05 9.99971597e-01 -9.59184796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.177628 meters 0.012256190913175877 Centerline is valid? [True, True] Translation: X:49.32, Y:-7.18, Z:-0.09 [[ 9.78104121e-01 2.07961963e-01 -8.00937782e-03 4.93150473e+01] [-2.07954766e-01 9.78136913e-01 1.73042813e-03 -7.17650592e+00] [ 8.19413133e-03 -2.69505963e-05 9.99966427e-01 -9.38249838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.237628 meters 0.012936894589343665 Centerline is valid? [True, True] Translation: X:49.37, Y:-7.20, Z:-0.09 [[ 9.79650841e-01 2.00616748e-01 -6.09502312e-03 4.93743472e+01] [-2.00612428e-01 9.79669799e-01 1.31847267e-03 -7.19670688e+00] [ 6.23561778e-03 -6.89054712e-05 9.99980556e-01 -9.29449614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.297628 meters 0.015740072070043108 Centerline is valid? [True, True] Translation: X:49.43, Y:-7.22, Z:-0.09 [[ 9.82496120e-01 1.86236975e-01 -4.14289384e-03 4.94311105e+01] [-1.86234851e-01 9.82504849e-01 8.96007285e-04 -7.22184213e+00] [ 4.23728297e-03 -1.08772464e-04 9.99991017e-01 -9.18328531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.357628 meters 0.02120542191735342 Centerline is valid? [True, True] Translation: X:49.49, Y:-7.25, Z:-0.09 [[ 9.85142389e-01 1.71721956e-01 -2.45822979e-03 4.94865108e+01] [-1.71721163e-01 9.85145451e-01 5.31629936e-04 -7.24862314e+00] [ 2.51300643e-03 -1.01601107e-04 9.99996837e-01 -8.94053892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.417628 meters 0.021898455999842744 Centerline is valid? [True, True] Translation: X:49.55, Y:-7.26, Z:-0.09 [[ 9.85811681e-01 1.67843410e-01 -1.97956306e-03 4.95452826e+01] [-1.67842887e-01 9.85813665e-01 4.28275776e-04 -7.26391834e+00] [ 2.02336358e-03 -8.99436834e-05 9.99997949e-01 -8.83041536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.477628 meters 0.02479463265830611 Centerline is valid? [True, True] Translation: X:49.60, Y:-7.28, Z:-0.09 [[ 9.86832322e-01 1.61745131e-01 -6.93731073e-04 4.96040994e+01] [-1.61745065e-01 9.86832565e-01 1.50135707e-04 -7.28067903e+00] [ 7.08880134e-04 -3.59511908e-05 9.99999748e-01 -8.70760936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.537628 meters 0.025339093036200803 Centerline is valid? [True, True] Translation: X:49.67, Y:-7.29, Z:-0.09 [[ 9.86774051e-01 1.62100807e-01 -5.48854972e-04 4.96655763e+01] [-1.62100765e-01 9.86774203e-01 1.19360743e-04 -7.29226829e+00] [ 5.60944400e-04 -2.88122726e-05 9.99999842e-01 -8.76219544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.597628 meters 0.025010148250184758 Centerline is valid? [True, True] Translation: X:49.72, Y:-7.30, Z:-0.09 [[ 9.86104353e-01 1.66122422e-01 -1.24311685e-03 4.97247376e+01] [-1.66122214e-01 9.86105135e-01 2.69243090e-04 -7.30006555e+00] [ 1.27057123e-03 -5.89924595e-05 9.99999191e-01 -8.72535635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.657628 meters 0.024643219214467067 Centerline is valid? [True, True] Translation: X:49.78, Y:-7.31, Z:-0.09 [[ 9.85481936e-01 1.69762963e-01 -2.42694328e-03 4.97842971e+01] [-1.69762181e-01 9.85484919e-01 5.26005980e-04 -7.30733617e+00] [ 2.48101233e-03 -1.06366207e-04 9.99996917e-01 -8.80114936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.717628 meters 0.01761292189618904 Centerline is valid? [True, True] Translation: X:49.85, Y:-7.30, Z:-0.09 [[ 9.84079107e-01 1.77697380e-01 -3.45708041e-03 4.98478987e+01] [-1.77695843e-01 9.84085172e-01 7.49179167e-04 -7.30104486e+00] [ 3.53518874e-03 -1.22942747e-04 9.99993744e-01 -8.88097670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.777628 meters 0.015843077584319895 Centerline is valid? [True, True] Translation: X:49.91, Y:-7.30, Z:-0.09 [[ 9.82974449e-01 1.83697513e-01 -4.05666226e-03 4.99092322e+01] [-1.83695448e-01 9.82982812e-01 8.79190631e-04 -7.30454787e+00] [ 4.14913441e-03 -1.19031535e-04 9.99991385e-01 -8.98440470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.837628 meters 0.014284508076582382 Centerline is valid? [True, True] Translation: X:49.97, Y:-7.31, Z:-0.09 [[ 9.81547303e-01 1.91136364e-01 -5.63760414e-03 4.99711902e+01] [-1.91132497e-01 9.81563485e-01 1.22191778e-03 -7.30715227e+00] [ 5.76721929e-03 -1.21840748e-04 9.99983362e-01 -9.11071587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.897628 meters 0.01302492668052461 Centerline is valid? [True, True] Translation: X:50.03, Y:-7.31, Z:-0.09 [[ 9.80095851e-01 1.98406606e-01 -6.85133938e-03 5.00329002e+01] [-1.98401070e-01 9.80119793e-01 1.48526790e-03 -7.31280225e+00] [ 7.00982030e-03 -9.63918444e-05 9.99975426e-01 -9.08571846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.957628 meters 0.01174103049139834 Centerline is valid? [True, True] Translation: X:50.10, Y:-7.31, Z:-0.09 [[ 9.77990689e-01 2.08525424e-01 -7.16658089e-03 5.00958223e+01] [-2.08519621e-01 9.78016946e-01 1.55584989e-03 -7.31443876e+00] [ 7.33347181e-03 -2.72339793e-05 9.99973109e-01 -9.15657011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.017628 meters 0.011620378462114058 Centerline is valid? [True, True] Translation: X:50.16, Y:-7.32, Z:-0.09 [[ 9.76519413e-01 2.15329148e-01 -6.57216112e-03 5.01582644e+01] [-2.15324408e-01 9.76541529e-01 1.42886721e-03 -7.32128343e+00] [ 6.72566503e-03 1.98301282e-05 9.99977382e-01 -9.19266119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.077628 meters 0.0122927861990823 Centerline is valid? [True, True] Translation: X:50.22, Y:-7.33, Z:-0.09 [[ 9.74783664e-01 2.23068500e-01 -6.10354496e-03 5.02203157e+01] [-2.23064553e-01 9.74802770e-01 1.32855596e-03 -7.32903677e+00] [ 6.24611152e-03 6.64298849e-05 9.99980491e-01 -9.10521179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.137628 meters 0.015983345049094842 Centerline is valid? [True, True] Translation: X:50.28, Y:-7.34, Z:-0.09 [[ 9.73996218e-01 2.26469808e-01 -6.54160309e-03 5.02814751e+01] [-2.26465340e-01 9.74018181e-01 1.42560647e-03 -7.33995428e+00] [ 6.69449717e-03 9.29110570e-05 9.99977587e-01 -9.30098028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.197628 meters 0.013289403681318005 Centerline is valid? [True, True] Translation: X:50.34, Y:-7.35, Z:-0.09 [[ 9.73681870e-01 2.27813281e-01 -6.68770845e-03 5.03415841e+01] [-2.27808638e-01 9.73704831e-01 1.45819288e-03 -7.35175196e+00] [ 6.84404973e-03 1.03701784e-04 9.99976574e-01 -9.24778818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.257628 meters 0.012886684192955425 Centerline is valid? [True, True] Translation: X:50.40, Y:-7.37, Z:-0.09 [[ 9.74197802e-01 2.25511926e-01 -9.11117650e-03 5.04009207e+01] [-2.25503185e-01 9.74240400e-01 1.98905474e-03 -7.36879880e+00] [ 9.32503180e-03 1.16866558e-04 9.99956514e-01 -9.44427972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.317628 meters 0.01235667626159464 Centerline is valid? [True, True] Translation: X:50.46, Y:-7.39, Z:-0.10 [[ 9.74935514e-01 2.22156203e-01 -1.21394122e-02 5.04615812e+01] [-2.22140380e-01 9.75011082e-01 2.65370615e-03 -7.38750732e+00] [ 1.24255987e-02 1.09461277e-04 9.99922793e-01 -9.67634280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.377628 meters 0.012240603978691544 Centerline is valid? [True, True] Translation: X:50.52, Y:-7.41, Z:-0.10 [[ 9.76712615e-01 2.14002624e-01 -1.53409343e-02 5.05185880e+01] [-2.13976322e-01 9.76833085e-01 3.35513514e-03 -7.41068166e+00] [ 1.57035399e-02 5.59387193e-06 9.99876692e-01 -9.96819961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.437628 meters 0.012698305828982598 Centerline is valid? [True, True] Translation: X:50.58, Y:-7.43, Z:-0.10 [[ 9.78293990e-01 2.06660646e-01 -1.52396306e-02 5.05772272e+01] [-2.06633732e-01 9.78412676e-01 3.33716778e-03 -7.43403199e+00] [ 1.56003090e-02 -1.15709426e-04 9.99878301e-01 -9.74120960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.497628 meters 0.01547845921858663 Centerline is valid? [True, True] Translation: X:50.63, Y:-7.46, Z:-0.09 [[ 9.81144317e-01 1.92878683e-01 -1.23953208e-02 5.06334462e+01] [-1.92859773e-01 9.81222574e-01 2.71448990e-03 -7.46392832e+00] [ 1.26861358e-02 -2.72747579e-04 9.99919491e-01 -9.43003667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.557628 meters 0.02095647962729528 Centerline is valid? [True, True] Translation: X:50.69, Y:-7.50, Z:-0.09 [[ 9.83895081e-01 1.78540138e-01 -8.59580570e-03 5.06876288e+01] [-1.78530490e-01 9.83932578e-01 1.88324188e-03 -7.49593415e+00] [ 8.79392753e-03 -3.18299026e-04 9.99961282e-01 -9.02564795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.617628 meters 0.021976729750277584 Centerline is valid? [True, True] Translation: X:50.75, Y:-7.51, Z:-0.09 [[ 9.85391027e-01 1.70157828e-01 -7.13009629e-03 5.07464328e+01] [-1.70150969e-01 9.85416768e-01 1.56224121e-03 -7.51341287e+00] [ 7.29194402e-03 -3.26225673e-04 9.99973360e-01 -8.95963596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.677628 meters 0.021945595664775063 Centerline is valid? [True, True] Translation: X:50.80, Y:-7.54, Z:-0.09 [[ 9.86295325e-01 1.64918507e-01 -4.83929993e-03 5.08041006e+01] [-1.64915284e-01 9.86307165e-01 1.06039667e-03 -7.53529317e+00] [ 4.94791523e-03 -2.47789758e-04 9.99987728e-01 -8.58196506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.737628 meters 0.02282742390475552 Centerline is valid? [True, True] Translation: X:50.86, Y:-7.55, Z:-0.09 [[ 9.86053824e-01 1.66322079e-01 -5.90100461e-03 5.08632188e+01] [-1.66317301e-01 9.86071437e-01 1.29480533e-03 -7.55094057e+00] [ 6.03416680e-03 -2.95308582e-04 9.99981751e-01 -8.71943856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.797628 meters 0.021626960212834993 Centerline is valid? [True, True] Translation: X:50.92, Y:-7.56, Z:-0.09 [[ 9.84624936e-01 1.74531614e-01 -7.24236166e-03 5.09219965e+01] [-1.74524643e-01 9.84651525e-01 1.58856428e-03 -7.56095916e+00] [ 7.40845714e-03 -3.00169418e-04 9.99972512e-01 -9.05821601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.857628 meters 0.01788198519418537 Centerline is valid? [True, True] Translation: X:50.98, Y:-7.57, Z:-0.09 [[ 9.83168293e-01 1.82508255e-01 -8.41692159e-03 5.09824492e+01] [-1.82499129e-01 9.83204281e-01 1.84638508e-03 -7.56774667e+00] [ 8.61253387e-03 -2.79226402e-04 9.99962872e-01 -9.10296702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.917628 meters 0.016513470283521892 Centerline is valid? [True, True] Translation: X:51.04, Y:-7.58, Z:-0.09 [[ 9.82301359e-01 1.87125205e-01 -8.25820128e-03 5.10430867e+01] [-1.87116580e-01 9.82336044e-01 1.81190748e-03 -7.57726282e+00] [ 8.45138233e-03 -2.34592803e-04 9.99964259e-01 -9.07230740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.977628 meters 0.014511353689421747 Centerline is valid? [True, True] Translation: X:51.10, Y:-7.58, Z:-0.09 [[ 9.80819227e-01 1.94833042e-01 -5.80768801e-03 5.11043659e+01] [-1.94828911e-01 9.80836414e-01 1.27434185e-03 -7.58315146e+00] [ 5.94467578e-03 -1.18393462e-04 9.99982323e-01 -8.95501596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.037628 meters 0.013054481314346526 Centerline is valid? [True, True] Translation: X:51.17, Y:-7.59, Z:-0.09 [[ 9.79597145e-01 2.00946516e-01 -3.15121729e-03 5.11655878e+01] [-2.00945331e-01 9.79602213e-01 6.91613288e-04 -7.58927210e+00] [ 3.22591671e-03 -4.42800014e-05 9.99994796e-01 -8.84845941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.097628 meters 0.012588968659111015 Centerline is valid? [True, True] Translation: X:51.23, Y:-7.60, Z:-0.09 [[ 9.79136102e-01 2.03198472e-01 -1.69543135e-03 5.12271892e+01] [-2.03198131e-01 9.79137570e-01 3.72949164e-04 -7.59907972e+00] [ 1.73584323e-03 -2.06595097e-05 9.99998493e-01 -8.80151704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.157628 meters 0.012528965418753464 Centerline is valid? [True, True] Translation: X:51.29, Y:-7.61, Z:-0.09 [[ 9.78855588e-01 2.04547992e-01 -1.36237673e-03 5.12875890e+01] [-2.04547773e-01 9.78856536e-01 3.00062492e-04 -7.60977431e+00] [ 1.39494855e-03 -1.50467215e-05 9.99999027e-01 -8.88793598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.217628 meters 0.012756315805981765 Centerline is valid? [True, True] Translation: X:51.35, Y:-7.62, Z:-0.09 [[ 9.79147884e-01 2.03123388e-01 -3.21104058e-03 5.13484912e+01] [-2.03122160e-01 9.79153148e-01 7.07559470e-04 -7.62331264e+00] [ 3.28782237e-03 -4.05718609e-05 9.99994594e-01 -9.04613121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.277628 meters 0.013575515446079081 Centerline is valid? [True, True] Translation: X:51.41, Y:-7.64, Z:-0.09 [[ 9.79833776e-01 1.99790107e-01 -3.11201112e-03 5.14081785e+01] [-1.99788936e-01 9.79838717e-01 6.85968073e-04 -7.63899560e+00] [ 3.18631862e-03 -5.03892970e-05 9.99994922e-01 -9.09950162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.337628 meters 0.014289415331784199 Centerline is valid? [True, True] Translation: X:51.47, Y:-7.65, Z:-0.09 [[ 9.80717662e-01 1.95398785e-01 -3.49038098e-03 5.14683450e+01] [-1.95397283e-01 9.80723870e-01 7.69505639e-04 -7.65446949e+00] [ 3.57346041e-03 -7.26568096e-05 9.99993613e-01 -9.16091724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.397628 meters 0.01496342122172704 Centerline is valid? [True, True] Translation: X:51.53, Y:-7.67, Z:-0.09 [[ 9.81615263e-01 1.90833098e-01 -3.76885259e-03 5.15278494e+01] [-1.90831309e-01 9.81622493e-01 8.32100755e-04 -7.67085095e+00] [ 3.85838284e-03 -9.75877305e-05 9.99992552e-01 -9.11797652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.457628 meters 0.016812096792901503 Centerline is valid? [True, True] Translation: X:51.59, Y:-7.69, Z:-0.09 [[ 9.82327821e-01 1.87160030e-01 -1.78196883e-03 5.15866851e+01] [-1.87159623e-01 9.82329436e-01 3.94068163e-04 -7.68897600e+00] [ 1.82423425e-03 -5.35915053e-05 9.99998335e-01 -8.92495923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.517628 meters 0.016417364517523726 Centerline is valid? [True, True] Translation: X:51.65, Y:-7.70, Z:-0.09 [[ 9.82067072e-01 1.88516990e-01 -2.36866671e-03 5.16475809e+01] [-1.88516274e-01 9.82069926e-01 5.24312776e-04 -7.70013508e+00] [ 2.42503820e-03 -6.83780916e-05 9.99997057e-01 -8.95612274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.577628 meters 0.015228255345495054 Centerline is valid? [True, True] Translation: X:51.71, Y:-7.71, Z:-0.09 [[ 9.81444209e-01 1.91718252e-01 -3.37290381e-03 5.17096285e+01] [-1.91716818e-01 9.81450001e-01 7.46474131e-04 -7.71002871e+00] [ 3.45344916e-03 -8.59803264e-05 9.99994033e-01 -9.09877655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.637628 meters 0.013835756083368395 Centerline is valid? [True, True] Translation: X:51.77, Y:-7.72, Z:-0.09 [[ 9.80182387e-01 1.98042307e-01 -4.66191259e-03 5.17709715e+01] [-1.98039639e-01 9.80193469e-01 1.03189386e-03 -7.71845311e+00] [ 4.77393491e-03 -8.82007033e-05 9.99988601e-01 -9.08249490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.697628 meters 0.013381050014861682 Centerline is valid? [True, True] Translation: X:51.83, Y:-7.73, Z:-0.09 [[ 9.79357000e-01 2.02077482e-01 -4.95551535e-03 5.18321061e+01] [-2.02074510e-01 9.79369535e-01 1.09847425e-03 -7.72759846e+00] [ 5.07525767e-03 -7.44151131e-05 9.99987118e-01 -9.18423043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.757628 meters 0.012518199866390594 Centerline is valid? [True, True] Translation: X:51.89, Y:-7.74, Z:-0.09 [[ 9.78276404e-01 2.07254687e-01 -4.55756696e-03 5.18932071e+01] [-2.07252224e-01 9.78287020e-01 1.01142454e-03 -7.73636098e+00] [ 4.66823107e-03 -4.48868786e-05 9.99989103e-01 -9.21773491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.817628 meters 0.012139760795164095 Centerline is valid? [True, True] Translation: X:51.95, Y:-7.75, Z:-0.09 [[ 9.77763338e-01 2.09669964e-01 -4.16663208e-03 5.19539327e+01] [-2.09667923e-01 9.77772215e-01 9.25746206e-04 -7.74944079e+00] [ 4.26811826e-03 -3.15516054e-05 9.99990891e-01 -9.11178075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.877628 meters 0.012371683687674502 Centerline is valid? [True, True] Translation: X:52.01, Y:-7.76, Z:-0.09 [[ 9.77924045e-01 2.08937233e-01 -3.12981555e-03 5.20144518e+01] [-2.08936076e-01 9.77929053e-01 6.95918337e-04 -7.76416350e+00] [ 3.20614081e-03 -2.66238962e-05 9.99994860e-01 -9.13292120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.937628 meters 0.01221755655085826 Centerline is valid? [True, True] Translation: X:52.08, Y:-7.78, Z:-0.09 [[ 9.78204681e-01 2.07641874e-01 -6.74418176e-04 5.20754875e+01] [-2.07641820e-01 9.78204913e-01 1.50589495e-04 -7.77998464e+00] [ 6.90987859e-04 -7.26993176e-06 9.99999761e-01 -8.90162995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.997628 meters 0.012393072390089566 Centerline is valid? [True, True] Translation: X:52.14, Y:-7.80, Z:-0.09 [[ 9.78248396e-01 2.07436060e-01 -5.96568669e-04 5.21358610e+01] [-2.07436018e-01 9.78248578e-01 1.33433751e-04 -7.79704876e+00] [ 6.11271424e-04 -6.78152441e-06 9.99999813e-01 -8.81267263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.057628 meters 0.012162210286074957 Centerline is valid? [True, True] Translation: X:52.20, Y:-7.81, Z:-0.09 [[ 9.77870302e-01 2.09209187e-01 -1.09032296e-03 5.21965340e+01] [-2.09209046e-01 9.77870910e-01 2.43687828e-04 -7.81104608e+00] [ 1.11717683e-03 -1.01896650e-05 9.99999376e-01 -8.89114475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.117628 meters 0.014330503753758005 Centerline is valid? [True, True] Translation: X:52.26, Y:-7.82, Z:-0.09 [[ 9.77328379e-01 2.11688038e-01 -4.17297453e-03 5.22585147e+01] [-2.11685985e-01 9.77337288e-01 9.32762018e-04 -7.82373067e+00] [ 4.27585817e-03 -2.82545692e-05 9.99990858e-01 -9.41668551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.177628 meters 0.011947331214116818 Centerline is valid? [True, True] Translation: X:52.32, Y:-7.84, Z:-0.09 [[ 9.76992335e-01 2.13210722e-01 -5.21209982e-03 5.23195507e+01] [-2.13207533e-01 9.77006237e-01 1.16644173e-03 -7.83717189e+00] [ 5.34095192e-03 -2.83456805e-05 9.99985737e-01 -9.43718093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.237628 meters 0.012143635362190834 Centerline is valid? [True, True] Translation: X:52.38, Y:-7.85, Z:-0.10 [[ 9.77358876e-01 2.11488477e-01 -6.50018442e-03 5.23795673e+01] [-2.11483469e-01 9.77380490e-01 1.45621909e-03 -7.85341977e+00] [ 6.66112699e-03 -4.85671096e-05 9.99977813e-01 -9.55082096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.297628 meters 0.012670386226783561 Centerline is valid? [True, True] Translation: X:52.44, Y:-7.87, Z:-0.09 [[ 9.77955826e-01 2.08713622e-01 -6.40511671e-03 5.24395447e+01] [-2.08708689e-01 9.77976799e-01 1.43655922e-03 -7.87132793e+00] [ 6.56388501e-03 -6.80879437e-05 9.99978455e-01 -9.48211963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.357628 meters 0.013330204619935943 Centerline is valid? [True, True] Translation: X:52.50, Y:-7.89, Z:-0.09 [[ 9.79064216e-01 2.03479762e-01 -5.40803375e-03 5.24994933e+01] [-2.03476157e-01 9.79079148e-01 1.21442162e-03 -7.88930696e+00] [ 5.54200330e-03 -8.85908270e-05 9.99984639e-01 -9.48345000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.417628 meters 0.01493972740271737 Centerline is valid? [True, True] Translation: X:52.56, Y:-7.91, Z:-0.09 [[ 9.80370763e-01 1.97120911e-01 -4.06367734e-03 5.25578509e+01] [-1.97118821e-01 9.80379181e-01 9.12480093e-04 -7.91065078e+00] [ 4.16381357e-03 -9.35415182e-05 9.99991327e-01 -9.36347680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.477628 meters 0.016070869991700185 Centerline is valid? [True, True] Translation: X:52.62, Y:-7.93, Z:-0.09 [[ 9.80930459e-01 1.94337852e-01 -2.86948791e-03 5.26170797e+01] [-1.94336795e-01 9.80934653e-01 6.45420678e-04 -7.92891318e+00] [ 2.94020980e-03 -7.54657175e-05 9.99995675e-01 -9.23285737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.537628 meters 0.01621731401107946 Centerline is valid? [True, True] Translation: X:52.68, Y:-7.94, Z:-0.09 [[ 9.80661788e-01 1.95673362e-01 -3.79385832e-03 5.26761916e+01] [-1.95671524e-01 9.80669122e-01 8.53566300e-04 -7.94395400e+00] [ 3.88753989e-03 -9.47098155e-05 9.99992439e-01 -9.38647225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.597628 meters 0.013852568912649204 Centerline is valid? [True, True] Translation: X:52.74, Y:-7.95, Z:-0.09 [[ 9.79441342e-01 2.01666688e-01 -5.02037052e-03 5.27375028e+01] [-2.01663547e-01 9.79454204e-01 1.12957975e-03 -7.95359844e+00] [ 5.14502162e-03 -9.39313805e-05 9.99986760e-01 -9.48172702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.657628 meters 0.013602944694158764 Centerline is valid? [True, True] Translation: X:52.80, Y:-7.97, Z:-0.10 [[ 9.78563412e-01 2.05887652e-01 -4.89124387e-03 5.27970652e+01] [-2.05884715e-01 9.78575633e-01 1.10199888e-03 -7.96644898e+00] [ 5.01334002e-03 -7.13434286e-05 9.99987431e-01 -9.54314913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.717628 meters 0.012548383598351434 Centerline is valid? [True, True] Translation: X:52.86, Y:-7.98, Z:-0.09 [[ 9.77402976e-01 2.11358873e-01 -3.29391066e-03 5.28584112e+01] [-2.11357569e-01 9.77408526e-01 7.43109108e-04 -7.97667696e+00] [ 3.37655907e-03 -3.01241041e-05 9.99994299e-01 -9.46684330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.777628 meters 0.012026839244273618 Centerline is valid? [True, True] Translation: X:52.92, Y:-7.99, Z:-0.10 [[ 9.75990192e-01 2.17785346e-01 -3.56204424e-03 5.29190352e+01] [-2.17783860e-01 9.75996692e-01 8.04452284e-04 -7.98755574e+00] [ 3.65174132e-03 -9.38179471e-06 9.99993332e-01 -9.50969251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.837628 meters 0.011945930233813 Centerline is valid? [True, True] Translation: X:52.98, Y:-8.00, Z:-0.10 [[ 9.74896454e-01 2.22631491e-01 -3.48183195e-03 5.29810695e+01] [-2.22630098e-01 9.74902672e-01 7.87399862e-04 -7.99759683e+00] [ 3.56974728e-03 7.52725588e-06 9.99993628e-01 -9.55492075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.897628 meters 0.01258185483947431 Centerline is valid? [True, True] Translation: X:53.04, Y:-8.01, Z:-0.10 [[ 9.73329169e-01 2.29369728e-01 -4.45612830e-03 5.30429780e+01] [-2.29367514e-01 9.73339368e-01 1.00869087e-03 -8.00618465e+00] [ 4.56868825e-03 4.03028211e-05 9.99989563e-01 -9.81939542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.957628 meters 0.01288742007947557 Centerline is valid? [True, True] Translation: X:53.10, Y:-8.02, Z:-0.10 [[ 9.72662501e-01 2.32172040e-01 -4.87876053e-03 5.31034158e+01] [-2.32169414e-01 9.72674735e-01 1.10561596e-03 -8.01913745e+00] [ 5.00214022e-03 5.73077855e-05 9.99987488e-01 -9.90663564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.017628 meters 0.013072700618120337 Centerline is valid? [True, True] Translation: X:53.16, Y:-8.03, Z:-0.10 [[ 9.72568591e-01 2.32567944e-01 -4.74208735e-03 5.31632784e+01] [-2.32565465e-01 9.72580150e-01 1.07542308e-03 -8.03426899e+00] [ 4.86216897e-03 5.69230375e-05 9.99988178e-01 -9.79018473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.077628 meters 0.012425072784175022 Centerline is valid? [True, True] Translation: X:53.22, Y:-8.05, Z:-0.10 [[ 9.73482585e-01 2.28689057e-01 -5.74203513e-03 5.32224696e+01] [-2.28685345e-01 9.73499519e-01 1.30373326e-03 -8.05250926e+00] [ 5.88801796e-03 4.39576615e-05 9.99982665e-01 -9.90910971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.137628 meters 0.012152099221357454 Centerline is valid? [True, True] Translation: X:53.28, Y:-8.07, Z:-0.10 [[ 9.74364762e-01 2.24901432e-01 -5.71463161e-03 5.32826108e+01] [-2.24897681e-01 9.74381520e-01 1.29902145e-03 -8.06943576e+00] [ 5.86038322e-03 1.94866697e-05 9.99982828e-01 -9.93389518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.197628 meters 0.011992262199578043 Centerline is valid? [True, True] Translation: X:53.34, Y:-8.08, Z:-0.10 [[ 9.75385988e-01 2.20465386e-01 -4.14588634e-03 5.33415876e+01] [-2.20463367e-01 9.75394799e-01 9.43498107e-04 -8.08408369e+00] [ 4.25188465e-03 -6.25876981e-06 9.99990961e-01 -9.74632991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.257628 meters 0.012121076572802286 Centerline is valid? [True, True] Translation: X:53.40, Y:-8.10, Z:-0.10 [[ 9.75833342e-01 2.18483843e-01 -3.75494085e-03 5.34023152e+01] [-2.18482168e-01 9.75840566e-01 8.55750950e-04 -8.09925547e+00] [ 3.85119137e-03 -1.46826924e-05 9.99992584e-01 -9.66950422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.317628 meters 0.013393553975457259 Centerline is valid? [True, True] Translation: X:53.46, Y:-8.12, Z:-0.10 [[ 9.78156660e-01 2.07860685e-01 -1.86670203e-03 5.34616105e+01] [-2.07860252e-01 9.78158441e-01 4.25444438e-04 -8.11787706e+00] [ 1.91436352e-03 -2.81381556e-05 9.99998167e-01 -9.52462565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.377628 meters 0.016441913694896882 Centerline is valid? [True, True] Translation: X:53.52, Y:-8.14, Z:-0.10 [[ 9.80467134e-01 1.96656836e-01 -3.20754883e-03 5.35198428e+01] [-1.96655497e-01 9.80472377e-01 7.30920321e-04 -8.13722464e+00] [ 3.28865350e-03 -8.58612441e-05 9.99994589e-01 -9.65651514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.437628 meters 0.019140039467020455 Centerline is valid? [True, True] Translation: X:53.58, Y:-8.15, Z:-0.10 [[ 9.81707443e-01 1.90306929e-01 -5.81108069e-03 5.35782717e+01] [-1.90302419e-01 9.81724623e-01 1.32441322e-03 -8.15289780e+00] [ 5.95692601e-03 -1.94323606e-04 9.99982238e-01 -9.84826255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.497628 meters 0.022354200784531243 Centerline is valid? [True, True] Translation: X:53.64, Y:-8.17, Z:-0.10 [[ 9.83494369e-01 1.80745763e-01 -8.35439141e-03 5.36378474e+01] [-1.80736095e-01 9.83529785e-01 1.90429176e-03 -8.16651425e+00] [ 8.56098545e-03 -3.62920143e-04 9.99963288e-01 -1.02443498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.557628 meters 0.022033004586483957 Centerline is valid? [True, True] Translation: X:53.70, Y:-8.18, Z:-0.10 [[ 9.84252323e-01 1.76628118e-01 -7.06207922e-03 5.36980350e+01] [-1.76621102e-01 9.84277600e-01 1.61000055e-03 -8.17919571e+00] [ 7.23541776e-03 -3.37334566e-04 9.99973767e-01 -9.90852266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.617628 meters 0.025389630839184184 Centerline is valid? [True, True] Translation: X:53.76, Y:-8.19, Z:-0.10 [[ 9.84414073e-01 1.75838179e-01 -3.14130334e-03 5.37575717e+01] [-1.75836783e-01 9.84419073e-01 7.17246249e-04 -8.19226771e+00] [ 3.21847819e-03 -1.53710628e-04 9.99994809e-01 -9.66221344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.677628 meters 0.025118708551160978 Centerline is valid? [True, True] Translation: X:53.82, Y:-8.20, Z:-0.09 [[ 9.83972669e-01 1.78318079e-01 -6.69678880e-04 5.38191432e+01] [-1.78318016e-01 9.83972897e-01 1.52944284e-04 -8.20102255e+00] [ 6.86218599e-04 -3.10771859e-05 9.99999764e-01 -9.44485776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.737628 meters 0.01934604062840282 Centerline is valid? [True, True] Translation: X:53.88, Y:-8.20, Z:-0.09 [[ 9.82993886e-01 1.83621489e-01 2.48355161e-03 5.38818824e+01] [-1.83620642e-01 9.82997019e-01 -5.66905666e-04 -8.19847616e+00] [-2.54541989e-03 1.01233464e-04 9.99996755e-01 -9.14947412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.797628 meters 0.017833536413269544 Centerline is valid? [True, True] Translation: X:53.94, Y:-8.20, Z:-0.09 [[ 9.81892810e-01 1.89396206e-01 3.94799166e-03 5.39443682e+01] [-1.89394111e-01 9.81900738e-01 -9.01275493e-04 -8.19919931e+00] [-4.04723408e-03 1.37229556e-04 9.99991800e-01 -9.17859335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.857628 meters 0.017360671794345774 Centerline is valid? [True, True] Translation: X:54.01, Y:-8.21, Z:-0.09 [[ 9.81284808e-01 1.92535663e-01 3.18492804e-03 5.40060406e+01] [-1.92534316e-01 9.81289972e-01 -7.27159277e-04 -8.20534160e+00] [-3.26534204e-03 1.00342407e-04 9.99994664e-01 -9.30936228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.917628 meters 0.01603907869233556 Centerline is valid? [True, True] Translation: X:54.07, Y:-8.21, Z:-0.10 [[ 9.80675087e-01 1.95643269e-01 2.90339306e-04 5.40690318e+01] [-1.95643258e-01 9.80675130e-01 -6.62190869e-05 -8.20727930e+00] [-2.97683855e-04 8.13648106e-06 9.99999956e-01 -9.68957954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.977628 meters 0.01593950140760759 Centerline is valid? [True, True] Translation: X:54.13, Y:-8.21, Z:-0.10 [[ 9.80376764e-01 1.97119191e-01 -2.32917343e-03 5.41314174e+01] [-1.97118481e-01 9.80379529e-01 5.32974396e-04 -8.21202235e+00] [ 2.38853344e-03 -6.33925837e-05 9.99997145e-01 -9.96620848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.037628 meters 0.015140058467338516 Centerline is valid? [True, True] Translation: X:54.19, Y:-8.22, Z:-0.10 [[ 9.79915948e-01 1.99402538e-01 -1.83360521e-03 5.41930439e+01] [-1.99402101e-01 9.79917663e-01 4.20142490e-04 -8.22016176e+00] [ 1.88055961e-03 -4.60795965e-05 9.99998231e-01 -9.92916435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.097628 meters 0.013839178543826837 Centerline is valid? [True, True] Translation: X:54.25, Y:-8.23, Z:-0.10 [[ 9.78502843e-01 2.06233328e-01 3.98411490e-05 5.42543568e+01] [-2.06233327e-01 9.78502843e-01 -9.06156568e-06 -8.22558942e+00] [-4.08534744e-05 6.50195049e-07 9.99999999e-01 -9.83019407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.157628 meters 0.011854946704444423 Centerline is valid? [True, True] Translation: X:54.32, Y:-8.23, Z:-0.10 [[ 9.76730934e-01 2.14466858e-01 8.05684202e-04 5.43162635e+01] [-2.14466779e-01 9.76731266e-01 -1.84422957e-04 -8.22952336e+00] [-8.26489563e-04 7.33911178e-06 9.99999658e-01 -9.81630036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.217628 meters 0.01171248108388446 Centerline is valid? [True, True] Translation: X:54.38, Y:-8.24, Z:-0.10 [[ 9.76045831e-01 2.17555826e-01 1.99941658e-03 5.43775027e+01] [-2.17555345e-01 9.76047879e-01 -4.57924179e-04 -8.24045423e+00] [-2.05115038e-03 1.19712236e-05 9.99997896e-01 -9.71596192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.277628 meters 0.011741840461139645 Centerline is valid? [True, True] Translation: X:54.44, Y:-8.25, Z:-0.10 [[ 9.75765934e-01 2.18783031e-01 3.85049896e-03 5.44383457e+01] [-2.18781249e-01 9.75773532e-01 -8.83327863e-04 -8.25366793e+00] [-3.95047211e-03 1.95042669e-05 9.99992197e-01 -9.50584816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.337628 meters 0.011666763896316016 Centerline is valid? [True, True] Translation: X:54.50, Y:-8.27, Z:-0.10 [[ 9.75622800e-01 2.19429697e-01 3.28013730e-03 5.44996707e+01] [-2.19428404e-01 9.75628314e-01 -7.53364455e-04 -8.26751930e+00] [-3.36550536e-03 1.52442460e-05 9.99994337e-01 -9.53589895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.397628 meters 0.011573288391682375 Centerline is valid? [True, True] Translation: X:54.56, Y:-8.28, Z:-0.10 [[ 9.75489998e-01 2.20034299e-01 2.04235111e-03 5.45610367e+01] [-2.20033799e-01 9.75492136e-01 -4.69505120e-04 -8.28092521e+00] [-2.09560468e-03 8.61127470e-06 9.99997804e-01 -9.72226407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.457628 meters 0.011688191608836315 Centerline is valid? [True, True] Translation: X:54.62, Y:-8.30, Z:-0.10 [[ 9.75372278e-01 2.20564488e-01 -4.75410497e-04 5.46207973e+01] [-2.20564461e-01 9.75372394e-01 1.09996694e-04 -8.29561328e+00] [ 4.87963639e-04 -2.42906606e-06 9.99999881e-01 -9.95891821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.517628 meters 0.011939054942856457 Centerline is valid? [True, True] Translation: X:54.68, Y:-8.32, Z:-0.10 [[ 9.75720437e-01 2.19012784e-01 -1.74070220e-03 5.46800958e+01] [-2.19012415e-01 9.75721989e-01 4.01948060e-04 -8.31568558e+00] [ 1.78647318e-03 -1.09535428e-05 9.99998404e-01 -1.00133497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.577628 meters 0.012237593287926661 Centerline is valid? [True, True] Translation: X:54.74, Y:-8.33, Z:-0.10 [[ 9.76290264e-01 2.16462631e-01 -1.11819919e-03 5.47400225e+01] [-2.16462477e-01 9.76290904e-01 2.58658388e-04 -8.33413696e+00] [ 1.14767757e-03 -1.04775006e-05 9.99999341e-01 -9.97837228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.637628 meters 0.013244271571591172 Centerline is valid? [True, True] Translation: X:54.80, Y:-8.36, Z:-0.10 [[ 9.77579872e-01 2.10564621e-01 -3.66741062e-04 5.47983968e+01] [-2.10564604e-01 9.77579941e-01 8.52149072e-05 -8.35776087e+00] [ 3.76461950e-04 -6.08169157e-06 9.99999929e-01 -9.90477156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.697628 meters 0.013930165826037958 Centerline is valid? [True, True] Translation: X:54.86, Y:-8.38, Z:-0.10 [[ 9.78351811e-01 2.06945606e-01 1.11829194e-03 5.48574741e+01] [-2.06945446e-01 9.78352450e-01 -2.58408721e-04 -8.37840104e+00] [-1.14756021e-03 2.13892153e-05 9.99999341e-01 -9.79978566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.757628 meters 0.014926859968982496 Centerline is valid? [True, True] Translation: X:54.91, Y:-8.40, Z:-0.10 [[ 9.78833569e-01 2.04647232e-01 2.08685512e-03 5.49149601e+01] [-2.04646667e-01 9.78835792e-01 -4.83135837e-04 -8.40000336e+00] [-2.14156090e-03 4.58416294e-05 9.99997706e-01 -9.69674157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.817628 meters 0.014904706571935471 Centerline is valid? [True, True] Translation: X:54.97, Y:-8.42, Z:-0.10 [[ 9.78472158e-01 2.06378213e-01 5.19935645e-04 5.49745088e+01] [-2.06378178e-01 9.78472296e-01 -1.20188615e-04 -8.41649191e+00] [-5.33546935e-04 1.02978420e-05 9.99999858e-01 -9.87036183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.877628 meters 0.014197835594343807 Centerline is valid? [True, True] Translation: X:55.03, Y:-8.43, Z:-0.10 [[ 9.78040864e-01 2.08412988e-01 -3.06919967e-04 5.50349564e+01] [-2.08412976e-01 9.78040912e-01 7.16933498e-05 -8.43082201e+00] [ 3.15122110e-04 -6.15292201e-06 9.99999950e-01 -9.89792804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.937628 meters 0.01352492010896776 Centerline is valid? [True, True] Translation: X:55.10, Y:-8.45, Z:-0.10 [[ 9.77220794e-01 2.12221641e-01 -1.22269456e-03 5.50954876e+01] [-2.12221451e-01 9.77221559e-01 2.84667278e-04 -8.44506888e+00] [ 1.25525604e-03 -1.87007704e-05 9.99999212e-01 -9.96170341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.997628 meters 0.01322599617733143 Centerline is valid? [True, True] Translation: X:55.15, Y:-8.46, Z:-0.10 [[ 9.76483826e-01 2.15576300e-01 -2.48917937e-03 5.51543727e+01] [-2.15575524e-01 9.76486998e-01 5.79274777e-04 -8.45983120e+00] [ 2.55552920e-03 -2.90463055e-05 9.99996734e-01 -1.01785493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.057628 meters 0.012775288984804026 Centerline is valid? [True, True] Translation: X:55.21, Y:-8.48, Z:-0.10 [[ 9.76120618e-01 2.17210690e-01 -2.83822819e-03 5.52146442e+01] [-2.17209685e-01 9.76124744e-01 6.61383951e-04 -8.47559784e+00] [ 2.91412443e-03 -2.90998586e-05 9.99995754e-01 -1.02152881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.117628 meters 0.012528503482207718 Centerline is valid? [True, True] Translation: X:55.27, Y:-8.49, Z:-0.10 [[ 9.75478797e-01 2.20074090e-01 -2.91750750e-03 5.52740587e+01] [-2.20073039e-01 9.75483159e-01 6.80584692e-04 -8.49252136e+00] [ 2.99575849e-03 -2.18311939e-05 9.99995512e-01 -1.02989139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.177628 meters 0.012385231969557134 Centerline is valid? [True, True] Translation: X:55.34, Y:-8.51, Z:-0.10 [[ 9.75185750e-01 2.21365136e-01 -3.19831296e-03 5.53352285e+01] [-2.21363876e-01 9.75190995e-01 7.47061923e-04 -8.50749201e+00] [ 3.28433946e-03 -2.05331868e-05 9.99994606e-01 -1.03341213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.237628 meters 0.012208341875993046 Centerline is valid? [True, True] Translation: X:55.40, Y:-8.52, Z:-0.10 [[ 9.74118204e-01 2.26014251e-01 -3.35906508e-03 5.53954489e+01] [-2.26012887e-01 9.74123995e-01 7.85395576e-04 -8.52415590e+00] [ 3.44965649e-03 -5.87613199e-06 9.99994050e-01 -1.04312638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.297628 meters 0.012263960086637332 Centerline is valid? [True, True] Translation: X:55.45, Y:-8.54, Z:-0.11 [[ 9.73399064e-01 2.29095848e-01 -3.05837626e-03 5.54549567e+01] [-2.29094729e-01 9.73403869e-01 7.15988057e-04 -8.54189985e+00] [ 3.14106518e-03 3.71577702e-06 9.99995067e-01 -1.05158186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.357628 meters 0.012292363533245676 Centerline is valid? [True, True] Translation: X:55.52, Y:-8.56, Z:-0.11 [[ 9.73622805e-01 2.28144281e-01 -2.96985307e-03 5.55153098e+01] [-2.28143219e-01 9.73627335e-01 6.96229889e-04 -8.56127944e+00] [ 3.05037099e-03 -3.13460249e-07 9.99995348e-01 -1.05422929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.417628 meters 0.012755188281190051 Centerline is valid? [True, True] Translation: X:55.57, Y:-8.59, Z:-0.11 [[ 9.74650951e-01 2.23705757e-01 -3.35537000e-03 5.55724456e+01] [-2.23704373e-01 9.74656726e-01 7.87257853e-04 -8.58520304e+00] [ 3.44644805e-03 -1.66906748e-05 9.99994061e-01 -1.07067699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.477628 meters 0.013010942182526889 Centerline is valid? [True, True] Translation: X:55.63, Y:-8.61, Z:-0.11 [[ 9.75361741e-01 2.20589456e-01 -3.12509459e-03 5.56312711e+01] [-2.20588236e-01 9.75366747e-01 7.34102182e-04 -8.60809668e+00] [ 3.21004855e-03 -2.66560782e-05 9.99994847e-01 -1.06580944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.537628 meters 0.012851117478361916 Centerline is valid? [True, True] Translation: X:55.69, Y:-8.62, Z:-0.11 [[ 9.75051807e-01 2.21956023e-01 -3.08169139e-03 5.56917429e+01] [-2.21954841e-01 9.75056677e-01 7.24708678e-04 -8.62256504e+00] [ 3.16567723e-03 -2.26321834e-05 9.99994989e-01 -1.06169096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.597628 meters 0.01264377939889011 Centerline is valid? [True, True] Translation: X:55.75, Y:-8.63, Z:-0.11 [[ 9.74198209e-01 2.25635129e-01 -5.16127492e-03 5.57519958e+01] [-2.25631863e-01 9.74211881e-01 1.21402677e-03 -8.63419518e+00] [ 5.30210243e-03 -1.81546249e-05 9.99985944e-01 -1.08586145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.657628 meters 0.014433182676341796 Centerline is valid? [True, True] Translation: X:55.81, Y:-8.65, Z:-0.11 [[ 9.73963075e-01 2.26595008e-01 -7.11548279e-03 5.58112367e+01] [-2.26588815e-01 9.73989067e-01 1.67540774e-03 -8.64807468e+00] [ 7.31004147e-03 -1.94964615e-05 9.99973281e-01 -1.11318870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.717628 meters 0.012722107144205195 Centerline is valid? [True, True] Translation: X:55.87, Y:-8.66, Z:-0.11 [[ 9.74074176e-01 2.26137311e-01 -6.43552730e-03 5.58718478e+01] [-2.26132222e-01 9.74095435e-01 1.51726426e-03 -8.66315203e+00] [ 6.61192782e-03 -2.26478443e-05 9.99978141e-01 -1.09629805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.777628 meters 0.013216662716917602 Centerline is valid? [True, True] Translation: X:55.93, Y:-8.68, Z:-0.11 [[ 9.75324922e-01 2.20672080e-01 -6.71787691e-03 5.59317711e+01] [-2.20666393e-01 9.75348055e-01 1.58552440e-03 -8.67887584e+00] [ 6.90214915e-03 -6.39917949e-05 9.99976178e-01 -1.10448052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.837628 meters 0.016292593969056437 Centerline is valid? [True, True] Translation: X:55.99, Y:-8.70, Z:-0.11 [[ 9.76452067e-01 2.15623133e-01 -6.93000825e-03 5.59910177e+01] [-2.15616943e-01 9.76476653e-01 1.63721196e-03 -8.69583729e+00] [ 7.12001203e-03 -1.04431804e-04 9.99974647e-01 -1.11706487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.897628 meters 0.0164642744192392 Centerline is valid? [True, True] Translation: X:56.05, Y:-8.71, Z:-0.11 [[ 9.77639310e-01 2.10266524e-01 -3.06092133e-03 5.60511776e+01] [-2.10265287e-01 9.77644099e-01 7.24137275e-04 -8.71265720e+00] [ 3.14475351e-03 -6.43395652e-05 9.99995053e-01 -1.08313702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.957628 meters 0.014881210955610541 Centerline is valid? [True, True] Translation: X:56.11, Y:-8.73, Z:-0.10 [[ 9.77777446e-01 2.09645239e-01 3.73759868e-04 5.61130052e+01] [-2.09645220e-01 9.77777518e-01 -8.79957716e-05 -8.72566060e+00] [-3.83901891e-04 7.68331089e-06 9.99999926e-01 -1.04414808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.017628 meters 0.01452020601867473 Centerline is valid? [True, True] Translation: X:56.17, Y:-8.74, Z:-0.10 [[ 9.77349764e-01 2.11624624e-01 1.56786426e-03 5.61739642e+01] [-2.11624300e-01 9.77351021e-01 -3.71167921e-04 -8.73910811e+00] [-1.61090201e-03 3.09627030e-05 9.99998702e-01 -1.03229520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.077628 meters 0.01383569172484948 Centerline is valid? [True, True] Translation: X:56.23, Y:-8.75, Z:-0.10 [[ 9.76127023e-01 2.17186549e-01 2.45728912e-03 5.62338775e+01] [-2.17185771e-01 9.76130115e-01 -5.82486282e-04 -8.74861092e+00] [-2.52514210e-03 3.48923674e-05 9.99996811e-01 -1.03252913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.137628 meters 0.014838859563785313 Centerline is valid? [True, True] Translation: X:56.30, Y:-8.76, Z:-0.11 [[ 9.75083069e-01 2.21835592e-01 1.40692616e-03 5.62955054e+01] [-2.21835342e-01 9.75084083e-01 -3.33548493e-04 -8.75696774e+00] [-1.44586424e-03 1.31315421e-05 9.99998955e-01 -1.06226572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.197628 meters 0.01208798741138052 Centerline is valid? [True, True] Translation: X:56.36, Y:-8.77, Z:-0.11 [[ 9.73345692e-01 2.29339273e-01 1.28913062e-03 5.63568758e+01] [-2.29339069e-01 9.73346546e-01 -3.05927015e-04 -8.76647273e+00] [-1.32493191e-03 2.12472731e-06 9.99999122e-01 -1.06079669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.257628 meters 0.012126557759204225 Centerline is valid? [True, True] Translation: X:56.42, Y:-8.78, Z:-0.11 [[ 9.72778732e-01 2.31731631e-01 -1.41082727e-03 5.64174187e+01] [-2.31731388e-01 9.72779755e-01 3.36119971e-04 -8.78127893e+00] [ 1.45031383e-03 -3.73989316e-08 9.99998948e-01 -1.09741890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.317628 meters 0.012290514696966954 Centerline is valid? [True, True] Translation: X:56.48, Y:-8.80, Z:-0.11 [[ 9.73499086e-01 2.28680021e-01 -2.23122373e-03 5.64780273e+01] [-2.28679402e-01 9.73501643e-01 5.31998810e-04 -8.80029546e+00] [ 2.29375746e-03 -7.66544734e-06 9.99997369e-01 -1.11043085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.377628 meters 0.012953103021521807 Centerline is valid? [True, True] Translation: X:56.54, Y:-8.82, Z:-0.11 [[ 9.75095654e-01 2.21784440e-01 -3.57912157e-04 5.65368276e+01] [-2.21784423e-01 9.75095720e-01 8.57806260e-05 -8.82245529e+00] [ 3.68023420e-04 -4.26497447e-06 9.99999932e-01 -1.08856707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.437628 meters 0.013379713839884075 Centerline is valid? [True, True] Translation: X:56.60, Y:-8.84, Z:-0.11 [[ 9.75693707e-01 2.19135297e-01 1.22962900e-03 5.65969759e+01] [-2.19135102e-01 9.75694481e-01 -2.93139057e-04 -8.83727579e+00] [-1.26397934e-03 1.65590569e-05 9.99999201e-01 -1.08104337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.497628 meters 0.013769465570794831 Centerline is valid? [True, True] Translation: X:56.66, Y:-8.85, Z:-0.11 [[ 9.76194445e-01 2.16893073e-01 1.34154435e-03 5.66564302e+01] [-2.16892838e-01 9.76195367e-01 -3.20216117e-04 -8.85332058e+00] [-1.37906204e-03 2.16218334e-05 9.99999049e-01 -1.07200294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.557628 meters 0.014029061982437661 Centerline is valid? [True, True] Translation: X:56.72, Y:-8.87, Z:-0.11 [[ 9.76321329e-01 2.16321367e-01 1.31472313e-03 5.67166689e+01] [-2.16321140e-01 9.76322214e-01 -3.14121877e-04 -8.86755484e+00] [-1.35154467e-03 2.22814817e-05 9.99999086e-01 -1.07841653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.617627999999996 meters 0.013921535630634736 Centerline is valid? [True, True] Translation: X:56.78, Y:-8.88, Z:-0.11 [[ 9.76141448e-01 2.17132072e-01 -1.23992260e-03 5.67786395e+01] [-2.17131869e-01 9.76142235e-01 2.97501057e-04 -8.87801964e+00] [ 1.27493784e-03 -2.11764009e-05 9.99999187e-01 -1.10901777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.677628 meters 0.013678473189219073 Centerline is valid? [True, True] Translation: X:56.84, Y:-8.89, Z:-0.11 [[ 9.75662382e-01 2.19253844e-01 -3.26611902e-03 5.68396070e+01] [-2.19252449e-01 9.75667848e-01 7.83646557e-04 -8.88922689e+00] [ 3.35846483e-03 -4.84698747e-05 9.99994359e-01 -1.12708657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.737628 meters 0.012974829098415396 Centerline is valid? [True, True] Translation: X:56.90, Y:-8.90, Z:-0.11 [[ 9.74852217e-01 2.22807355e-01 -4.47627331e-03 5.69009711e+01] [-2.22804767e-01 9.74862493e-01 1.07501191e-03 -8.89910777e+00] [ 4.60327152e-03 -5.06427078e-05 9.99989404e-01 -1.12644031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.797628 meters 0.012760439381669552 Centerline is valid? [True, True] Translation: X:56.96, Y:-8.91, Z:-0.11 [[ 9.74742995e-01 2.23305642e-01 -3.26868164e-03 5.69615782e+01] [-2.23304262e-01 9.74748475e-01 7.85979637e-04 -8.91201628e+00] [ 3.36165613e-03 -3.62176039e-05 9.99994349e-01 -1.12238224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.857628 meters 0.01337108580855643 Centerline is valid? [True, True] Translation: X:57.02, Y:-8.93, Z:-0.11 [[ 9.75157207e-01 2.21495962e-01 -2.82158780e-03 5.70199864e+01] [-2.21494924e-01 9.75161288e-01 6.79174868e-04 -8.92874478e+00] [ 2.90193768e-03 -3.73348935e-05 9.99995789e-01 -1.12488022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.917628 meters 0.014279738174401636 Centerline is valid? [True, True] Translation: X:57.08, Y:-8.95, Z:-0.11 [[ 9.76181131e-01 2.16956152e-01 -6.53424670e-04 5.70798543e+01] [-2.16956095e-01 9.76181350e-01 1.57786560e-04 -8.94668153e+00] [ 6.72093741e-04 -1.22637977e-05 9.99999774e-01 -1.11615143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.977628 meters 0.01636654575506575 Centerline is valid? [True, True] Translation: X:57.14, Y:-8.97, Z:-0.11 [[ 9.77108191e-01 2.12741687e-01 7.46566053e-04 5.71372150e+01] [-2.12741612e-01 9.77108476e-01 -1.79762277e-04 -8.96827861e+00] [-7.67718949e-04 1.68215274e-05 9.99999705e-01 -1.09976912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.037628 meters 0.015359019060669292 Centerline is valid? [True, True] Translation: X:57.20, Y:-8.98, Z:-0.11 [[ 9.77224571e-01 2.12203930e-01 1.27693526e-03 5.71980729e+01] [-2.12203710e-01 9.77225404e-01 -3.07479498e-04 -8.98172785e+00] [-1.31310193e-03 2.95061209e-05 9.99999137e-01 -1.09296567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.097628 meters 0.015210643951562493 Centerline is valid? [True, True] Translation: X:57.26, Y:-9.00, Z:-0.11 [[ 9.76748482e-01 2.14366349e-01 3.07743044e-03 5.72574058e+01] [-2.14365074e-01 9.76753328e-01 -7.42400062e-04 -8.99604145e+00] [-3.16503602e-03 6.54445307e-05 9.99994989e-01 -1.08540681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.157628 meters 0.014291585876332343 Centerline is valid? [True, True] Translation: X:57.32, Y:-9.01, Z:-0.11 [[ 9.75958698e-01 2.17925975e-01 3.59021484e-03 5.73185855e+01] [-2.17924261e-01 9.75965299e-01 -8.66739318e-04 -9.00895910e+00] [-3.69281012e-03 6.35068607e-05 9.99993180e-01 -1.08601058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.217628 meters 0.013443276935890511 Centerline is valid? [True, True] Translation: X:57.38, Y:-9.02, Z:-0.11 [[ 9.75004011e-01 2.22162694e-01 3.30393979e-03 5.73796260e+01] [-2.22161264e-01 9.75009608e-01 -7.98205042e-04 -9.02117354e+00] [-3.39870443e-03 4.42456768e-05 9.99994223e-01 -1.09879542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.277628 meters 0.012677938014943326 Centerline is valid? [True, True] Translation: X:57.44, Y:-9.03, Z:-0.11 [[ 9.73568303e-01 2.28387901e-01 1.93044670e-03 5.74402468e+01] [-2.28387425e-01 9.73570217e-01 -4.66708078e-04 -9.03488965e+00] [-1.98601589e-03 1.34824415e-05 9.99998028e-01 -1.11509754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.337628 meters 0.012381571125854758 Centerline is valid? [True, True] Translation: X:57.50, Y:-9.05, Z:-0.11 [[ 9.71896028e-01 2.35410512e-01 -4.55153536e-05 5.75018851e+01] [-2.35410511e-01 9.71896029e-01 1.12481073e-05 -9.04636278e+00] [ 4.68841141e-05 -2.17198130e-07 9.99999999e-01 -1.13791792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.397628 meters 0.012879391110223369 Centerline is valid? [True, True] Translation: X:57.56, Y:-9.06, Z:-0.12 [[ 9.69897302e-01 2.43501775e-01 -2.47164668e-03 5.75633893e+01] [-2.43501038e-01 9.69900451e-01 5.99525661e-04 -9.05560992e+00] [ 2.54323679e-03 2.03702102e-05 9.99996766e-01 -1.16144233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.457628 meters 0.01307698581397789 Centerline is valid? [True, True] Translation: X:57.62, Y:-9.07, Z:-0.12 [[ 9.69688732e-01 2.44319123e-01 -3.45386991e-03 5.76235284e+01] [-2.44317686e-01 9.69694883e-01 8.38601737e-04 -9.06857697e+00] [ 3.55408642e-03 3.06588486e-05 9.99993684e-01 -1.18488920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.517628 meters 0.012708698695332352 Centerline is valid? [True, True] Translation: X:57.68, Y:-9.08, Z:-0.12 [[ 9.70330989e-01 2.41769006e-01 -2.34926758e-03 5.76836074e+01] [-2.41768332e-01 9.70333833e-01 5.71136213e-04 -9.08408449e+00] [ 2.41765685e-03 1.37873356e-05 9.99997077e-01 -1.17087797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.577628 meters 0.012454627327130992 Centerline is valid? [True, True] Translation: X:57.74, Y:-9.10, Z:-0.11 [[ 9.72122933e-01 2.34469671e-01 9.88598581e-04 5.77428866e+01] [-2.34469548e-01 9.72123435e-01 -2.39995659e-04 -9.10220503e+00] [-1.01731155e-03 1.50902140e-06 9.99999483e-01 -1.14882684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.637628 meters 0.013000969007839992 Centerline is valid? [True, True] Translation: X:57.80, Y:-9.12, Z:-0.11 [[ 9.73560173e-01 2.28410333e-01 3.05115953e-03 5.78018479e+01] [-2.28409128e-01 9.73564954e-01 -7.42392710e-04 -9.12237575e+00] [-3.14007216e-03 2.58512855e-05 9.99995070e-01 -1.12568868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.697628 meters 0.014448187086480973 Centerline is valid? [True, True] Translation: X:57.86, Y:-9.14, Z:-0.11 [[ 9.75452913e-01 2.20152630e-01 4.94306908e-03 5.78608777e+01] [-2.20149356e-01 9.75465434e-01 -1.20365276e-03 -9.14269495e+00] [-5.08678034e-03 8.58931097e-05 9.99987059e-01 -1.12089045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.757628 meters 0.015386232593485366 Centerline is valid? [True, True] Translation: X:57.92, Y:-9.16, Z:-0.11 [[ 9.76447882e-01 2.15700687e-01 4.76941051e-03 5.79217158e+01] [-2.15697585e-01 9.76459524e-01 -1.16171666e-03 -9.15685555e+00] [-4.90771939e-03 1.05605444e-04 9.99987951e-01 -1.14116086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.817628 meters 0.015595464205510093 Centerline is valid? [True, True] Translation: X:57.98, Y:-9.17, Z:-0.12 [[ 9.76404059e-01 2.15933820e-01 2.77476606e-03 5.79831603e+01] [-2.15932770e-01 9.76408000e-01 -6.76278272e-04 -9.17167664e+00] [-2.85533513e-03 6.11579286e-05 9.99995922e-01 -1.15915604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.877628 meters 0.014760684485583873 Centerline is valid? [True, True] Translation: X:58.04, Y:-9.18, Z:-0.12 [[ 9.75634523e-01 2.19398747e-01 -1.21130533e-03 5.80442379e+01] [-2.19398549e-01 9.75635275e-01 2.96160850e-04 -9.18255714e+00] [ 1.24676952e-03 -2.31861190e-05 9.99999223e-01 -1.20189113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.937628 meters 0.013226668018760601 Centerline is valid? [True, True] Translation: X:58.11, Y:-9.19, Z:-0.12 [[ 9.74027273e-01 2.26407537e-01 -3.24010951e-03 5.81054016e+01] [-2.26406157e-01 9.74032662e-01 7.91266871e-04 -9.19051732e+00] [ 3.33512127e-03 -3.71347709e-05 9.99994438e-01 -1.22359423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.997628 meters 0.012597652607568541 Centerline is valid? [True, True] Translation: X:58.17, Y:-9.20, Z:-0.12 [[ 9.72565606e-01 2.32597832e-01 -3.79351343e-03 5.81658669e+01] [-2.32595983e-01 9.72573004e-01 9.27638410e-04 -9.20058454e+00] [ 3.90523544e-03 -1.98332269e-05 9.99992374e-01 -1.23391243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.057628 meters 0.012199231291521393 Centerline is valid? [True, True] Translation: X:58.23, Y:-9.21, Z:-0.12 [[ 9.70844130e-01 2.39711469e-01 -2.93676414e-04 5.82272377e+01] [-2.39711458e-01 9.70844175e-01 7.22923357e-05 -9.21238663e+00] [ 3.02443338e-04 2.13011715e-07 9.99999954e-01 -1.20286156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.117627999999996 meters 0.01259972078698249 Centerline is valid? [True, True] Translation: X:58.29, Y:-9.23, Z:-0.12 [[ 9.69711196e-01 2.44203938e-01 4.96314056e-03 5.82876071e+01] [-2.44200916e-01 9.69723897e-01 -1.21536037e-03 -9.22628860e+00] [-5.10967179e-03 -3.34549128e-05 9.99986945e-01 -1.16548348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.177628 meters 0.0128244867564814 Centerline is valid? [True, True] Translation: X:58.35, Y:-9.24, Z:-0.12 [[ 9.69238376e-01 2.46044426e-01 6.25383262e-03 5.83465911e+01] [-2.46039657e-01 9.69258550e-01 -1.53293830e-03 -9.24027204e+00] [-6.43875167e-03 -5.29082066e-05 9.99979270e-01 -1.16531915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.237628 meters 0.012639603253666629 Centerline is valid? [True, True] Translation: X:58.41, Y:-9.26, Z:-0.12 [[ 9.69463404e-01 2.45200624e-01 4.16691582e-03 5.84064762e+01] [-2.45198495e-01 9.69472358e-01 -1.02229162e-03 -9.25769883e+00] [-4.29037625e-03 -3.06471766e-05 9.99990796e-01 -1.20483375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.297628 meters 0.012551287568919817 Centerline is valid? [True, True] Translation: X:58.47, Y:-9.27, Z:-0.12 [[ 9.69384350e-01 2.45546552e-01 9.34820336e-04 5.84667671e+01] [-2.45546445e-01 9.69384800e-01 -2.29249060e-04 -9.27253991e+00] [-9.62491941e-04 -7.31135932e-06 9.99999537e-01 -1.24416341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.357628 meters 0.013083225359226493 Centerline is valid? [True, True] Translation: X:58.53, Y:-9.28, Z:-0.13 [[ 9.68523931e-01 2.48919746e-01 -5.95730525e-04 5.85284664e+01] [-2.48919702e-01 9.68524114e-01 1.46950925e-04 -9.28325146e+00] [ 6.13558366e-04 5.96357711e-06 9.99999812e-01 -1.25926064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.417628 meters 0.014151232201239641 Centerline is valid? [True, True] Translation: X:58.59, Y:-9.29, Z:-0.13 [[ 9.67361893e-01 2.53389131e-01 -2.21707859e-03 5.85898119e+01] [-2.53388545e-01 9.67364434e-01 5.45843221e-04 -9.28924875e+00] [ 2.28303371e-03 3.37543871e-05 9.99997393e-01 -1.28989259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.477628 meters 0.013652034605971326 Centerline is valid? [True, True] Translation: X:58.65, Y:-9.31, Z:-0.13 [[ 9.67752185e-01 2.51903254e-01 -6.77442121e-04 5.86503373e+01] [-2.51903199e-01 9.67752422e-01 1.66929880e-04 -9.30537937e+00] [ 6.97646433e-04 9.10308109e-06 9.99999757e-01 -1.28037772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.537628 meters 0.012860805569052877 Centerline is valid? [True, True] Translation: X:58.71, Y:-9.33, Z:-0.13 [[ 9.68298970e-01 2.49794056e-01 1.84129475e-04 5.87089519e+01] [-2.49794052e-01 9.68298988e-01 -4.49512026e-05 -9.32548463e+00] [-1.89520927e-04 -2.46824435e-06 9.99999982e-01 -1.26902822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.597628 meters 0.012349738353611778 Centerline is valid? [True, True] Translation: X:58.77, Y:-9.35, Z:-0.13 [[ 9.69415471e-01 2.45425436e-01 -2.65141609e-05 5.87677258e+01] [-2.45425436e-01 9.69415471e-01 6.96452006e-06 -9.34590104e+00] [ 2.74125081e-05 -2.44263990e-07 1.00000000e+00 -1.28568145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.657628 meters 0.012269720221177024 Centerline is valid? [True, True] Translation: X:58.83, Y:-9.36, Z:-0.13 [[ 9.69974110e-01 2.43207575e-01 -5.49610958e-04 5.88276401e+01] [-2.43207537e-01 9.69974265e-01 1.36175691e-04 -9.36213048e+00] [ 5.66227445e-04 1.58263287e-06 9.99999840e-01 -1.29378064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.717628 meters 0.012200500079954029 Centerline is valid? [True, True] Translation: X:58.89, Y:-9.37, Z:-0.13 [[ 9.70386501e-01 2.41557077e-01 4.66370051e-04 5.88889747e+01] [-2.41557050e-01 9.70386613e-01 -1.14837691e-04 -9.37499953e+00] [-4.80299111e-04 -1.21802897e-06 9.99999885e-01 -1.27766335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.777628 meters 0.012377959794047615 Centerline is valid? [True, True] Translation: X:58.95, Y:-9.39, Z:-0.13 [[ 9.71052312e-01 2.38850927e-01 2.76449268e-03 5.89495264e+01] [-2.38849948e-01 9.71056247e-01 -6.83840784e-04 -9.38745784e+00] [-2.84781389e-03 3.74624263e-06 9.99995945e-01 -1.26299627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.837628 meters 0.01233617360874055 Centerline is valid? [True, True] Translation: X:59.01, Y:-9.40, Z:-0.13 [[ 9.71442545e-01 2.37239143e-01 4.11956132e-03 5.90107801e+01] [-2.37236949e-01 9.71451280e-01 -1.02023899e-03 -9.40355896e+00] [-4.24399374e-03 1.37913987e-05 9.99990994e-01 -1.26471705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.897628 meters 0.012625377103297817 Centerline is valid? [True, True] Translation: X:59.07, Y:-9.42, Z:-0.13 [[ 9.72033496e-01 2.34826959e-01 2.67978767e-03 5.90704729e+01] [-2.34826020e-01 9.72037190e-01 -6.64286916e-04 -9.42209602e+00] [-2.76084576e-03 1.64252609e-05 9.99996189e-01 -1.27810445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.957628 meters 0.012643706126192495 Centerline is valid? [True, True] Translation: X:59.13, Y:-9.44, Z:-0.13 [[ 9.72011188e-01 2.34930668e-01 1.35329332e-03 5.91314933e+01] [-2.34930429e-01 9.72012130e-01 -3.35617703e-04 -9.43780640e+00] [-1.39426441e-03 8.29438255e-06 9.99999028e-01 -1.29064850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.017628 meters 0.012409083369952282 Centerline is valid? [True, True] Translation: X:59.19, Y:-9.45, Z:-0.13 [[ 9.71305203e-01 2.37812696e-01 -3.36520779e-03 5.91930499e+01] [-2.37811222e-01 9.71311032e-01 8.37266793e-04 -9.45196985e+00] [ 3.46777613e-03 -1.29574142e-05 9.99993987e-01 -1.32916401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.077628 meters 0.012204458233669925 Centerline is valid? [True, True] Translation: X:59.26, Y:-9.46, Z:-0.13 [[ 9.69985800e-01 2.43113861e-01 -4.81638795e-03 5.92552486e+01] [-2.43110902e-01 9.69997758e-01 1.19957733e-03 -9.46337114e+00] [ 4.96351938e-03 7.34344316e-06 9.99987682e-01 -1.32979056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.137628 meters 0.012277287272157529 Centerline is valid? [True, True] Translation: X:59.32, Y:-9.48, Z:-0.13 [[ 9.69195947e-01 2.46257042e-01 -4.08489118e-03 5.93164370e+01] [-2.46254935e-01 9.69204555e-01 1.01867985e-03 -9.47602777e+00] [ 4.20995223e-03 1.86242282e-05 9.99991138e-01 -1.33027614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.197628 meters 0.012315440723028717 Centerline is valid? [True, True] Translation: X:59.38, Y:-9.49, Z:-0.13 [[ 9.68922601e-01 2.47363653e-01 -4.64965942e-04 5.93774036e+01] [-2.47363626e-01 9.68922713e-01 1.16092720e-04 -9.49037623e+00] [ 4.79233181e-04 2.53080111e-06 9.99999885e-01 -1.30834304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.257628 meters 0.01209251766356995 Centerline is valid? [True, True] Translation: X:59.44, Y:-9.51, Z:-0.13 [[ 9.69553043e-01 2.44858248e-01 3.36669688e-03 5.94372654e+01] [-2.44856807e-01 9.69558889e-01 -8.39951314e-04 -9.50786450e+00] [-3.46987990e-03 -9.98129730e-06 9.99993980e-01 -1.28711858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.317628 meters 0.012261607073974246 Centerline is valid? [True, True] Translation: X:59.50, Y:-9.52, Z:-0.13 [[ 9.69610243e-01 2.44618399e-01 4.22092506e-03 5.94974336e+01] [-2.44616127e-01 9.69619430e-01 -1.05431718e-03 -9.52361202e+00] [-4.35059633e-03 -1.02296024e-05 9.99990536e-01 -1.28404499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.377628 meters 0.01223329259838679 Centerline is valid? [True, True] Translation: X:59.56, Y:-9.54, Z:-0.13 [[ 9.69082951e-01 2.46701638e-01 4.06634175e-03 5.95592801e+01] [-2.46699543e-01 9.69091482e-01 -1.01686953e-03 -9.53613904e+00] [-4.19152053e-03 -1.77337224e-05 9.99991215e-01 -1.30179409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.437628 meters 0.012229679080307879 Centerline is valid? [True, True] Translation: X:59.62, Y:-9.55, Z:-0.14 [[ 9.68770639e-01 2.47957791e-01 -6.19009697e-04 5.96212142e+01] [-2.47957742e-01 9.68770837e-01 1.55536608e-04 -9.54893722e+00] [ 6.38245056e-04 2.80894782e-06 9.99999796e-01 -1.36957670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.497628 meters 0.012315806443775714 Centerline is valid? [True, True] Translation: X:59.68, Y:-9.56, Z:-0.14 [[ 9.68597432e-01 2.48582191e-01 -5.09006028e-03 5.96815434e+01] [-2.48578914e-01 9.68610806e-01 1.27677128e-03 -9.56285284e+00] [ 5.24766999e-03 2.86042773e-05 9.99986230e-01 -1.41497500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.557628 meters 0.012479233018439617 Centerline is valid? [True, True] Translation: X:59.74, Y:-9.58, Z:-0.14 [[ 9.68486487e-01 2.48872358e-01 -9.82208558e-03 5.97410549e+01] [-2.48860149e-01 9.68536291e-01 2.46567600e-03 -9.57570883e+00] [ 1.01266849e-02 5.63518015e-05 9.99948722e-01 -1.44475715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.617627999999996 meters 0.012368403317409803 Centerline is valid? [True, True] Translation: X:59.80, Y:-9.59, Z:-0.14 [[ 9.68770302e-01 2.47753243e-01 -1.01208944e-02 5.98024566e+01] [-2.47740186e-01 9.68823167e-01 2.54384921e-03 -9.59019353e+00] [ 1.04356038e-02 4.29466950e-05 9.99945547e-01 -1.43277530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.677628 meters 0.015684336456583615 Centerline is valid? [True, True] Translation: X:59.86, Y:-9.60, Z:-0.14 [[ 9.69794977e-01 2.43728754e-01 -9.69519580e-03 5.98628717e+01] [-2.43716547e-01 9.69843438e-01 2.43936486e-03 -9.60360349e+00] [ 9.99736539e-03 -2.80414409e-06 9.99950025e-01 -1.44238904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.737628 meters 0.012108301333460192 Centerline is valid? [True, True] Translation: X:59.92, Y:-9.62, Z:-0.14 [[ 9.70510596e-01 2.40946818e-01 -7.33579120e-03 5.99224876e+01] [-2.40939735e-01 9.70538320e-01 1.84775370e-03 -9.62058148e+00] [ 7.56487685e-03 -2.57809575e-05 9.99971386e-01 -1.40200321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.797628 meters 0.012267911591157943 Centerline is valid? [True, True] Translation: X:59.98, Y:-9.64, Z:-0.14 [[ 9.70761561e-01 2.39914936e-01 -7.92556551e-03 5.99823502e+01] [-2.39906615e-01 9.70793913e-01 1.99849383e-03 -9.63709429e+00] [ 8.17355927e-03 -3.86653933e-05 9.99966595e-01 -1.41169911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.857628 meters 0.012227279654264882 Centerline is valid? [True, True] Translation: X:60.04, Y:-9.65, Z:-0.14 [[ 9.70567122e-01 2.40680833e-01 -8.49690189e-03 6.00433952e+01] [-2.40671277e-01 9.70604314e-01 2.14509280e-03 -9.65236470e+00] [ 8.76341236e-03 -3.69963255e-05 9.99961600e-01 -1.41510451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.917628 meters 0.015417548866241748 Centerline is valid? [True, True] Translation: X:60.10, Y:-9.67, Z:-0.14 [[ 9.69825984e-01 2.43610897e-01 -9.55462686e-03 6.01032389e+01] [-2.43598931e-01 9.69873049e-01 2.41465208e-03 -9.66799265e+00] [ 9.85501064e-03 -1.42954421e-05 9.99951438e-01 -1.43244234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.977628 meters 0.012291190666798494 Centerline is valid? [True, True] Translation: X:60.16, Y:-9.68, Z:-0.14 [[ 9.68970956e-01 2.46963363e-01 -1.02168660e-02 6.01644066e+01] [-2.46949835e-01 9.69024817e-01 2.58497214e-03 -9.68361414e+00] [ 1.05387901e-02 1.82904419e-05 9.99944465e-01 -1.41858830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.037628 meters 0.01284179917695705 Centerline is valid? [True, True] Translation: X:60.22, Y:-9.70, Z:-0.15 [[ 9.67616950e-01 2.52001015e-01 -1.45920177e-02 6.02246090e+01] [-2.51973982e-01 9.67726964e-01 3.69247866e-03 -9.69845913e+00] [ 1.50515974e-02 1.03903878e-04 9.99886713e-01 -1.45301949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.097628 meters 0.014981623480961164 Centerline is valid? [True, True] Translation: X:60.29, Y:-9.71, Z:-0.15 [[ 9.66431153e-01 2.56455973e-01 -1.55293630e-02 6.02850037e+01] [-2.56425859e-01 9.66555897e-01 3.93415989e-03 -9.71185969e+00] [ 1.60189361e-02 1.80035558e-04 9.99871672e-01 -1.45617282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.157628 meters 0.014826243124118229 Centerline is valid? [True, True] Translation: X:60.35, Y:-9.72, Z:-0.14 [[ 9.64711305e-01 2.63108592e-01 -1.02940156e-02 6.03460253e+01] [-2.63095710e-01 9.64766206e-01 2.61049728e-03 -9.72040590e+00] [ 1.06181626e-02 1.89935098e-04 9.99943608e-01 -1.39962377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.217628 meters 0.015836875251407284 Centerline is valid? [True, True] Translation: X:60.41, Y:-9.74, Z:-0.14 [[ 9.64518574e-01 2.63923578e-01 -6.94735755e-03 6.04064565e+01] [-2.63917717e-01 9.64543585e-01 1.76382837e-03 -9.73505410e+00] [ 7.16654506e-03 1.32285525e-04 9.99974311e-01 -1.36676629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.277628 meters 0.013814268765554624 Centerline is valid? [True, True] Translation: X:60.47, Y:-9.75, Z:-0.13 [[ 9.65039957e-01 2.62088895e-01 -2.70054136e-03 6.04658200e+01] [-2.62088000e-01 9.65043734e-01 6.86604243e-04 -9.75222602e+00] [ 2.78609186e-03 4.51789538e-05 9.99996118e-01 -1.32779641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.337628 meters 0.013317430634894177 Centerline is valid? [True, True] Translation: X:60.52, Y:-9.77, Z:-0.14 [[ 9.65967428e-01 2.58614754e-01 -5.03353614e-03 6.05235733e+01] [-2.58611592e-01 9.65980541e-01 1.28057276e-03 -9.77268504e+00] [ 5.19347297e-03 6.47392190e-05 9.99986512e-01 -1.35509187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.397628 meters 0.012867702181467006 Centerline is valid? [True, True] Translation: X:60.58, Y:-9.79, Z:-0.14 [[ 9.66319985e-01 2.57111213e-01 -1.09320883e-02 6.05829775e+01] [-2.57096171e-01 9.66381814e-01 2.78371107e-03 -9.79131417e+00] [ 1.12802946e-02 1.20642399e-04 9.99936368e-01 -1.40742459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.457628 meters 0.013395847809412689 Centerline is valid? [True, True] Translation: X:60.64, Y:-9.80, Z:-0.14 [[ 9.65794174e-01 2.58870882e-01 -1.50824295e-02 6.06436018e+01] [-2.58842454e-01 9.65911916e-01 3.84120698e-03 -9.80455257e+00] [ 1.55626750e-02 1.94157732e-04 9.99878875e-01 -1.43969468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.517628 meters 0.01436767522763479 Centerline is valid? [True, True] Translation: X:60.70, Y:-9.81, Z:-0.15 [[ 9.64791473e-01 2.62461535e-01 -1.70691561e-02 6.07047154e+01] [-2.62425608e-01 9.64942415e-01 4.35157249e-03 -9.81376208e+00] [ 1.76128731e-02 2.81023625e-04 9.99844842e-01 -1.46150968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.577628 meters 0.013985520817359617 Centerline is valid? [True, True] Translation: X:60.77, Y:-9.83, Z:-0.14 [[ 9.64653296e-01 2.63108152e-01 -1.47688474e-02 6.07655499e+01] [-2.63081314e-01 9.64766312e-01 3.76635582e-03 -9.82872605e+00] [ 1.52394454e-02 2.52180234e-04 9.99883841e-01 -1.42753289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.637628 meters 0.013445357846677115 Centerline is valid? [True, True] Translation: X:60.82, Y:-9.85, Z:-0.14 [[ 9.65448679e-01 2.60409789e-01 -9.77706240e-03 6.08233009e+01] [-2.60397886e-01 9.65498173e-01 2.49367597e-03 -9.84749689e+00] [ 1.00891135e-02 1.38410208e-04 9.99949094e-01 -1.37435509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.697628 meters 0.012633927644825464 Centerline is valid? [True, True] Translation: X:60.88, Y:-9.87, Z:-0.14 [[ 9.66837082e-01 2.55323953e-01 -5.97796975e-03 6.08811768e+01] [-2.55319404e-01 9.66855561e-01 1.52494656e-03 -9.86673532e+00] [ 6.16918868e-03 5.19167955e-05 9.99980969e-01 -1.36678044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.757628 meters 0.012121882724057871 Centerline is valid? [True, True] Translation: X:60.94, Y:-9.89, Z:-0.14 [[ 9.67496733e-01 2.52838867e-01 -4.75168078e-03 6.09401624e+01] [-2.52835955e-01 9.67508401e-01 1.21377297e-03 -9.88588723e+00] [ 4.90418006e-03 2.70743651e-05 9.99987974e-01 -1.35476574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.817628 meters 0.012081375091601159 Centerline is valid? [True, True] Translation: X:61.00, Y:-9.90, Z:-0.14 [[ 9.67668070e-01 2.52181447e-01 -4.79830867e-03 6.10009301e+01] [-2.52178462e-01 9.67679966e-01 1.22719288e-03 -9.90301495e+00] [ 4.95270245e-03 2.25147362e-05 9.99987735e-01 -1.35250082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.877628 meters 0.012069019379890912 Centerline is valid? [True, True] Translation: X:61.06, Y:-9.92, Z:-0.14 [[ 9.67537743e-01 2.52647557e-01 -6.31887060e-03 6.10618672e+01] [-2.52642378e-01 9.67558376e-01 1.61785501e-03 -9.91935171e+00] [ 6.52262330e-03 3.10787086e-05 9.99978727e-01 -1.35071426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.937628 meters 0.012358505267267847 Centerline is valid? [True, True] Translation: X:61.12, Y:-9.93, Z:-0.14 [[ 9.67146090e-01 2.54074833e-01 -8.62666235e-03 6.11218318e+01] [-2.54065231e-01 9.67184562e-01 2.20951546e-03 -9.93213882e+00] [ 8.90495692e-03 5.48107267e-05 9.99960349e-01 -1.37745692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.997628 meters 0.012396476308891494 Centerline is valid? [True, True] Translation: X:61.18, Y:-9.95, Z:-0.14 [[ 9.67169722e-01 2.53829629e-01 -1.23793349e-02 6.11824453e+01] [-2.53809793e-01 9.67248941e-01 3.17409775e-03 -9.94638326e+00] [ 1.27795786e-02 7.21052016e-05 9.99918335e-01 -1.40806674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.057628 meters 0.012408844199882918 Centerline is valid? [True, True] Translation: X:61.24, Y:-9.97, Z:-0.14 [[ 9.68697538e-01 2.47934985e-01 -1.23823469e-02 6.12411378e+01] [-2.47914619e-01 9.68776673e-01 3.17786521e-03 -9.96513809e+00] [ 1.27836328e-02 -8.62540318e-06 9.99918286e-01 -1.42046187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.117627999999996 meters 0.015936798342668635 Centerline is valid? [True, True] Translation: X:61.30, Y:-9.99, Z:-0.14 [[ 9.71016961e-01 2.38786533e-01 -1.03466368e-02 6.13002174e+01] [-2.38771762e-01 9.71072077e-01 2.65823717e-03 -9.98513185e+00] [ 1.06820813e-02 -1.10708670e-04 9.99942939e-01 -1.41564859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.177628 meters 0.015272703462671011 Centerline is valid? [True, True] Translation: X:61.36, Y:-10.00, Z:-0.14 [[ 9.71804214e-01 2.35633685e-01 -8.56365330e-03 6.13595022e+01] [-2.35623424e-01 9.71841937e-01 2.20247970e-03 -1.00025159e+01] [ 8.84149582e-03 -1.22581742e-04 9.99960906e-01 -1.38808224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.237628 meters 0.013366866853399285 Centerline is valid? [True, True] Translation: X:61.42, Y:-10.02, Z:-0.14 [[ 9.71679821e-01 2.36222829e-01 -6.09097277e-03 6.14203106e+01] [-2.36217647e-01 9.71698908e-01 1.56695088e-03 -1.00174098e+01] [ 6.28874116e-03 -8.37792983e-05 9.99980222e-01 -1.35599179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.297628 meters 0.012995168882621536 Centerline is valid? [True, True] Translation: X:61.48, Y:-10.03, Z:-0.14 [[ 9.70713276e-01 2.40127333e-01 -7.38915838e-03 6.14802172e+01] [-2.40119803e-01 9.70741396e-01 1.90305146e-03 -1.00317968e+01] [ 7.62993659e-03 -7.30340681e-05 9.99970889e-01 -1.37384856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.357628 meters 0.012746733651333504 Centerline is valid? [True, True] Translation: X:61.54, Y:-10.05, Z:-0.14 [[ 9.69940176e-01 2.43122971e-01 -1.03573916e-02 6.15413003e+01] [-2.43108316e-01 9.69995472e-01 2.67042111e-03 -1.00455564e+01] [ 1.06958637e-02 -7.21806867e-05 9.99942795e-01 -1.39665050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.417628 meters 0.012323913415759878 Centerline is valid? [True, True] Translation: X:61.60, Y:-10.06, Z:-0.14 [[ 9.68487043e-01 2.48630489e-01 -1.46876469e-02 6.16023744e+01] [-2.48601593e-01 9.68598410e-01 3.79051864e-03 -1.00568064e+01] [ 1.51688699e-02 -1.96957788e-05 9.99884946e-01 -1.43117715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.477628 meters 0.012269932996690148 Centerline is valid? [True, True] Translation: X:61.66, Y:-10.07, Z:-0.14 [[ 9.67099581e-01 2.54025756e-01 -1.37592023e-02 6.16634932e+01] [-2.54000884e-01 9.67197452e-01 3.55511247e-03 -1.00714204e+01] [ 1.42109556e-02 5.67017703e-05 9.99899018e-01 -1.41761214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.537628 meters 0.012278900473014042 Centerline is valid? [True, True] Translation: X:61.72, Y:-10.09, Z:-0.14 [[ 9.66630105e-01 2.55865504e-01 -1.26128313e-02 6.17238720e+01] [-2.55844719e-01 9.66712386e-01 3.26217218e-03 -1.00869147e+01] [ 1.30276575e-02 7.36124241e-05 9.99915134e-01 -1.40427425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.597628 meters 0.012096427637241633 Centerline is valid? [True, True] Translation: X:61.78, Y:-10.11, Z:-0.14 [[ 9.66403842e-01 2.56860808e-01 -9.28110610e-03 6.17836164e+01] [-2.56849575e-01 9.66448406e-01 2.40298520e-03 -1.01051561e+01] [ 9.58694291e-03 6.15940285e-05 9.99954042e-01 -1.36606215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.657628 meters 0.011981617750404482 Centerline is valid? [True, True] Translation: X:61.84, Y:-10.12, Z:-0.13 [[ 9.66484328e-01 2.56659674e-01 -5.81858003e-03 6.18431065e+01] [-2.56655245e-01 9.66501842e-01 1.50818197e-03 -1.01234271e+01] [ 6.01075781e-03 3.57348493e-05 9.99981935e-01 -1.33652715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.717628 meters 0.011827929802816094 Centerline is valid? [True, True] Translation: X:61.90, Y:-10.14, Z:-0.13 [[ 9.66947525e-01 2.54897905e-01 -6.28825239e-03 6.19034739e+01] [-2.54892683e-01 9.66967971e-01 1.63180230e-03 -1.01419502e+01] [ 6.49648164e-03 2.49623275e-05 9.99978897e-01 -1.34991459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.777628 meters 0.011813465271509383 Centerline is valid? [True, True] Translation: X:61.96, Y:-10.16, Z:-0.14 [[ 9.67222429e-01 2.53826524e-01 -7.27107280e-03 6.19642011e+01] [-2.53819496e-01 9.67249758e-01 1.88897804e-03 -1.01597432e+01] [ 7.51241614e-03 1.84781052e-05 9.99971781e-01 -1.35872074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.837628 meters 0.01198021539795671 Centerline is valid? [True, True] Translation: X:62.02, Y:-10.17, Z:-0.14 [[ 9.66945075e-01 2.54842339e-01 -8.52081498e-03 6.20232615e+01] [-2.54832709e-01 9.66982617e-01 2.21552687e-03 -1.01739675e+01] [ 8.80409001e-03 2.90895692e-05 9.99961243e-01 -1.37138225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.897628 meters 0.01209163502237865 Centerline is valid? [True, True] Translation: X:62.08, Y:-10.19, Z:-0.14 [[ 9.66796259e-01 2.55338508e-01 -1.03556871e-02 6.20832241e+01] [-2.55324289e-01 9.66851718e-01 2.69494098e-03 -1.01856430e+01] [ 1.07005361e-02 3.85995983e-05 9.99942747e-01 -1.38615033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.957628 meters 0.012093566710697072 Centerline is valid? [True, True] Translation: X:62.14, Y:-10.20, Z:-0.14 [[ 9.66506111e-01 2.56407301e-01 -1.10105985e-02 6.21440829e+01] [-2.56391264e-01 9.66568825e-01 2.86816586e-03 -1.01998294e+01] [ 1.13779199e-02 5.09214367e-05 9.99935268e-01 -1.37416538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.017628 meters 0.011960912752936106 Centerline is valid? [True, True] Translation: X:62.20, Y:-10.22, Z:-0.14 [[ 9.66470101e-01 2.56503253e-01 -1.19006728e-02 6.22046708e+01] [-2.56484480e-01 9.66543366e-01 3.10369919e-03 -1.02151549e+01] [ 1.22986253e-02 5.27054033e-05 9.99924368e-01 -1.36844904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.077628 meters 0.011874643996459499 Centerline is valid? [True, True] Translation: X:62.26, Y:-10.23, Z:-0.14 [[ 9.66849418e-01 2.55090414e-01 -1.14491881e-02 6.22642306e+01] [-2.55072905e-01 9.66917204e-01 2.98893085e-03 -1.02317128e+01] [ 1.18328646e-02 3.05316057e-05 9.99929989e-01 -1.37248243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.137628 meters 0.011823553090566636 Centerline is valid? [True, True] Translation: X:62.32, Y:-10.25, Z:-0.13 [[ 9.66869974e-01 2.55141812e-01 -8.06907781e-03 6.23226805e+01] [-2.55133100e-01 9.66903643e-01 2.10855571e-03 -1.02487557e+01] [ 8.34000145e-03 1.99896333e-05 9.99965221e-01 -1.33716046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.197628 meters 0.011788095342498027 Centerline is valid? [True, True] Translation: X:62.38, Y:-10.26, Z:-0.13 [[ 9.66469386e-01 2.56682385e-01 -7.14696516e-03 6.23839328e+01] [-2.56675575e-01 9.66495811e-01 1.86991723e-03 -1.02634439e+01] [ 7.38748670e-03 2.72336365e-05 9.99972712e-01 -1.32161034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.257628 meters 0.012198906541110667 Centerline is valid? [True, True] Translation: X:62.44, Y:-10.28, Z:-0.13 [[ 9.65399227e-01 2.60629352e-01 -8.75627122e-03 6.24441365e+01] [-2.60619273e-01 9.65438934e-01 2.29310127e-03 -1.02771289e+01] [ 9.05129466e-03 6.82948506e-05 9.99959034e-01 -1.33824365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.317628 meters 0.012830659095513734 Centerline is valid? [True, True] Translation: X:62.50, Y:-10.29, Z:-0.14 [[ 9.64476071e-01 2.63949740e-01 -1.07909207e-02 6.25043143e+01] [-2.63934610e-01 9.64536428e-01 2.82865414e-03 -1.02920103e+01] [ 1.11548587e-02 1.19928219e-04 9.99937775e-01 -1.35340476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.377628 meters 0.013238425572599822 Centerline is valid? [True, True] Translation: X:62.56, Y:-10.31, Z:-0.14 [[ 9.63729017e-01 2.66611480e-01 -1.20291342e-02 6.25639932e+01] [-2.66592847e-01 9.63804073e-01 3.15635853e-03 -1.03076330e+01] [ 1.24352500e-02 1.65006824e-04 9.99922666e-01 -1.35736357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.437628 meters 0.012807214485006855 Centerline is valid? [True, True] Translation: X:62.62, Y:-10.33, Z:-0.14 [[ 9.64682887e-01 2.63159859e-01 -1.15678599e-02 6.26221499e+01] [-2.63142346e-01 9.64752236e-01 3.03809932e-03 -1.03267799e+01] [ 1.19596245e-02 1.13191364e-04 9.99928475e-01 -1.35875772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.497628 meters 0.012013565114696022 Centerline is valid? [True, True] Translation: X:62.68, Y:-10.35, Z:-0.13 [[ 9.66310351e-01 2.57185548e-01 -9.99498681e-03 6.26803571e+01] [-2.57172127e-01 9.66362040e-01 2.62759445e-03 -1.03499415e+01] [ 1.03345552e-02 3.13603035e-05 9.99946597e-01 -1.33674433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.557628 meters 0.012423789480787241 Centerline is valid? [True, True] Translation: X:62.74, Y:-10.38, Z:-0.13 [[ 9.69076099e-01 2.46624097e-01 -8.25044858e-03 6.27381124e+01] [-2.46614545e-01 9.69111217e-01 2.17163245e-03 -1.03758962e+01] [ 8.53117915e-03 -6.97964770e-05 9.99963606e-01 -1.30367791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.617627999999996 meters 0.013617354983626572 Centerline is valid? [True, True] Translation: X:62.80, Y:-10.39, Z:-0.13 [[ 9.70574945e-01 2.40695989e-01 -7.05108849e-03 6.27965451e+01] [-2.40688843e-01 9.70600551e-01 1.85762385e-03 -1.03945783e+01] [ 7.29091299e-03 -1.05844834e-04 9.99973415e-01 -1.30189873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.677628 meters 0.014411360819941743 Centerline is valid? [True, True] Translation: X:62.86, Y:-10.41, Z:-0.13 [[ 9.71580272e-01 2.36606574e-01 -7.00748082e-03 6.28563158e+01] [-2.36599397e-01 9.71605532e-01 1.84796832e-03 -1.04125754e+01] [ 7.24574859e-03 -1.37483825e-04 9.99973740e-01 -1.28822590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.737628 meters 0.017040476609459947 Centerline is valid? [True, True] Translation: X:62.91, Y:-10.43, Z:-0.13 [[ 9.72842805e-01 2.31350039e-01 -7.35095569e-03 6.29137781e+01] [-2.31341994e-01 9.72870559e-01 1.93811341e-03 -1.04291336e+01] [ 7.59991099e-03 -1.84894941e-04 9.99971103e-01 -1.30775778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.797628 meters 0.01782928330414923 Centerline is valid? [True, True] Translation: X:62.97, Y:-10.44, Z:-0.13 [[ 9.73081170e-01 2.30310681e-01 -8.36816124e-03 6.29746874e+01] [-2.30300195e-01 9.73117126e-01 2.20889994e-03 -1.04425854e+01] [ 8.65193427e-03 -2.22249770e-04 9.99962547e-01 -1.32521214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.857628 meters 0.015791731311357433 Centerline is valid? [True, True] Translation: X:63.04, Y:-10.45, Z:-0.13 [[ 9.73104514e-01 2.30233479e-01 -7.75566595e-03 6.30374656e+01] [-2.30224450e-01 9.73135397e-01 2.04967934e-03 -1.04524392e+01] [ 8.01921787e-03 -2.09008286e-04 9.99967824e-01 -1.29810430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.917628 meters 0.016832372236404054 Centerline is valid? [True, True] Translation: X:63.10, Y:-10.47, Z:-0.13 [[ 9.72659856e-01 2.32100971e-01 -7.87042168e-03 6.30972818e+01] [-2.32091720e-01 9.72691678e-01 2.08181018e-03 -1.04658759e+01] [ 8.13868383e-03 -1.98233490e-04 9.99966861e-01 -1.30172591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.977628 meters 0.014307292096474019 Centerline is valid? [True, True] Translation: X:63.16, Y:-10.47, Z:-0.13 [[ 9.71707627e-01 2.36075820e-01 -7.24528011e-03 6.31603357e+01] [-2.36068089e-01 9.71734626e-01 1.91659986e-03 -1.04694254e+01] [ 7.49295245e-03 -1.51995277e-04 9.99971916e-01 -1.28362487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.037628 meters 0.013245756376655858 Centerline is valid? [True, True] Translation: X:63.22, Y:-10.48, Z:-0.13 [[ 9.70338339e-01 2.41669903e-01 -6.25820589e-03 6.32225408e+01] [-2.41664248e-01 9.70358516e-01 1.65585173e-03 -1.04765115e+01] [ 6.47287291e-03 -9.43517915e-05 9.99979046e-01 -1.27489632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.097628 meters 0.01251819390725117 Centerline is valid? [True, True] Translation: X:63.28, Y:-10.49, Z:-0.13 [[ 9.69337645e-01 2.45677931e-01 -5.18490887e-03 6.32842316e+01] [-2.45674098e-01 9.69351510e-01 1.37356486e-03 -1.04856550e+01] [ 5.36345382e-03 -5.76503136e-05 9.99985615e-01 -1.27363621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.157628 meters 0.011723184295770501 Centerline is valid? [True, True] Translation: X:63.35, Y:-10.49, Z:-0.13 [[ 9.68083940e-01 2.50608938e-01 -2.94042322e-03 6.33464961e+01] [-2.50607725e-01 9.68088405e-01 7.79941671e-04 -1.04918227e+01] [ 3.04204997e-03 -1.81562346e-05 9.99995373e-01 -1.26762513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.217628 meters 0.011421206006977574 Centerline is valid? [True, True] Translation: X:63.41, Y:-10.50, Z:-0.12 [[ 9.67086708e-01 2.54444991e-01 -1.02251521e-03 6.34086057e+01] [-2.54444847e-01 9.67087249e-01 2.71447305e-04 -1.05020476e+01] [ 1.05792983e-03 -2.33935459e-06 9.99999440e-01 -1.24648105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.27762799999999 meters 0.011426099633999359 Centerline is valid? [True, True] Translation: X:63.47, Y:-10.51, Z:-0.13 [[ 9.66784128e-01 2.55591691e-01 -1.15636086e-03 6.34706396e+01] [-2.55591506e-01 9.66784820e-01 3.07558648e-04 -1.05125544e+01] [ 1.19656156e-03 -1.78680561e-06 9.99999284e-01 -1.25934483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.337628 meters 0.014496557545420015 Centerline is valid? [True, True] Translation: X:63.53, Y:-10.53, Z:-0.13 [[ 9.67021958e-01 2.54673531e-01 -3.15036245e-03 6.35316370e+01] [-2.54672152e-01 9.67027090e-01 8.38003217e-04 -1.05273369e+01] [ 3.25990307e-03 -8.05792671e-06 9.99994686e-01 -1.29768350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.397628 meters 0.011521366348626992 Centerline is valid? [True, True] Translation: X:63.59, Y:-10.54, Z:-0.13 [[ 9.67676682e-01 2.52182824e-01 -2.37950943e-03 6.35922996e+01] [-2.52182028e-01 9.67679608e-01 6.33824803e-04 -1.05423526e+01] [ 2.46244248e-03 -1.32679671e-05 9.99996968e-01 -1.27851265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.457628 meters 0.015264339725906257 Centerline is valid? [True, True] Translation: X:63.65, Y:-10.56, Z:-0.13 [[ 9.68515015e-01 2.48894590e-01 -5.49081737e-03 6.36515244e+01] [-2.48890294e-01 9.68530578e-01 1.46322213e-03 -1.05591588e+01] [ 5.68221260e-03 -5.05414549e-05 9.99983855e-01 -1.31656026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.517628 meters 0.013159787621855336 Centerline is valid? [True, True] Translation: X:63.71, Y:-10.58, Z:-0.13 [[ 9.70054165e-01 2.42812521e-01 -6.08246135e-03 6.37098282e+01] [-2.42807126e-01 9.70073229e-01 1.62146751e-03 -1.05761677e+01] [ 6.29414553e-03 -9.60463511e-05 9.99980187e-01 -1.31371721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.577628 meters 0.015409808104227797 Centerline is valid? [True, True] Translation: X:63.77, Y:-10.60, Z:-0.13 [[ 9.72398738e-01 2.33199111e-01 -7.67262393e-03 6.37680456e+01] [-2.33190228e-01 9.72428987e-01 2.04527796e-03 -1.05953572e+01] [ 7.93803892e-03 -1.99644784e-04 9.99968473e-01 -1.32341139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.637628 meters 0.022450218260245566 Centerline is valid? [True, True] Translation: X:63.82, Y:-10.62, Z:-0.14 [[ 9.75139825e-01 2.21325157e-01 -1.08395768e-02 6.38245548e+01] [-2.21306686e-01 9.75199979e-01 2.88994449e-03 -1.06178365e+01] [ 1.12103725e-02 -4.19229146e-04 9.99937074e-01 -1.35877144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.697628 meters 0.022268240231466015 Centerline is valid? [True, True] Translation: X:63.88, Y:-10.63, Z:-0.13 [[ 9.76704556e-01 2.14391577e-01 -9.19028574e-03 6.38831307e+01] [-2.14377991e-01 9.76747702e-01 2.45038087e-03 -1.06349239e+01] [ 9.50193149e-03 -4.23103165e-04 9.99954766e-01 -1.33347001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.757628 meters 0.022894900255880906 Centerline is valid? [True, True] Translation: X:63.94, Y:-10.65, Z:-0.13 [[ 9.78513004e-01 2.06034082e-01 -7.89033548e-03 6.39431641e+01] [-2.06023794e-01 9.78544720e-01 2.10405737e-03 -1.06482777e+01] [ 8.15455366e-03 -4.33250642e-04 9.99966657e-01 -1.30249263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.817628 meters 0.02224405937371827 Centerline is valid? [True, True] Translation: X:64.00, Y:-10.66, Z:-0.13 [[ 9.78919323e-01 2.04139754e-01 -6.62719063e-03 6.40038945e+01] [-2.04132448e-01 9.78941683e-01 1.76782036e-03 -1.06616754e+01] [ 6.84851556e-03 -3.77728857e-04 9.99976477e-01 -1.27615678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.877628 meters 0.022037980263872818 Centerline is valid? [True, True] Translation: X:64.06, Y:-10.67, Z:-0.13 [[ 9.77886923e-01 2.09084544e-01 -4.56274271e-03 6.40633151e+01] [-2.09081136e-01 9.77897539e-01 1.21702012e-03 -1.06708139e+01] [ 4.71635496e-03 -2.36124629e-04 9.99988850e-01 -1.25626807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.937628 meters 0.021156166763436478 Centerline is valid? [True, True] Translation: X:64.12, Y:-10.68, Z:-0.12 [[ 9.76543290e-01 2.15303898e-01 -2.72665279e-03 6.41232291e+01] [-2.15302705e-01 9.76547089e-01 7.27262209e-04 -1.06797220e+01] [ 2.81928723e-03 -1.23147309e-04 9.99996018e-01 -1.24046034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.997628 meters 0.018039251644982636 Centerline is valid? [True, True] Translation: X:64.19, Y:-10.68, Z:-0.12 [[ 9.74233055e-01 2.25539533e-01 -1.36864864e-03 6.41857977e+01] [-2.25539242e-01 9.74234015e-01 3.65121013e-04 -1.06827742e+01] [ 1.41573328e-03 -4.70289821e-05 9.99998997e-01 -1.23201599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.057628 meters 0.01522350882682027 Centerline is valid? [True, True] Translation: X:64.25, Y:-10.69, Z:-0.12 [[ 9.71972789e-01 2.35079691e-01 -2.53689505e-03 6.42476965e+01] [-2.35078725e-01 9.71976098e-01 6.76778198e-04 -1.06860658e+01] [ 2.62489816e-03 -6.14399391e-05 9.99996553e-01 -1.24328128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.117628 meters 0.012619880680533326 Centerline is valid? [True, True] Translation: X:64.31, Y:-10.69, Z:-0.13 [[ 9.69627669e-01 2.44554708e-01 -3.89595393e-03 6.43098761e+01] [-2.44552505e-01 9.69635494e-01 1.03943202e-03 -1.06891669e+01] [ 4.03185321e-03 -5.50967499e-05 9.99991871e-01 -1.25671995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.177628 meters 0.012308575348868764 Centerline is valid? [True, True] Translation: X:64.37, Y:-10.70, Z:-0.13 [[ 9.68143489e-01 2.50362788e-01 -4.08153460e-03 6.43704863e+01] [-2.50360419e-01 9.68152092e-01 1.08977835e-03 -1.07001538e+01] [ 4.22438620e-03 -3.32070989e-05 9.99991077e-01 -1.26651758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.237628 meters 0.01161799632649475 Centerline is valid? [True, True] Translation: X:64.43, Y:-10.71, Z:-0.13 [[ 9.65680314e-01 2.59691721e-01 -4.66275401e-03 6.44327097e+01] [-2.59688730e-01 9.65691571e-01 1.24634357e-03 -1.07089279e+01] [ 4.82644735e-03 7.29521611e-06 9.99988353e-01 -1.26290900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.297628 meters 0.011832211325797004 Centerline is valid? [True, True] Translation: X:64.49, Y:-10.72, Z:-0.13 [[ 9.64455840e-01 2.64209897e-01 -4.25008171e-03 6.44930626e+01] [-2.64207451e-01 9.64465204e-01 1.13718469e-03 -1.07219411e+01] [ 4.39951137e-03 2.61388361e-05 9.99990322e-01 -1.26232777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.357628 meters 0.012155911818968813 Centerline is valid? [True, True] Translation: X:64.55, Y:-10.74, Z:-0.13 [[ 9.63946980e-01 2.66028341e-01 -5.92799093e-03 6.45529689e+01] [-2.66023608e-01 9.63965207e-01 1.58753547e-03 -1.07391170e+01] [ 6.13670643e-03 4.66855184e-05 9.99981169e-01 -1.27656916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.417628 meters 0.012170056463509897 Centerline is valid? [True, True] Translation: X:64.61, Y:-10.76, Z:-0.13 [[ 9.63902359e-01 2.66190755e-01 -5.89270790e-03 6.46127377e+01] [-2.66186071e-01 9.63920370e-01 1.57990071e-03 -1.07597839e+01] [ 6.10065614e-03 4.56867419e-05 9.99981390e-01 -1.27442375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.477628 meters 0.012549206739251056 Centerline is valid? [True, True] Translation: X:64.67, Y:-10.78, Z:-0.13 [[ 9.63305322e-01 2.68322248e-01 -6.78443605e-03 6.46703640e+01] [-2.68316083e-01 9.63329210e-01 1.82013054e-03 -1.07790713e+01] [ 7.02402694e-03 6.70318774e-05 9.99975329e-01 -1.27650819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.537628 meters 0.013063819793827577 Centerline is valid? [True, True] Translation: X:64.73, Y:-10.80, Z:-0.13 [[ 9.62706226e-01 2.70426318e-01 -8.14423420e-03 6.47294510e+01] [-2.70417493e-01 9.62740670e-01 2.18683239e-03 -1.07964041e+01] [ 8.43216252e-03 9.70662400e-05 9.99964444e-01 -1.29121137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.597628 meters 0.013030045222089634 Centerline is valid? [True, True] Translation: X:64.79, Y:-10.82, Z:-0.13 [[ 9.62176940e-01 2.72283320e-01 -8.79370368e-03 6.47872818e+01] [-2.72273088e-01 9.62217116e-01 2.36355972e-03 -1.08197598e+01] [ 9.10501009e-03 1.20126196e-04 9.99958541e-01 -1.28293760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.657628 meters 0.01359582147345751 Centerline is valid? [True, True] Translation: X:64.85, Y:-10.84, Z:-0.13 [[ 9.62089611e-01 2.72584590e-01 -9.01224562e-03 6.48467539e+01] [-2.72573833e-01 9.62131813e-01 2.42482532e-03 -1.08368930e+01] [ 9.33193823e-03 1.23603086e-04 9.99956449e-01 -1.29416692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.717628 meters 0.013695105019481074 Centerline is valid? [True, True] Translation: X:64.90, Y:-10.86, Z:-0.13 [[ 9.62310000e-01 2.71774672e-01 -9.89902247e-03 6.49042863e+01] [-2.71761625e-01 9.62360905e-01 2.66596607e-03 -1.08611754e+01] [ 1.02509743e-02 1.24688616e-04 9.99947450e-01 -1.30283350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.77762799999999 meters 0.012168675213512222 Centerline is valid? [True, True] Translation: X:64.96, Y:-10.89, Z:-0.13 [[ 9.63513890e-01 2.67465043e-01 -1.01702260e-02 6.49606958e+01] [-2.67451001e-01 9.63567561e-01 2.74185563e-03 -1.08900884e+01] [ 1.05330504e-02 7.82211387e-05 9.99944523e-01 -1.27474003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.837628 meters 0.012328687031644026 Centerline is valid? [True, True] Translation: X:65.02, Y:-10.92, Z:-0.13 [[ 9.66033398e-01 2.58267069e-01 -8.80882525e-03 6.50154358e+01] [-2.58256130e-01 9.66073559e-01 2.37708885e-03 -1.09226884e+01] [ 9.12389692e-03 -2.14140950e-05 9.99958376e-01 -1.28058345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.897628 meters 0.012800262085198489 Centerline is valid? [True, True] Translation: X:65.07, Y:-10.95, Z:-0.13 [[ 9.67857253e-01 2.51356134e-01 -8.51064093e-03 6.50723094e+01] [-2.51345637e-01 9.67894667e-01 2.29869478e-03 -1.09485036e+01] [ 8.81519501e-03 -8.56959497e-05 9.99961142e-01 -1.25846547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.957628 meters 0.01422861336617354 Centerline is valid? [True, True] Translation: X:65.13, Y:-10.98, Z:-0.13 [[ 9.69813099e-01 2.43695858e-01 -8.65339278e-03 6.51279440e+01] [-2.43684681e-01 9.69851691e-01 2.33939253e-03 -1.09783663e+01] [ 8.96260789e-03 -1.60074256e-04 9.99959822e-01 -1.25922281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.017628 meters 0.014668328131773456 Centerline is valid? [True, True] Translation: X:65.19, Y:-11.00, Z:-0.12 [[ 9.70628872e-01 2.40485482e-01 -6.80627601e-03 6.51855075e+01] [-2.40478475e-01 9.70652724e-01 1.84198916e-03 -1.10044819e+01] [ 7.04950200e-03 -1.51124987e-04 9.99975141e-01 -1.23481941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.077628 meters 0.014291390519984534 Centerline is valid? [True, True] Translation: X:65.24, Y:-11.03, Z:-0.12 [[ 9.70369574e-01 2.41562972e-01 -5.49728401e-03 6.52438185e+01] [-2.41558409e-01 9.70385138e-01 1.48931423e-03 -1.10256691e+01] [ 5.69424588e-03 -1.17270038e-04 9.99983781e-01 -1.21582952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.137628 meters 0.01380041502034027 Centerline is valid? [True, True] Translation: X:65.30, Y:-11.05, Z:-0.12 [[ 9.69162312e-01 2.46336392e-01 -6.54182066e-03 6.53016814e+01] [-2.46330029e-01 9.69184384e-01 1.77380002e-03 -1.10465075e+01] [ 6.77718193e-03 -1.07653254e-04 9.99977029e-01 -1.23473643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.197628 meters 0.012926219660830735 Centerline is valid? [True, True] Translation: X:65.36, Y:-11.07, Z:-0.12 [[ 9.67844981e-01 2.51440296e-01 -7.33962713e-03 6.53607559e+01] [-2.51432430e-01 9.67872807e-01 1.99052853e-03 -1.10674831e+01] [ 7.60432459e-03 -8.11027596e-05 9.99971083e-01 -1.24540456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.257628 meters 0.014821183911965186 Centerline is valid? [True, True] Translation: X:65.42, Y:-11.09, Z:-0.13 [[ 9.66687114e-01 2.55850185e-01 -7.53036957e-03 6.54194341e+01] [-2.55842021e-01 9.66716442e-01 2.04454506e-03 -1.10884509e+01] [ 7.80282931e-03 -4.98503988e-05 9.99969556e-01 -1.27206700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.317628 meters 0.01231581200620277 Centerline is valid? [True, True] Translation: X:65.48, Y:-11.11, Z:-0.13 [[ 9.65605309e-01 2.59906461e-01 -7.41741767e-03 6.54780712e+01] [-2.59898644e-01 9.65633798e-01 2.01583292e-03 -1.11075728e+01] [ 7.68643719e-03 -1.87221734e-05 9.99970459e-01 -1.25243149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.377628 meters 0.012329560668209222 Centerline is valid? [True, True] Translation: X:65.54, Y:-11.13, Z:-0.13 [[ 9.64358132e-01 2.64527920e-01 -6.19452462e-03 6.55360520e+01] [-2.64522553e-01 9.64378027e-01 1.68500821e-03 -1.11281394e+01] [ 6.41959515e-03 1.36400978e-05 9.99979394e-01 -1.25288197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.437628 meters 0.012495994501157341 Centerline is valid? [True, True] Translation: X:65.59, Y:-11.15, Z:-0.12 [[ 9.63670821e-01 2.67055656e-01 -4.45260988e-03 6.55946682e+01] [-2.67052904e-01 9.63681107e-01 1.21270375e-03 -1.11512681e+01] [ 4.61475542e-03 2.04351776e-05 9.99989352e-01 -1.23038154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.497628 meters 0.012781934511371532 Centerline is valid? [True, True] Translation: X:65.65, Y:-11.17, Z:-0.12 [[ 9.62625650e-01 2.70810687e-01 -3.66474492e-03 6.56544328e+01] [-2.70808846e-01 9.62632625e-01 9.99108190e-04 -1.11677846e+01] [ 3.79837220e-03 3.06781718e-05 9.99992786e-01 -1.22588275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.557628 meters 0.014221107566305917 Centerline is valid? [True, True] Translation: X:65.72, Y:-11.18, Z:-0.12 [[ 9.60646721e-01 2.77736812e-01 -4.48779264e-03 6.57155426e+01] [-2.77734121e-01 9.60657201e-01 1.22445058e-03 -1.11780836e+01] [ 4.65130532e-03 7.01487140e-05 9.99989180e-01 -1.23520996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.617628 meters 0.013657187970490921 Centerline is valid? [True, True] Translation: X:65.78, Y:-11.19, Z:-0.13 [[ 9.60998557e-01 2.76434803e-01 -8.09767700e-03 6.57771540e+01] [-2.76425979e-01 9.61032667e-01 2.21162871e-03 -1.11909447e+01] [ 8.39350327e-03 1.13036294e-04 9.99964768e-01 -1.28280843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.677628 meters 0.01367410915274304 Centerline is valid? [True, True] Translation: X:65.84, Y:-11.21, Z:-0.13 [[ 9.61709818e-01 2.73867310e-01 -1.05319846e-02 6.58372750e+01] [-2.73852198e-01 9.61767479e-01 2.87926567e-03 -1.12068525e+01] [ 1.09178571e-02 1.15189088e-04 9.99940392e-01 -1.32193132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.737628 meters 0.012944880592861106 Centerline is valid? [True, True] Translation: X:65.90, Y:-11.23, Z:-0.13 [[ 9.62638707e-01 2.70535289e-01 -1.17208221e-02 6.58951470e+01] [-2.70516289e-01 9.62710055e-01 3.20728636e-03 -1.12306751e+01] [ 1.21514374e-02 8.32153050e-05 9.99926165e-01 -1.29216802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.797628 meters 0.012792662970162799 Centerline is valid? [True, True] Translation: X:65.96, Y:-11.25, Z:-0.13 [[ 9.62631623e-01 2.70567093e-01 -1.15674679e-02 6.59562793e+01] [-2.70548546e-01 9.62701118e-01 3.16892589e-03 -1.12470406e+01] [ 1.19934214e-02 7.90533637e-05 9.99928073e-01 -1.28615788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.857628 meters 0.01574068448555006 Centerline is valid? [True, True] Translation: X:66.02, Y:-11.27, Z:-0.13 [[ 9.63701634e-01 2.66677861e-01 -1.27310053e-02 6.60167422e+01] [-2.66655006e-01 9.63785722e-01 3.49149058e-03 -1.12650560e+01] [ 1.32010644e-02 3.00311183e-05 9.99912862e-01 -1.32755509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.917628 meters 0.012522191259711843 Centerline is valid? [True, True] Translation: X:66.08, Y:-11.29, Z:-0.13 [[ 9.64582970e-01 2.63622389e-01 -9.10663649e-03 6.60762206e+01] [-2.63610547e-01 9.64625957e-01 2.49871018e-03 -1.12851162e+01] [ 9.44321388e-03 -9.60786398e-06 9.99955412e-01 -1.25847982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.977628 meters 0.012771668727808593 Centerline is valid? [True, True] Translation: X:66.13, Y:-11.31, Z:-0.12 [[ 9.66213157e-01 2.57700741e-01 -4.73961270e-03 6.61343445e+01] [-2.57697455e-01 9.66224781e-01 1.30204307e-03 -1.13065404e+01] [ 4.91506870e-03 -3.66650136e-05 9.99987920e-01 -1.19752921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.037628 meters 0.013617939373673787 Centerline is valid? [True, True] Translation: X:66.19, Y:-11.33, Z:-0.12 [[ 9.67672576e-01 2.52181701e-01 -3.76512656e-03 6.61935257e+01] [-2.52179580e-01 9.67679899e-01 1.03543103e-03 -1.13252304e+01] [ 3.90455404e-03 -5.24701774e-05 9.99992376e-01 -1.19677626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.097628 meters 0.013900977340073756 Centerline is valid? [True, True] Translation: X:66.25, Y:-11.34, Z:-0.12 [[ 9.67883954e-01 2.51357104e-01 -4.50082961e-03 6.62536154e+01] [-2.51354061e-01 9.67894416e-01 1.23886930e-03 -1.13423452e+01] [ 4.66772645e-03 -6.77799222e-05 9.99989104e-01 -1.20769716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.157628 meters 0.01672250921176795 Centerline is valid? [True, True] Translation: X:66.31, Y:-11.36, Z:-0.12 [[ 9.67120967e-01 2.54230551e-01 -6.62286354e-03 6.63131924e+01] [-2.54224018e-01 9.67143640e-01 1.82434247e-03 -1.13564719e+01] [ 6.86906395e-03 -8.06688742e-05 9.99976404e-01 -1.24199800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.217628 meters 0.013374859698330417 Centerline is valid? [True, True] Translation: X:66.37, Y:-11.37, Z:-0.13 [[ 9.65577845e-01 2.59962663e-01 -8.87916785e-03 6.63743577e+01] [-2.59951142e-01 9.65618667e-01 2.44807998e-03 -1.13675933e+01] [ 9.21029962e-03 -5.56619739e-05 9.99957583e-01 -1.25247002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.27762799999999 meters 0.01367807658265706 Centerline is valid? [True, True] Translation: X:66.43, Y:-11.38, Z:-0.13 [[ 9.65055060e-01 2.61877779e-01 -9.42125709e-03 6.64346695e+01] [-2.61864874e-01 9.65101045e-01 2.60014012e-03 -1.13831436e+01] [ 9.77338398e-03 -4.21820726e-05 9.99952238e-01 -1.26793788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.337628 meters 0.013673907525182813 Centerline is valid? [True, True] Translation: X:66.50, Y:-11.40, Z:-0.13 [[ 9.65080033e-01 2.61811772e-01 -8.66748307e-03 6.64954389e+01] [-2.61800823e-01 9.65118954e-01 2.39469615e-03 -1.14001756e+01] [ 8.99211183e-03 -4.19192420e-05 9.99959569e-01 -1.26525681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.397628 meters 0.013752012371246911 Centerline is valid? [True, True] Translation: X:66.56, Y:-11.42, Z:-0.12 [[ 9.65854651e-01 2.59008815e-01 -6.26314571e-03 6.65560654e+01] [-2.59003025e-01 9.65874956e-01 1.73247647e-03 -1.14182159e+01] [ 6.49814227e-03 -5.11467701e-05 9.99978886e-01 -1.24542653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.457628 meters 0.01716678330929423 Centerline is valid? [True, True] Translation: X:66.61, Y:-11.44, Z:-0.12 [[ 9.66763071e-01 2.55632371e-01 -4.61037429e-03 6.66148334e+01] [-2.55629190e-01 9.66774062e-01 1.27657466e-03 -1.14392715e+01] [ 4.78352409e-03 -5.55989941e-05 9.99988557e-01 -1.24893261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.517628 meters 0.01414051931099862 Centerline is valid? [True, True] Translation: X:66.67, Y:-11.46, Z:-0.12 [[ 9.66420359e-01 2.56962755e-01 -1.35332302e-03 6.66746071e+01] [-2.56962481e-01 9.66421307e-01 3.75377638e-04 -1.14564742e+01] [ 1.40433827e-03 -1.50193516e-05 9.99999014e-01 -1.21234346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.577628 meters 0.014079713981796319 Centerline is valid? [True, True] Translation: X:66.73, Y:-11.47, Z:-0.12 [[ 9.66041523e-01 2.58384725e-01 -1.05338573e-03 6.67339587e+01] [-2.58384560e-01 9.66042097e-01 2.92494214e-04 -1.14725409e+01] [ 1.09319100e-03 -1.03829480e-05 9.99999402e-01 -1.21702003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.637628 meters 0.013711701332985658 Centerline is valid? [True, True] Translation: X:66.79, Y:-11.49, Z:-0.12 [[ 9.65198195e-01 2.61504223e-01 -2.82583514e-03 6.67937116e+01] [-2.61503046e-01 9.65202332e-01 7.84753962e-04 -1.14876367e+01] [ 2.93271915e-03 -1.84786093e-05 9.99995699e-01 -1.23906468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.697628 meters 0.013533669089764453 Centerline is valid? [True, True] Translation: X:66.85, Y:-11.50, Z:-0.13 [[ 9.64048992e-01 2.65683727e-01 -4.65811921e-03 6.68547034e+01] [-2.65680572e-01 9.64060246e-01 1.29478242e-03 -1.15012248e+01] [ 4.83471017e-03 -1.06619118e-05 9.99988313e-01 -1.25598404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.757628 meters 0.013534516002518999 Centerline is valid? [True, True] Translation: X:66.91, Y:-11.51, Z:-0.13 [[ 9.63200418e-01 2.68702686e-01 -6.61982852e-03 6.69146889e+01] [-2.68696377e-01 9.63223165e-01 1.84134820e-03 -1.15145392e+01] [ 6.87114739e-03 5.13658408e-06 9.99976393e-01 -1.28036258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.817628 meters 0.01371031977537746 Centerline is valid? [True, True] Translation: X:66.98, Y:-11.53, Z:-0.13 [[ 9.62937579e-01 2.69557009e-01 -9.49933320e-03 6.69753417e+01] [-2.69544036e-01 9.62984433e-01 2.64459512e-03 -1.15290813e+01] [ 9.86057915e-03 1.39085853e-05 9.99951383e-01 -1.30818439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.877628 meters 0.014005033819347515 Centerline is valid? [True, True] Translation: X:67.03, Y:-11.55, Z:-0.13 [[ 9.64245308e-01 2.64846809e-01 -9.33559716e-03 6.70348998e+01] [-2.64834032e-01 9.64290499e-01 2.60176600e-03 -1.15486146e+01] [ 9.69129707e-03 -3.63568213e-05 9.99953038e-01 -1.31826199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.937628 meters 0.01473776409861912 Centerline is valid? [True, True] Translation: X:67.09, Y:-11.57, Z:-0.13 [[ 9.65959997e-01 2.58634770e-01 -5.41663073e-03 6.70947373e+01] [-2.58630361e-01 9.65975182e-01 1.51131413e-03 -1.15687001e+01] [ 5.62320924e-03 -5.89638356e-05 9.99984188e-01 -1.28511250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.997628 meters 0.016725313804081456 Centerline is valid? [True, True] Translation: X:67.15, Y:-11.59, Z:-0.13 [[ 9.67772515e-01 2.51797511e-01 -3.79118571e-03 6.71531266e+01] [-2.51795299e-01 9.67779938e-01 1.05785253e-03 -1.15917407e+01] [ 3.93539810e-03 -6.91578637e-05 9.99992254e-01 -1.25790720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.057628 meters 0.021118323791665946 Centerline is valid? [True, True] Translation: X:67.21, Y:-11.62, Z:-0.12 [[ 9.70596142e-01 2.40707017e-01 -1.80581460e-03 6.72085860e+01] [-2.40706496e-01 9.70597820e-01 5.03848354e-04 -1.16170500e+01] [ 1.87399955e-03 -5.43619644e-05 9.99998243e-01 -1.23256572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.117628 meters 0.019342767518872154 Centerline is valid? [True, True] Translation: X:67.27, Y:-11.63, Z:-0.12 [[ 9.72035709e-01 2.34828197e-01 -1.51583548e-03 6.72683047e+01] [-2.34827822e-01 9.72036890e-01 4.22989124e-04 -1.16300950e+01] [ 1.57277778e-03 -5.52001874e-05 9.99998762e-01 -1.22620006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.177628 meters 0.019490517286933393 Centerline is valid? [True, True] Translation: X:67.33, Y:-11.65, Z:-0.12 [[ 9.71911851e-01 2.35326984e-01 -2.92644086e-03 6.73294236e+01] [-2.35325587e-01 9.71916251e-01 8.17930411e-04 -1.16453247e+01] [ 3.03673653e-03 -1.06289847e-04 9.99995383e-01 -1.24339527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.237628 meters 0.018784184498559682 Centerline is valid? [True, True] Translation: X:67.39, Y:-11.66, Z:-0.12 [[ 9.71348647e-01 2.37632480e-01 -3.55101753e-03 6.73897605e+01] [-2.37630435e-01 9.71355131e-01 9.93281040e-04 -1.16598770e+01] [ 3.68533493e-03 -1.20992354e-04 9.99993202e-01 -1.24508211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.297628 meters 0.018325710504343437 Centerline is valid? [True, True] Translation: X:67.45, Y:-11.67, Z:-0.12 [[ 9.70117594e-01 2.42619051e-01 -2.80176589e-03 6.74486615e+01] [-2.42617800e-01 9.70121636e-01 7.83422555e-04 -1.16722098e+01] [ 2.90812695e-03 -8.02537287e-05 9.99995768e-01 -1.23523529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.357628 meters 0.016177565735328914 Centerline is valid? [True, True] Translation: X:67.51, Y:-11.68, Z:-0.12 [[ 9.68824026e-01 2.47743054e-01 -1.84023649e-03 6.75098241e+01] [-2.47742523e-01 9.68825773e-01 5.14679918e-04 -1.16813696e+01] [ 1.91037692e-03 -4.27294386e-05 9.99998174e-01 -1.22089061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.417628 meters 0.015175879968063428 Centerline is valid? [True, True] Translation: X:67.57, Y:-11.69, Z:-0.12 [[ 9.67516612e-01 2.52804698e-01 -1.17915871e-03 6.75705810e+01] [-2.52804484e-01 9.67517330e-01 3.29906403e-04 -1.16941370e+01] [ 1.22425838e-03 -2.10933146e-05 9.99999250e-01 -1.22444779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.477628 meters 0.014310337145121295 Centerline is valid? [True, True] Translation: X:67.63, Y:-11.71, Z:-0.12 [[ 9.66801720e-01 2.55524477e-01 -1.29469929e-03 6.76315114e+01] [-2.55524220e-01 9.66802586e-01 3.62919499e-04 -1.17073089e+01] [ 1.34445344e-03 -2.00441684e-05 9.99999096e-01 -1.23183081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.537628 meters 0.014284684397634603 Centerline is valid? [True, True] Translation: X:67.69, Y:-11.72, Z:-0.12 [[ 9.66462806e-01 2.56806491e-01 -2.64886430e-04 6.76901444e+01] [-2.56806480e-01 9.66462843e-01 7.46257383e-05 -1.17227143e+01] [ 2.75167266e-04 -4.09844887e-06 9.99999962e-01 -1.23934420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.597628 meters 0.014299885182894162 Centerline is valid? [True, True] Translation: X:67.75, Y:-11.74, Z:-0.12 [[ 9.66541668e-01 2.56509449e-01 3.25375563e-04 6.77500882e+01] [-2.56509433e-01 9.66541723e-01 -9.07888515e-05 -1.17418859e+01] [-3.37777256e-04 4.28930668e-06 9.99999943e-01 -1.21321314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.657628 meters 0.013991374237118721 Centerline is valid? [True, True] Translation: X:67.81, Y:-11.76, Z:-0.12 [[ 9.66221606e-01 2.57709926e-01 -1.18381568e-03 6.78101236e+01] [-2.57709712e-01 9.66222331e-01 3.32847777e-04 -1.17562582e+01] [ 1.22960733e-03 -1.65239146e-05 9.99999244e-01 -1.22921615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.717628 meters 0.013879351988728666 Centerline is valid? [True, True] Translation: X:67.87, Y:-11.77, Z:-0.12 [[ 9.65530585e-01 2.60279003e-01 -2.35158242e-03 6.78693137e+01] [-2.60278165e-01 9.65533448e-01 6.61297576e-04 -1.17717758e+01] [ 2.44265336e-03 -2.64374783e-05 9.99997016e-01 -1.24312408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.77762799999999 meters 0.013407578927128856 Centerline is valid? [True, True] Translation: X:67.93, Y:-11.79, Z:-0.12 [[ 9.65097075e-01 2.61890963e-01 -8.71238667e-04 6.79295224e+01] [-2.61890848e-01 9.65097468e-01 2.45516668e-04 -1.17883054e+01] [ 9.05128828e-04 -8.77798489e-06 9.99999590e-01 -1.22826901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.837628 meters 0.01348318653506448 Centerline is valid? [True, True] Translation: X:67.99, Y:-11.81, Z:-0.12 [[ 9.64993421e-01 2.62272916e-01 -7.83510296e-04 6.79891834e+01] [-2.62272823e-01 9.64993740e-01 2.21081452e-04 -1.18063180e+01] [ 8.14066208e-04 -7.84868885e-06 9.99999669e-01 -1.22864763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.897628 meters 0.013358342189832416 Centerline is valid? [True, True] Translation: X:68.05, Y:-11.82, Z:-0.12 [[ 9.64620994e-01 2.63627275e-01 -2.64551400e-03 6.80499448e+01] [-2.63626219e-01 9.64624621e-01 7.46252063e-04 -1.18232222e+01] [ 2.74866034e-03 -2.24235532e-05 9.99996222e-01 -1.24413461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.957628 meters 0.012982792695367082 Centerline is valid? [True, True] Translation: X:68.11, Y:-11.84, Z:-0.13 [[ 9.63584069e-01 2.67336714e-01 -6.06816827e-03 6.81101871e+01] [-2.67331227e-01 9.63603176e-01 1.71291915e-03 -1.18403035e+01] [ 6.30523240e-03 -2.83307353e-05 9.99980121e-01 -1.27566387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.017628 meters 0.01272834194540883 Centerline is valid? [True, True] Translation: X:68.17, Y:-11.86, Z:-0.13 [[ 9.62039236e-01 2.72838813e-01 -6.28416868e-03 6.81711606e+01] [-2.72833034e-01 9.62059760e-01 1.77576219e-03 -1.18554389e+01] [ 6.53024266e-03 6.17590681e-06 9.99978678e-01 -1.28528447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.077628 meters 0.01499577005724119 Centerline is valid? [True, True] Translation: X:68.23, Y:-11.87, Z:-0.13 [[ 9.60222347e-01 2.79166252e-01 -6.26480343e-03 6.82312475e+01] [-2.79160632e-01 9.60242783e-01 1.77188887e-03 -1.18714405e+01] [ 6.51038385e-03 4.74792016e-05 9.99978806e-01 -1.30120439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.137628 meters 0.01340811148859224 Centerline is valid? [True, True] Translation: X:68.29, Y:-11.89, Z:-0.13 [[ 9.59580310e-01 2.81399469e-01 -4.46854513e-03 6.82915251e+01] [-2.81396627e-01 9.59590713e-01 1.26538930e-03 -1.18902427e+01] [ 4.64405429e-03 4.31908740e-05 9.99989215e-01 -1.26328137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.197628 meters 0.012926803729081969 Centerline is valid? [True, True] Translation: X:68.35, Y:-11.91, Z:-0.12 [[ 9.60637193e-01 2.77802733e-01 -1.35091342e-03 6.83498213e+01] [-2.77802470e-01 9.60638143e-01 3.82683194e-04 -1.19144492e+01] [ 1.40404939e-03 7.66737382e-06 9.99999014e-01 -1.23425357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.257628 meters 0.012851329818450644 Centerline is valid? [True, True] Translation: X:68.41, Y:-11.94, Z:-0.12 [[ 9.61697356e-01 2.74112926e-01 5.46864774e-04 6.84076780e+01] [-2.74112882e-01 9.61697512e-01 -1.54573663e-04 -1.19362217e+01] [-5.68289131e-04 -1.24959615e-06 9.99999839e-01 -1.22479864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.317628 meters 0.013005936779638098 Centerline is valid? [True, True] Translation: X:68.47, Y:-11.96, Z:-0.12 [[ 9.62819459e-01 2.70142753e-01 1.25784947e-03 6.84671639e+01] [-2.70142518e-01 9.62820281e-01 -3.56402262e-04 -1.19580101e+01] [-1.30736246e-03 3.35241162e-06 9.99999145e-01 -1.21788330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.377628 meters 0.013161148145250809 Centerline is valid? [True, True] Translation: X:68.53, Y:-11.97, Z:-0.12 [[ 9.63441063e-01 2.67920243e-01 -2.47490094e-04 6.85273039e+01] [-2.67920233e-01 9.63441095e-01 7.07150934e-05 -1.19723538e+01] [ 2.57388132e-04 -1.82222094e-06 9.99999967e-01 -1.23547323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.437628 meters 0.014018947182780505 Centerline is valid? [True, True] Translation: X:68.59, Y:-11.99, Z:-0.13 [[ 9.65417951e-01 2.60696819e-01 -2.31260526e-03 6.85868957e+01] [-2.60695993e-01 9.65420720e-01 6.57076679e-04 -1.19892630e+01] [ 2.40393484e-03 -3.14666960e-05 9.99997110e-01 -1.26044665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.497628 meters 0.014794944832443459 Centerline is valid? [True, True] Translation: X:68.65, Y:-12.01, Z:-0.13 [[ 9.66239528e-01 2.57633950e-01 -2.43353484e-03 6.86459844e+01] [-2.57633023e-01 9.66242592e-01 6.92376976e-04 -1.20079313e+01] [ 2.52976483e-03 -4.20430663e-05 9.99996799e-01 -1.26337595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.557628 meters 0.018837967625791954 Centerline is valid? [True, True] Translation: X:68.70, Y:-12.03, Z:-0.13 [[ 9.69442986e-01 2.45288891e-01 -3.69562599e-03 6.87033466e+01] [-2.45286665e-01 9.69450023e-01 1.05098308e-03 -1.20298065e+01] [ 3.84051917e-03 -1.12380401e-04 9.99992619e-01 -1.29305303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.617628 meters 0.0197299485942884 Centerline is valid? [True, True] Translation: X:68.76, Y:-12.05, Z:-0.13 [[ 9.71277643e-01 2.37928397e-01 -3.13338843e-03 6.87601891e+01] [-2.37926758e-01 9.71282690e-01 8.91370400e-04 -1.20502831e+01] [ 3.25548827e-03 -1.20251192e-04 9.99994694e-01 -1.28339706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.677628 meters 0.023156702262488192 Centerline is valid? [True, True] Translation: X:68.82, Y:-12.07, Z:-0.13 [[ 9.72811535e-01 2.31582807e-01 -2.66836640e-03 6.88173555e+01] [-2.31581594e-01 9.72815188e-01 7.59015414e-04 -1.20681725e+01] [ 2.77160228e-03 -1.20434407e-04 9.99996152e-01 -1.28206825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.737628 meters 0.020888595815139962 Centerline is valid? [True, True] Translation: X:68.88, Y:-12.08, Z:-0.13 [[ 9.72901886e-01 2.31211057e-01 -1.83506840e-03 6.88786691e+01] [-2.31210481e-01 9.72903613e-01 5.22905580e-04 -1.20797815e+01] [ 1.90624623e-03 -8.44487767e-05 9.99998180e-01 -1.26415568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.797628 meters 0.019731370496186458 Centerline is valid? [True, True] Translation: X:68.94, Y:-12.09, Z:-0.12 [[ 9.71894388e-01 2.35412514e-01 1.49890496e-03 6.89393073e+01] [-2.35412135e-01 9.71895542e-01 -4.26758351e-04 -1.20892206e+01] [-1.55724331e-03 6.19036285e-05 9.99998786e-01 -1.22702018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.857628 meters 0.018594323684253476 Centerline is valid? [True, True] Translation: X:69.00, Y:-12.09, Z:-0.12 [[ 9.70348380e-01 2.41686355e-01 3.42454885e-03 6.89999321e+01] [-2.41684417e-01 9.70354415e-01 -9.75103510e-04 -1.20937426e+01] [-3.55869531e-03 1.18530018e-04 9.99993661e-01 -1.23582279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.917628 meters 0.01790836784210031 Centerline is valid? [True, True] Translation: X:69.06, Y:-12.10, Z:-0.12 [[ 9.69462897e-01 2.45215883e-01 3.29584366e-03 6.90602542e+01] [-2.45214108e-01 9.69468494e-01 -9.38497468e-04 -1.21047919e+01] [-3.42535107e-03 1.01651113e-04 9.99994128e-01 -1.23603993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.977628 meters 0.016538009053075352 Centerline is valid? [True, True] Translation: X:69.12, Y:-12.11, Z:-0.12 [[ 9.68710057e-01 2.48188375e-01 1.83164206e-03 6.91222193e+01] [-2.48187832e-01 9.68711788e-01 -5.21657238e-04 -1.21144219e+01] [-1.90380251e-03 5.07433415e-05 9.99998186e-01 -1.23780369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.037628 meters 0.01585618099478347 Centerline is valid? [True, True] Translation: X:69.18, Y:-12.12, Z:-0.13 [[ 9.68310678e-01 2.49747396e-01 -8.17741915e-04 6.91838846e+01] [-2.49747288e-01 9.68311023e-01 2.33740247e-04 -1.21241778e+01] [ 8.50204528e-04 -2.21043519e-05 9.99999638e-01 -1.26733578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.097628 meters 0.016173075772521205 Centerline is valid? [True, True] Translation: X:69.25, Y:-12.14, Z:-0.13 [[ 9.68180068e-01 2.50239049e-01 -2.78832037e-03 6.92456064e+01] [-2.50237791e-01 9.68184080e-01 7.96864642e-04 -1.21378628e+01] [ 2.89901404e-03 -7.37653309e-05 9.99995795e-01 -1.30438324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.157628 meters 0.01779803526432997 Centerline is valid? [True, True] Translation: X:69.30, Y:-12.16, Z:-0.13 [[ 9.69058516e-01 2.46790646e-01 -4.46869481e-03 6.93037906e+01] [-2.46787375e-01 9.69068810e-01 1.27778666e-03 -1.21558005e+01] [ 4.64581856e-03 -1.35432580e-04 9.99989199e-01 -1.30990632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.217628 meters 0.019821291773541565 Centerline is valid? [True, True] Translation: X:69.36, Y:-12.18, Z:-0.13 [[ 9.70347630e-01 2.41682187e-01 -3.89845905e-03 6.93617208e+01] [-2.41679657e-01 9.70355451e-01 1.11459555e-03 -1.21761795e+01] [ 4.05226888e-03 -1.39366905e-04 9.99991780e-01 -1.29508938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.27762799999999 meters 0.023548353972800997 Centerline is valid? [True, True] Translation: X:69.42, Y:-12.20, Z:-0.13 [[ 9.72316155e-01 2.33655482e-01 -2.53193821e-03 6.94178889e+01] [-2.33654386e-01 9.72319445e-01 7.24201861e-04 -1.21967341e+01] [ 2.63106649e-03 -1.12554699e-04 9.99996532e-01 -1.28242658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.337628 meters 0.02627003651699863 Centerline is valid? [True, True] Translation: X:69.47, Y:-12.22, Z:-0.13 [[ 9.73232331e-01 2.29821384e-01 -9.80779701e-04 6.94747927e+01] [-2.29821217e-01 9.73232824e-01 2.80664262e-04 -1.22154892e+01] [ 1.01902965e-03 -4.77475488e-05 9.99999480e-01 -1.27585134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.397628 meters 0.02860105434590356 Centerline is valid? [True, True] Translation: X:69.53, Y:-12.23, Z:-0.13 [[ 9.73985612e-01 2.26606141e-01 -1.29810982e-03 6.95336187e+01] [-2.26605847e-01 9.73986474e-01 3.71421434e-04 -1.22327546e+01] [ 1.34850778e-03 -6.75998580e-05 9.99999088e-01 -1.27491714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.457628 meters 0.02844675188471165 Centerline is valid? [True, True] Translation: X:69.59, Y:-12.24, Z:-0.13 [[ 9.73155133e-01 2.30134831e-01 -2.65453669e-03 6.95929397e+01] [-2.30133613e-01 9.73158745e-01 7.59424952e-04 -1.22437801e+01] [ 2.75805573e-03 -1.28140170e-04 9.99996188e-01 -1.28098156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.517628 meters 0.02487956478157339 Centerline is valid? [True, True] Translation: X:69.66, Y:-12.25, Z:-0.13 [[ 9.70859446e-01 2.39567795e-01 -6.26160279e-03 6.96552842e+01] [-2.39561216e-01 9.70879609e-01 1.79150798e-03 -1.22476186e+01] [ 6.50845009e-03 -2.39265266e-04 9.99978791e-01 -1.32623217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.577628 meters 0.02211668957970443 Centerline is valid? [True, True] Translation: X:69.72, Y:-12.26, Z:-0.13 [[ 9.69125515e-01 2.46422904e-01 -8.45505115e-03 6.97161932e+01] [-2.46411168e-01 9.69162362e-01 2.41920037e-03 -1.22568775e+01] [ 8.79046373e-03 -2.61089778e-04 9.99961329e-01 -1.34546269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.63762799999999 meters 0.01412256548098372 Centerline is valid? [True, True] Translation: X:69.78, Y:-12.25, Z:-0.13 [[ 9.66457229e-01 2.56662360e-01 -9.21176575e-03 6.97798486e+01] [-2.56648890e-01 9.66501112e-01 2.63589966e-03 -1.22545825e+01] [ 9.57971806e-03 -1.83294831e-04 9.99954097e-01 -1.32181369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.697628 meters 0.013613548132935539 Centerline is valid? [True, True] Translation: X:69.84, Y:-12.27, Z:-0.13 [[ 9.64746388e-01 2.63022158e-01 -9.15152400e-03 6.98387068e+01] [-2.63009147e-01 9.64789785e-01 2.61884021e-03 -1.22685959e+01] [ 9.51810988e-03 -1.19582106e-04 9.99954695e-01 -1.32797456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.757628 meters 0.012380434033727718 Centerline is valid? [True, True] Translation: X:69.90, Y:-12.28, Z:-0.13 [[ 9.62514893e-01 2.71119952e-01 -7.68459333e-03 6.98992148e+01] [-2.71111031e-01 9.62545568e-01 2.19956570e-03 -1.22822388e+01] [ 7.99311740e-03 -3.37367272e-05 9.99968054e-01 -1.30614811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.817628 meters 0.012116346755098324 Centerline is valid? [True, True] Translation: X:69.96, Y:-12.30, Z:-0.13 [[ 9.60793345e-01 2.77215823e-01 -5.24743854e-03 6.99588817e+01] [-2.77211744e-01 9.60807675e-01 1.50373516e-03 -1.22977980e+01] [ 5.45863840e-03 9.87285728e-06 9.99985101e-01 -1.29162528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.877628 meters 0.012213460266984654 Centerline is valid? [True, True] Translation: X:70.02, Y:-12.32, Z:-0.13 [[ 9.59953051e-01 2.80132249e-01 -4.00792796e-03 7.00190183e+01] [-2.80129890e-01 9.59961417e-01 1.14992959e-03 -1.23168694e+01] [ 4.16958857e-03 1.88619990e-05 9.99991307e-01 -1.28431551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.937628 meters 0.012213377514048067 Centerline is valid? [True, True] Translation: X:70.08, Y:-12.34, Z:-0.13 [[ 9.59796636e-01 2.80670049e-01 -3.83937256e-03 7.00769143e+01] [-2.80667883e-01 9.59804315e-01 1.10276340e-03 -1.23419977e+01] [ 3.99455901e-03 1.91599644e-05 9.99992022e-01 -1.27712469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.997628 meters 0.012172620450715049 Centerline is valid? [True, True] Translation: X:70.14, Y:-12.36, Z:-0.13 [[ 9.60113722e-01 2.79570099e-01 -4.71164553e-03 7.01363132e+01] [-2.79566818e-01 9.60125283e-01 1.35463099e-03 -1.23648305e+01] [ 4.90248432e-03 1.66199490e-05 9.99987983e-01 -1.29335982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.057628 meters 0.0122805475365676 Centerline is valid? [True, True] Translation: X:70.19, Y:-12.39, Z:-0.13 [[ 9.61152109e-01 2.75921404e-01 -7.34862818e-03 7.01924274e+01] [-2.75913303e-01 9.61180201e-01 2.11441826e-03 -1.23930543e+01] [ 7.64676917e-03 -4.69330201e-06 9.99970763e-01 -1.32724829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.117628 meters 0.013012075426499563 Centerline is valid? [True, True] Translation: X:70.25, Y:-12.43, Z:-0.13 [[ 9.63138217e-01 2.68830280e-01 -9.74964447e-03 7.02474438e+01] [-2.68815631e-01 9.63187559e-01 2.80770843e-03 -1.24271939e+01] [ 1.01455333e-02 -8.33544595e-05 9.99948529e-01 -1.33723488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.177628 meters 0.01397791670383243 Centerline is valid? [True, True] Translation: X:70.30, Y:-12.46, Z:-0.13 [[ 9.64935081e-01 2.62308285e-01 -9.72898885e-03 7.03041428e+01] [-2.62293361e-01 9.64984114e-01 2.80220857e-03 -1.24556019e+01] [ 1.01233622e-02 -1.52100169e-04 9.99948746e-01 -1.33008212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.237628 meters 0.016858924126515244 Centerline is valid? [True, True] Translation: X:70.36, Y:-12.49, Z:-0.13 [[ 9.67685340e-01 2.52008838e-01 -8.75376620e-03 7.03566463e+01] [-2.51996334e-01 9.67724905e-01 2.52120715e-03 -1.24891228e+01] [ 9.10660404e-03 -2.33818206e-04 9.99958507e-01 -1.32584471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.297628 meters 0.018882136887426994 Centerline is valid? [True, True] Translation: X:70.41, Y:-12.52, Z:-0.13 [[ 9.69630440e-01 2.44458832e-01 -7.52917948e-03 7.04109003e+01] [-2.44449353e-01 9.69659637e-01 2.16868137e-03 -1.25203280e+01] [ 7.83089475e-03 -2.62316417e-04 9.99969304e-01 -1.30589574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.357628 meters 0.021534242701862584 Centerline is valid? [True, True] Translation: X:70.47, Y:-12.55, Z:-0.13 [[ 9.70413795e-01 2.41366568e-01 -6.26472603e-03 7.04670231e+01] [-2.41359935e-01 9.70433986e-01 1.80540990e-03 -1.25469285e+01] [ 6.51526865e-03 -2.39940799e-04 9.99978747e-01 -1.29512205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.417628 meters 0.02104124979602878 Centerline is valid? [True, True] Translation: X:70.53, Y:-12.57, Z:-0.13 [[ 9.70464916e-01 2.41192951e-01 -4.87923751e-03 7.05274791e+01] [-2.41188916e-01 9.70477163e-01 1.40789147e-03 -1.25658018e+01] [ 5.07476208e-03 -1.89491271e-04 9.99987105e-01 -1.28311902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.477628 meters 0.02110147559468854 Centerline is valid? [True, True] Translation: X:70.59, Y:-12.58, Z:-0.13 [[ 9.69382740e-01 2.45525974e-01 -3.75498163e-03 7.05854169e+01] [-2.45523618e-01 9.69390004e-01 1.08323903e-03 -1.25834573e+01] [ 3.90600497e-03 -1.28136547e-04 9.99992363e-01 -1.27328051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.537628 meters 0.017127165578460675 Centerline is valid? [True, True] Translation: X:70.65, Y:-12.59, Z:-0.13 [[ 9.68527278e-01 2.48886054e-01 -3.26255045e-03 7.06466547e+01] [-2.48884293e-01 9.68532768e-01 9.41433013e-04 -1.25941392e+01] [ 3.39419656e-03 -9.98059907e-05 9.99994235e-01 -1.25837804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.597628 meters 0.01669821468875467 Centerline is valid? [True, True] Translation: X:70.71, Y:-12.61, Z:-0.13 [[ 9.67688054e-01 2.52116935e-01 -4.10877741e-03 7.07072320e+01] [-2.52114165e-01 9.67696770e-01 1.18701486e-03 -1.26082316e+01] [ 4.27531718e-03 -1.12779110e-04 9.99990854e-01 -1.26723766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.657628 meters 0.016614900645354445 Centerline is valid? [True, True] Translation: X:70.77, Y:-12.62, Z:-0.13 [[ 9.67493112e-01 2.52860462e-01 -4.32018255e-03 7.07681683e+01] [-2.52857403e-01 9.67502751e-01 1.24920915e-03 -1.26225881e+01] [ 4.49566410e-03 -1.16211104e-04 9.99989888e-01 -1.28164848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.717628 meters 0.01689926828530872 Centerline is valid? [True, True] Translation: X:70.83, Y:-12.64, Z:-0.13 [[ 9.67568799e-01 2.52589215e-01 -3.05089174e-03 7.08283043e+01] [-2.52587685e-01 9.67573605e-01 8.83286757e-04 -1.26401381e+01] [ 3.17507103e-03 -8.40230257e-05 9.99994956e-01 -1.25648141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.77762799999999 meters 0.016545807440961395 Centerline is valid? [True, True] Translation: X:70.89, Y:-12.65, Z:-0.13 [[ 9.67791600e-01 2.51732792e-01 -3.16560578e-03 7.08886246e+01] [-2.51731137e-01 9.67796773e-01 9.17278033e-04 -1.26540264e+01] [ 3.29457201e-03 -9.08524323e-05 9.99994569e-01 -1.25020475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.837628 meters 0.017774644475433792 Centerline is valid? [True, True] Translation: X:70.95, Y:-12.67, Z:-0.13 [[ 9.68184011e-01 2.50208033e-01 -3.95731883e-03 7.09474811e+01] [-2.50205430e-01 9.68192091e-01 1.14751470e-03 -1.26716717e+01] [ 4.11856219e-03 -1.20862723e-04 9.99991511e-01 -1.26569575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.897628 meters 0.01807630741420605 Centerline is valid? [True, True] Translation: X:71.01, Y:-12.69, Z:-0.13 [[ 9.69290514e-01 2.45876218e-01 -4.55912656e-03 7.10061522e+01] [-2.45872717e-01 9.69301222e-01 1.32188513e-03 -1.26882353e+01] [ 4.74418707e-03 -1.60325885e-04 9.99988733e-01 -1.27465900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.957628 meters 0.01978001033341099 Centerline is valid? [True, True] Translation: X:71.06, Y:-12.71, Z:-0.13 [[ 9.69838352e-01 2.43697449e-01 -5.01242341e-03 7.10641045e+01] [-2.43693188e-01 9.69851286e-01 1.45347788e-03 -1.27064174e+01] [ 5.21551415e-03 -1.88145153e-04 9.99986381e-01 -1.28217151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.017628 meters 0.01950665144244372 Centerline is valid? [True, True] Translation: X:71.12, Y:-12.72, Z:-0.13 [[ 9.69125156e-01 2.46500068e-01 -5.84363784e-03 7.11236221e+01] [-2.46494325e-01 9.69142753e-01 1.69471467e-03 -1.27214835e+01] [ 6.08106655e-03 -2.01967060e-04 9.99981490e-01 -1.29906495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.077628 meters 0.019044542473124752 Centerline is valid? [True, True] Translation: X:71.18, Y:-12.74, Z:-0.13 [[ 9.68354572e-01 2.49528551e-01 -4.99258035e-03 7.11825479e+01] [-2.49524398e-01 9.68367429e-01 1.44809040e-03 -1.27382779e+01] [ 5.19599210e-03 -1.56494349e-04 9.99986488e-01 -1.30045312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.13762799999999 meters 0.015836713284586735 Centerline is valid? [True, True] Translation: X:71.24, Y:-12.75, Z:-0.13 [[ 9.66856691e-01 2.55225928e-01 -6.91836530e-03 7.12426413e+01] [-2.55218097e-01 9.66881428e-01 2.00690883e-03 -1.27510733e+01] [ 7.20145409e-03 -1.74701199e-04 9.99974054e-01 -1.31329050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.197628 meters 0.015295986517686402 Centerline is valid? [True, True] Translation: X:71.30, Y:-12.77, Z:-0.13 [[ 9.65537863e-01 2.60146416e-01 -7.77675337e-03 7.13002981e+01] [-2.60136679e-01 9.65569168e-01 2.25602102e-03 -1.27679585e+01] [ 8.09588906e-03 -1.55254912e-04 9.99967216e-01 -1.32335486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.257628 meters 0.013042469701351068 Centerline is valid? [True, True] Translation: X:71.36, Y:-12.78, Z:-0.13 [[ 9.63089056e-01 2.69101177e-01 -6.63529696e-03 7.13600337e+01] [-2.69094298e-01 9.63111910e-01 1.92533915e-03 -1.27829360e+01] [ 6.90864456e-03 -6.87524835e-05 9.99976133e-01 -1.30661338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.317628 meters 0.012291646476619974 Centerline is valid? [True, True] Translation: X:71.42, Y:-12.80, Z:-0.13 [[ 9.60538116e-01 2.78054089e-01 -7.24233722e-03 7.14194179e+01] [-2.78046132e-01 9.60565419e-01 2.10356606e-03 -1.27986250e+01] [ 7.54164383e-03 -6.85153207e-06 9.99971561e-01 -1.31985311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.377628 meters 0.012385648826030696 Centerline is valid? [True, True] Translation: X:71.48, Y:-12.82, Z:-0.13 [[ 9.59296569e-01 2.82314777e-01 -6.96123376e-03 7.14792239e+01] [-2.82307521e-01 9.59321826e-01 2.02412058e-03 -1.28168927e+01] [ 7.24950263e-03 2.34767262e-05 9.99973722e-01 -1.32672978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.437628 meters 0.012293941174262805 Centerline is valid? [True, True] Translation: X:71.54, Y:-12.84, Z:-0.13 [[ 9.59008022e-01 2.83342187e-01 -4.56273172e-03 7.15374711e+01] [-2.83339075e-01 9.59018876e-01 1.32806296e-03 -1.28402452e+01] [ 4.75204211e-03 1.91771489e-05 9.99988709e-01 -1.29993221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.497628 meters 0.012343226795140312 Centerline is valid? [True, True] Translation: X:71.60, Y:-12.86, Z:-0.13 [[ 9.58762391e-01 2.84194273e-01 -2.87953518e-03 7.15976627e+01] [-2.84193035e-01 9.58766716e-01 8.39149216e-04 -1.28565347e+01] [ 2.99928388e-03 1.37991308e-05 9.99995502e-01 -1.28838598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.557628 meters 0.01222493892526225 Centerline is valid? [True, True] Translation: X:71.66, Y:-12.87, Z:-0.13 [[ 9.59368354e-01 2.82125943e-01 -4.16098360e-03 7.16579289e+01] [-2.82123332e-01 9.59377377e-01 1.21370276e-03 -1.28748809e+01] [ 4.33437057e-03 9.52254300e-06 9.99990607e-01 -1.28561988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.617628 meters 0.012408648756688838 Centerline is valid? [True, True] Translation: X:71.72, Y:-12.89, Z:-0.13 [[ 9.60701792e-01 2.77535221e-01 -5.12512934e-03 7.17169409e+01] [-2.77531188e-01 9.60715463e-01 1.49623987e-03 -1.28939992e+01] [ 5.33905027e-03 -1.50570867e-05 9.99985747e-01 -1.31439203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.677628 meters 0.013420249085720122 Centerline is valid? [True, True] Translation: X:71.78, Y:-12.92, Z:-0.13 [[ 9.63361031e-01 2.68151810e-01 -5.48913595e-03 7.17753211e+01] [-2.68147031e-01 9.63376667e-01 1.60256464e-03 -1.29154012e+01] [ 5.71783610e-03 -7.19528229e-05 9.99983650e-01 -1.31487605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.737628 meters 0.015515715899138657 Centerline is valid? [True, True] Translation: X:71.83, Y:-12.94, Z:-0.13 [[ 9.66162012e-01 2.57892103e-01 -4.75706225e-03 7.18327397e+01] [-2.57888386e-01 9.66173716e-01 1.38938955e-03 -1.29366263e+01] [ 4.95446110e-03 -1.15584299e-04 9.99987720e-01 -1.29860321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.797628 meters 0.018161441564273708 Centerline is valid? [True, True] Translation: X:71.89, Y:-12.96, Z:-0.13 [[ 9.68473732e-01 2.49076787e-01 -4.40291327e-03 7.18906771e+01] [-2.49073511e-01 9.68483728e-01 1.28596690e-03 -1.29577335e+01] [ 4.58445436e-03 -1.48776097e-04 9.99989480e-01 -1.29423526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.857628 meters 0.023186569530890783 Centerline is valid? [True, True] Translation: X:71.95, Y:-12.98, Z:-0.13 [[ 9.71551935e-01 2.36808007e-01 -2.96748796e-03 7.19469626e+01] [-2.36806461e-01 9.71556457e-01 8.67032665e-04 -1.29802232e+01] [ 3.08840237e-03 -1.39646940e-04 9.99995221e-01 -1.29105091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.917628 meters 0.022683026081032336 Centerline is valid? [True, True] Translation: X:72.01, Y:-13.00, Z:-0.13 [[ 9.72917251e-01 2.31147707e-01 -1.66158896e-03 7.20065094e+01] [-2.31147214e-01 9.72918666e-01 4.85501018e-04 -1.29956476e+01] [ 1.72881336e-03 -8.82806579e-05 9.99998502e-01 -1.27842667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.977628 meters 0.02526884863745737 Centerline is valid? [True, True] Translation: X:72.06, Y:-13.01, Z:-0.13 [[ 9.73961889e-01 2.26697966e-01 -2.50433834e-03 7.20645428e+01] [-2.26696830e-01 9.73965098e-01 7.31944079e-04 -1.30123916e+01] [ 2.60506837e-03 -1.45160073e-04 9.99996596e-01 -1.27847291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.037628 meters 0.026160742005167808 Centerline is valid? [True, True] Translation: X:72.13, Y:-13.02, Z:-0.13 [[ 9.73732617e-01 2.27668610e-01 -3.43440560e-03 7.21259300e+01] [-2.27666477e-01 9.73738653e-01 1.00494575e-03 -1.30245288e+01] [ 3.57300809e-03 -1.96649432e-04 9.99993597e-01 -1.29635543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.097628 meters 0.026996959819023683 Centerline is valid? [True, True] Translation: X:72.18, Y:-13.04, Z:-0.13 [[ 9.73317044e-01 2.29441345e-01 -3.25604843e-03 7.21846225e+01] [-2.29439439e-01 9.73322473e-01 9.52449627e-04 -1.30381182e+01] [ 3.38771643e-03 -1.79969530e-04 9.99994245e-01 -1.29823178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.157628 meters 0.025716076262807783 Centerline is valid? [True, True] Translation: X:72.25, Y:-13.05, Z:-0.13 [[ 9.72753073e-01 2.31828566e-01 -2.64102077e-03 7.22462804e+01] [-2.31827320e-01 9.72756648e-01 7.72676420e-04 -1.30461678e+01] [ 2.74819898e-03 -1.39362595e-04 9.99996214e-01 -1.29797536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.217628 meters 0.02134881541447372 Centerline is valid? [True, True] Translation: X:72.31, Y:-13.05, Z:-0.13 [[ 9.71835042e-01 2.35662061e-01 2.10491864e-04 7.23079878e+01] [-2.35662053e-01 9.71835065e-01 -6.15669567e-05 -1.30507013e+01] [-2.19072370e-04 1.02279813e-05 9.99999976e-01 -1.26600624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.27762799999999 meters 0.021107208712172133 Centerline is valid? [True, True] Translation: X:72.37, Y:-13.07, Z:-0.13 [[ 9.71396334e-01 2.37461063e-01 1.18555372e-03 7.23687938e+01] [-2.37460816e-01 9.71397056e-01 -3.46797722e-04 -1.30655648e+01] [-1.23399435e-03 5.53554824e-05 9.99999237e-01 -1.25892975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.337628 meters 0.022990765607275063 Centerline is valid? [True, True] Translation: X:72.43, Y:-13.08, Z:-0.13 [[ 9.70229770e-01 2.42178433e-01 1.94953377e-03 7.24273302e+01] [-2.42177774e-01 9.70231725e-01 -5.70530624e-04 -1.30801284e+01] [-2.02966972e-03 8.14120473e-05 9.99997937e-01 -1.25151558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.397628 meters 0.017039863513024504 Centerline is valid? [True, True] Translation: X:72.49, Y:-13.08, Z:-0.13 [[ 9.67220082e-01 2.53938264e-01 8.19658905e-04 7.24914884e+01] [-2.53938151e-01 9.67220429e-01 -2.39848558e-04 -1.30788309e+01] [-8.53697563e-04 2.38436744e-05 9.99999635e-01 -1.27765198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.457628 meters 0.013173100731415964 Centerline is valid? [True, True] Translation: X:72.55, Y:-13.08, Z:-0.13 [[ 9.63245100e-01 2.68621527e-01 -1.16285948e-03 7.25543194e+01] [-2.68621312e-01 9.63245802e-01 3.40424064e-04 -1.30802607e+01] [ 1.21156475e-03 -1.55429722e-05 9.99999266e-01 -1.30822213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.517628 meters 0.011971880002509329 Centerline is valid? [True, True] Translation: X:72.62, Y:-13.09, Z:-0.13 [[ 9.59385092e-01 2.82085409e-01 -2.84037556e-03 7.26175201e+01] [-2.82084181e-01 9.59389296e-01 8.32613435e-04 -1.30852764e+01] [ 2.95989402e-03 2.42809771e-06 9.99995619e-01 -1.32880991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.577628 meters 0.01275159695577043 Centerline is valid? [True, True] Translation: X:72.68, Y:-13.10, Z:-0.13 [[ 9.56484821e-01 2.91754967e-01 -3.97818264e-03 7.26792515e+01] [-2.91752636e-01 9.56493093e-01 1.16705437e-03 -1.30962196e+01] [ 4.14559813e-03 4.43754830e-05 9.99991406e-01 -1.34075386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.63762799999999 meters 0.013323826959583101 Centerline is valid? [True, True] Translation: X:72.74, Y:-13.11, Z:-0.13 [[ 9.55701505e-01 2.94328284e-01 -2.34390620e-03 7.27376745e+01] [-2.94327482e-01 9.55704379e-01 6.87938642e-04 -1.31131464e+01] [ 2.44256122e-03 3.24120136e-05 9.99997016e-01 -1.33544883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.697628 meters 0.012548394588831314 Centerline is valid? [True, True] Translation: X:72.80, Y:-13.14, Z:-0.13 [[ 9.56771596e-01 2.90833512e-01 -1.99532424e-03 7.27953212e+01] [-2.90832921e-01 9.56773677e-01 5.86399477e-04 -1.31382314e+01] [ 2.07961833e-03 1.92556137e-05 9.99997837e-01 -1.33725896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.757628 meters 0.011878554542108476 Centerline is valid? [True, True] Translation: X:72.85, Y:-13.16, Z:-0.13 [[ 9.58443287e-01 2.85280239e-01 -1.28475958e-03 7.28522021e+01] [-2.85279988e-01 9.58444148e-01 3.78064948e-04 -1.31637715e+01] [ 1.33922476e-03 4.16238578e-06 9.99999103e-01 -1.33366118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.817628 meters 0.012196873594310874 Centerline is valid? [True, True] Translation: X:72.91, Y:-13.20, Z:-0.13 [[ 9.60817919e-01 2.77178554e-01 -9.87617845e-04 7.29088192e+01] [-2.77178401e-01 9.60818427e-01 2.91098779e-04 -1.31957368e+01] [ 1.02960776e-03 -5.94658780e-06 9.99999470e-01 -1.32507242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.877628 meters 0.01290334620917103 Centerline is valid? [True, True] Translation: X:72.97, Y:-13.22, Z:-0.14 [[ 9.62439246e-01 2.71474007e-01 -3.54417517e-03 7.29652780e+01] [-2.71472002e-01 9.62445771e-01 1.04424740e-03 -1.32245455e+01] [ 3.69456242e-03 -4.28803502e-05 9.99993174e-01 -1.35090406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.937628 meters 0.013959461737910156 Centerline is valid? [True, True] Translation: X:73.02, Y:-13.25, Z:-0.14 [[ 9.63234397e-01 2.68580492e-01 -6.63452111e-03 7.30208867e+01] [-2.68573400e-01 9.63257239e-01 1.95428542e-03 -1.32502993e+01] [ 6.91563342e-03 -1.00579047e-04 9.99976082e-01 -1.37152097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.997628 meters 0.01524777787942644 Centerline is valid? [True, True] Translation: X:73.08, Y:-13.28, Z:-0.14 [[ 9.64964044e-01 2.62258743e-01 -8.04651996e-03 7.30762251e+01] [-2.62248089e-01 9.64997575e-01 2.37050181e-03 -1.32792007e+01] [ 8.38655708e-03 -1.77264530e-04 9.99964816e-01 -1.38043736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.057628 meters 0.01816865239530228 Centerline is valid? [True, True] Translation: X:73.13, Y:-13.31, Z:-0.14 [[ 9.67573365e-01 2.52516970e-01 -6.07968602e-03 7.31304254e+01] [-2.52510695e-01 9.67592446e-01 1.79121777e-03 -1.33112455e+01] [ 6.33497115e-03 -1.97948866e-04 9.99979914e-01 -1.36378595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.117628 meters 0.019099951197948245 Centerline is valid? [True, True] Translation: X:73.19, Y:-13.34, Z:-0.13 [[ 9.69498984e-01 2.45049708e-01 -4.72874866e-03 7.31866187e+01] [-2.45045822e-01 9.69510497e-01 1.39334125e-03 -1.33362328e+01] [ 4.92600933e-03 -1.92082822e-04 9.99987849e-01 -1.34608323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.177628 meters 0.020199644379715293 Centerline is valid? [True, True] Translation: X:73.24, Y:-13.36, Z:-0.13 [[ 9.70899986e-01 2.39485268e-01 -1.50295698e-04 7.32434014e+01] [-2.39485264e-01 9.70899998e-01 4.43179922e-05 -1.33582614e+01] [ 1.56535599e-04 -7.03473304e-06 9.99999988e-01 -1.30803896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.237628 meters 0.023876045645463213 Centerline is valid? [True, True] Translation: X:73.30, Y:-13.38, Z:-0.13 [[ 9.70956835e-01 2.39253469e-01 7.76568078e-04 7.33009319e+01] [-2.39253362e-01 9.70957144e-01 -2.28620481e-04 -1.33796027e+01] [-8.08712566e-04 3.61840955e-05 9.99999672e-01 -1.30979068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.297628 meters 0.02061813049056801 Centerline is valid? [True, True] Translation: X:73.36, Y:-13.39, Z:-0.13 [[ 9.70690088e-01 2.40330589e-01 -1.40013057e-03 7.33620313e+01] [-2.40330242e-01 9.70691096e-01 4.13731743e-04 -1.33903598e+01] [ 1.45852667e-03 -6.51115834e-05 9.99998934e-01 -1.32955135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.357628 meters 0.023969472910349565 Centerline is valid? [True, True] Translation: X:73.42, Y:-13.41, Z:-0.14 [[ 9.70134827e-01 2.42549926e-01 -2.81959481e-03 7.34209581e+01] [-2.42548526e-01 9.70138917e-01 8.33481102e-04 -1.34083798e+01] [ 2.93755943e-03 -1.24700481e-04 9.99995678e-01 -1.35389128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.417628 meters 0.01999725374834692 Centerline is valid? [True, True] Translation: X:73.48, Y:-13.41, Z:-0.14 [[ 9.69195616e-01 2.46282635e-01 -2.17290100e-03 7.34841316e+01] [-2.46281813e-01 9.69198048e-01 6.42200922e-04 -1.34118641e+01] [ 2.26413434e-03 -8.72723224e-05 9.99997433e-01 -1.36125261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.477628 meters 0.01901230799426636 Centerline is valid? [True, True] Translation: X:73.54, Y:-13.43, Z:-0.14 [[ 9.68363442e-01 2.49542581e-01 -8.62856245e-04 7.35437194e+01] [-2.49542453e-01 9.68363826e-01 2.55075063e-04 -1.34255564e+01] [ 8.99210864e-04 -3.16861028e-05 9.99999595e-01 -1.35133235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.537628 meters 0.018170458365697837 Centerline is valid? [True, True] Translation: X:73.60, Y:-13.44, Z:-0.13 [[ 9.67044261e-01 2.54600376e-01 2.01138710e-03 7.36033375e+01] [-2.54599689e-01 9.67046351e-01 -5.94465155e-04 -1.34366356e+01] [-2.09645561e-03 6.27755857e-05 9.99997800e-01 -1.33533178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.597628 meters 0.015834265725581612 Centerline is valid? [True, True] Translation: X:73.67, Y:-13.44, Z:-0.13 [[ 9.65175735e-01 2.61584857e-01 3.02708753e-03 7.36650609e+01] [-2.61583337e-01 9.65180479e-01 -8.94751660e-04 -1.34435407e+01] [-3.15573928e-03 7.17569338e-05 9.99995018e-01 -1.34956074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.657628 meters 0.013969256497967228 Centerline is valid? [True, True] Translation: X:73.73, Y:-13.46, Z:-0.14 [[ 9.63205675e-01 2.68749576e-01 2.91442759e-03 7.37262474e+01] [-2.68748199e-01 9.63210083e-01 -8.61584270e-04 -1.34552214e+01] [-3.03875644e-03 4.66356943e-05 9.99995382e-01 -1.35531460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.717628 meters 0.01181325442072371 Centerline is valid? [True, True] Translation: X:73.79, Y:-13.46, Z:-0.14 [[ 9.59447590e-01 2.81884399e-01 1.22752833e-03 7.37872966e+01] [-2.81884166e-01 9.59448376e-01 -3.62921197e-04 -1.34609327e+01] [-1.28005189e-03 2.18306813e-06 9.99999181e-01 -1.37037854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.77762799999999 meters 0.013039125203305977 Centerline is valid? [True, True] Translation: X:73.85, Y:-13.47, Z:-0.14 [[ 9.55887325e-01 2.93730225e-01 -1.40629907e-03 7.38499237e+01] [-2.93729930e-01 9.55888359e-01 4.16561573e-04 -1.34675948e+01] [ 1.46662164e-03 1.48861999e-05 9.99998924e-01 -1.41824053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.837628 meters 0.013091425284494017 Centerline is valid? [True, True] Translation: X:73.91, Y:-13.49, Z:-0.14 [[ 9.54504848e-01 2.98182505e-01 -2.77275623e-03 7.39089514e+01] [-2.98181378e-01 9.54508875e-01 8.21152265e-04 -1.34855938e+01] [ 2.89147367e-03 4.29904535e-05 9.99995819e-01 -1.42860981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.897628 meters 0.013380925534268532 Centerline is valid? [True, True] Translation: X:73.97, Y:-13.51, Z:-0.14 [[ 9.54016256e-01 2.99719369e-01 -4.61336188e-03 7.39670381e+01] [-2.99716259e-01 9.54027407e-01 1.36757131e-03 -1.35073085e+01] [ 4.81116129e-03 7.80143052e-05 9.99988423e-01 -1.43454223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.957628 meters 0.013185926541559317 Centerline is valid? [True, True] Translation: X:74.02, Y:-13.53, Z:-0.15 [[ 9.54641500e-01 2.97697398e-01 -5.98887495e-03 7.40239699e+01] [-2.97692109e-01 9.54660281e-01 1.77665467e-03 -1.35304778e+01] [ 6.24624651e-03 8.67725331e-05 9.99980488e-01 -1.45937168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.017628 meters 0.012645250303365583 Centerline is valid? [True, True] Translation: X:74.08, Y:-13.56, Z:-0.15 [[ 9.55632047e-01 2.94468260e-01 -7.47220469e-03 7.40807895e+01] [-2.94459913e-01 9.55661257e-01 2.21860664e-03 -1.35584456e+01] [ 7.79420576e-03 8.00931354e-05 9.99969622e-01 -1.47313985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.077628 meters 0.012524266325291059 Centerline is valid? [True, True] Translation: X:74.14, Y:-13.58, Z:-0.15 [[ 9.56052311e-01 2.93080648e-01 -8.22878329e-03 7.41388166e+01] [-2.93070452e-01 9.56087720e-01 2.44578224e-03 -1.35842132e+01] [ 8.58425010e-03 7.33174835e-05 9.99963152e-01 -1.46711787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.13762799999999 meters 0.012330783696971983 Centerline is valid? [True, True] Translation: X:74.20, Y:-13.61, Z:-0.15 [[ 9.56411814e-01 2.91878495e-01 -9.13157667e-03 7.41964361e+01] [-2.91865858e-01 9.56455404e-01 2.71691370e-03 -1.36111370e+01] [ 9.52695454e-03 6.67070952e-05 9.99954615e-01 -1.46910420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.197628 meters 0.012597956384205102 Centerline is valid? [True, True] Translation: X:74.25, Y:-13.63, Z:-0.15 [[ 9.56174804e-01 2.92648438e-01 -9.30785203e-03 7.42543102e+01] [-2.92635319e-01 9.56220104e-01 2.77198405e-03 -1.36330129e+01] [ 9.71157204e-03 7.33049429e-05 9.99952839e-01 -1.47056339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.257628 meters 0.012902853264260189 Centerline is valid? [True, True] Translation: X:74.31, Y:-13.65, Z:-0.14 [[ 9.54975066e-01 2.96546982e-01 -9.08357131e-03 7.43135833e+01] [-2.96534640e-01 9.55018260e-01 2.70763410e-03 -1.36505692e+01] [ 9.47791718e-03 1.07870499e-04 9.99955078e-01 -1.44942919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.317628 meters 0.01369541408672308 Centerline is valid? [True, True] Translation: X:74.37, Y:-13.66, Z:-0.15 [[ 9.53913147e-01 2.99910552e-01 -1.01670582e-02 7.43745505e+01] [-2.99895255e-01 9.53967314e-01 3.03303205e-03 -1.36615586e+01] [ 1.06086795e-02 1.55803361e-04 9.99943714e-01 -1.45612789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.377628 meters 0.01347032836099978 Centerline is valid? [True, True] Translation: X:74.44, Y:-13.68, Z:-0.15 [[ 9.54118451e-01 2.99239932e-01 -1.06510420e-02 7.44355718e+01] [-2.99223065e-01 9.54177887e-01 3.18074666e-03 -1.36762692e+01] [ 1.11147951e-02 1.52228343e-04 9.99938217e-01 -1.46045646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.437628 meters 0.012945921747642974 Centerline is valid? [True, True] Translation: X:74.49, Y:-13.70, Z:-0.14 [[ 9.54940024e-01 2.96674223e-01 -8.59972118e-03 7.44934501e+01] [-2.96663105e-01 9.54978741e-01 2.57024882e-03 -1.36953300e+01] [ 8.97507748e-03 9.67865197e-05 9.99959718e-01 -1.43023582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.497628 meters 0.012379435689270059 Centerline is valid? [True, True] Translation: X:74.55, Y:-13.72, Z:-0.14 [[ 9.55492528e-01 2.94908886e-01 -7.92331144e-03 7.45515475e+01] [-2.94899369e-01 9.55525376e-01 2.37033045e-03 -1.37167962e+01] [ 8.26995665e-03 7.17465107e-05 9.99965801e-01 -1.40862484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.557628 meters 0.012313231891789712 Centerline is valid? [True, True] Translation: X:74.61, Y:-13.74, Z:-0.14 [[ 9.55948638e-01 2.93371927e-01 -9.75266501e-03 7.46116009e+01] [-2.93357397e-01 9.55998383e-01 2.92056201e-03 -1.37359847e+01] [ 1.01803429e-02 6.91091461e-05 9.99948177e-01 -1.43582006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.617628 meters 0.01244471179139433 Centerline is valid? [True, True] Translation: X:74.67, Y:-13.76, Z:-0.14 [[ 9.56351621e-01 2.91999986e-01 -1.12953413e-02 7.46704517e+01] [-2.91980364e-01 9.56418321e-01 3.38563378e-03 -1.37556439e+01] [ 1.17916764e-02 6.01615040e-05 9.99930474e-01 -1.44840027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.677628 meters 0.011944013999975795 Centerline is valid? [True, True] Translation: X:74.73, Y:-13.78, Z:-0.14 [[ 9.56917587e-01 2.90196839e-01 -9.72244957e-03 7.47288515e+01] [-2.90182181e-01 9.56966976e-01 2.91684729e-03 -1.37755315e+01] [ 1.01505230e-02 3.00991531e-05 9.99948482e-01 -1.41390221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.737628 meters 0.011884706904445876 Centerline is valid? [True, True] Translation: X:74.79, Y:-13.79, Z:-0.14 [[ 9.56958179e-01 2.90129919e-01 -7.46146878e-03 7.47884785e+01] [-2.90121267e-01 9.56987267e-01 2.24064780e-03 -1.37930724e+01] [ 7.79060958e-03 2.05245363e-05 9.99969653e-01 -1.39752879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.797628 meters 0.011814352500926667 Centerline is valid? [True, True] Translation: X:74.85, Y:-13.81, Z:-0.14 [[ 9.56865171e-01 2.90459299e-01 -6.51456109e-03 7.48486584e+01] [-2.90452697e-01 9.56887347e-01 1.95844317e-03 -1.38107407e+01] [ 6.80254911e-03 1.82057821e-05 9.99976862e-01 -1.38345523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.857628 meters 0.011736972657843351 Centerline is valid? [True, True] Translation: X:74.91, Y:-13.83, Z:-0.14 [[ 9.57548771e-01 2.88157139e-01 -8.11257477e-03 7.49089270e+01] [-2.88146798e-01 9.57583136e-01 2.44121236e-03 -1.38302231e+01] [ 8.47191756e-03 3.25433764e-08 9.99964113e-01 -1.41041739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.917628 meters 0.011956001836634042 Centerline is valid? [True, True] Translation: X:74.97, Y:-13.85, Z:-0.14 [[ 9.58499863e-01 2.84908634e-01 -1.02510016e-02 7.49672388e+01] [-2.84891909e-01 9.58554677e-01 3.08728750e-03 -1.38503904e+01] [ 1.07057404e-02 -3.87372307e-05 9.99942691e-01 -1.41558208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.977628 meters 0.012170620143974712 Centerline is valid? [True, True] Translation: X:75.03, Y:-13.87, Z:-0.14 [[ 9.58776002e-01 2.83948656e-01 -1.10335221e-02 7.50265130e+01] [-2.83929183e-01 9.58839485e-01 3.32586504e-03 -1.38679658e+01] [ 1.15237516e-02 -5.60206697e-05 9.99933598e-01 -1.42350909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.037628 meters 0.012513312129317939 Centerline is valid? [True, True] Translation: X:75.09, Y:-13.89, Z:-0.14 [[ 9.58923241e-01 2.83390959e-01 -1.24812843e-02 7.50854483e+01] [-2.83365973e-01 9.59004463e-01 3.76380003e-03 -1.38851238e+01] [ 1.30362342e-02 -7.24240558e-05 9.99915022e-01 -1.44223687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.097628 meters 0.01217404618378352 Centerline is valid? [True, True] Translation: X:75.15, Y:-13.90, Z:-0.14 [[ 9.58887283e-01 2.83456709e-01 -1.36920283e-02 7.51452127e+01] [-2.83426591e-01 9.58985030e-01 4.13280648e-03 -1.39013815e+01] [ 1.43019219e-02 -8.22106635e-05 9.99897719e-01 -1.43591086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.157628 meters 0.01232523337099999 Centerline is valid? [True, True] Translation: X:75.21, Y:-13.92, Z:-0.15 [[ 9.58637963e-01 2.84281260e-01 -1.40506896e-02 7.52050549e+01] [-2.84249595e-01 9.58740924e-01 4.24361688e-03 -1.39180201e+01] [ 1.46773519e-02 -7.41894176e-05 9.99892279e-01 -1.45108892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.217628 meters 0.011917539080622212 Centerline is valid? [True, True] Translation: X:75.27, Y:-13.93, Z:-0.14 [[ 9.57662089e-01 2.87587572e-01 -1.32933101e-02 7.52650141e+01] [-2.87559495e-01 9.57754346e-01 4.01855373e-03 -1.39330595e+01] [ 1.38874117e-02 -2.57990054e-05 9.99903565e-01 -1.43330032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.27762799999999 meters 0.011665823189144768 Centerline is valid? [True, True] Translation: X:75.33, Y:-13.95, Z:-0.14 [[ 9.57015724e-01 2.89777880e-01 -1.22345192e-02 7.53250358e+01] [-2.89754234e-01 9.57093924e-01 3.70183992e-03 -1.39486431e+01] [ 1.27822953e-02 2.28473257e-06 9.99918303e-01 -1.41627190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.337628 meters 0.011779354374082845 Centerline is valid? [True, True] Translation: X:75.38, Y:-13.97, Z:-0.14 [[ 9.56849920e-01 2.90326883e-01 -1.21873692e-02 7.53846139e+01] [-2.90303414e-01 9.56927532e-01 3.69139925e-03 -1.39680040e+01] [ 1.27341415e-02 5.91980604e-06 9.99918918e-01 -1.41581805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.397628 meters 0.011808876216283381 Centerline is valid? [True, True] Translation: X:75.44, Y:-13.99, Z:-0.14 [[ 9.56948896e-01 2.90005222e-01 -1.20739892e-02 7.54444843e+01] [-2.89982115e-01 9.57025063e-01 3.66082431e-03 -1.39882258e+01] [ 1.26167685e-02 -1.98085379e-06 9.99920405e-01 -1.41387874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.457628 meters 0.011956397324954111 Centerline is valid? [True, True] Translation: X:75.50, Y:-14.01, Z:-0.14 [[ 9.57276739e-01 2.88929118e-01 -1.18831321e-02 7.55025478e+01] [-2.88906611e-01 9.57350492e-01 3.60633640e-03 -1.40087191e+01] [ 1.24182980e-02 -1.91465125e-05 9.99922890e-01 -1.42282192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.517628 meters 0.012283951063824829 Centerline is valid? [True, True] Translation: X:75.56, Y:-14.03, Z:-0.14 [[ 9.57965326e-01 2.86667873e-01 -1.11339704e-02 7.55607289e+01] [-2.86647926e-01 9.58030025e-01 3.38207408e-03 -1.40317140e+01] [ 1.16362099e-02 -4.83801697e-05 9.99932296e-01 -1.41397275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.577628 meters 0.012089100308833077 Centerline is valid? [True, True] Translation: X:75.62, Y:-14.05, Z:-0.14 [[ 9.57533021e-01 2.88184534e-01 -8.95478327e-03 7.56206287e+01] [-2.88171676e-01 9.57574892e-01 2.72245207e-03 -1.40495677e+01] [ 9.35944420e-03 -2.63228545e-05 9.99956199e-01 -1.40030367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.63762799999999 meters 0.011989976971023168 Centerline is valid? [True, True] Translation: X:75.68, Y:-14.07, Z:-0.14 [[ 9.56778047e-01 2.90649294e-01 -9.93762860e-03 7.56812426e+01] [-2.90633559e-01 9.56829655e-01 3.02429359e-03 -1.40666710e+01] [ 1.03876265e-02 -5.36934129e-06 9.99946047e-01 -1.39956075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.697628 meters 0.012118986795015925 Centerline is valid? [True, True] Translation: X:75.74, Y:-14.08, Z:-0.14 [[ 9.55448569e-01 2.94883011e-01 -1.27295618e-02 7.57417901e+01] [-2.94857525e-01 9.55533363e-01 3.87720974e-03 -1.40821703e+01] [ 1.33068443e-02 4.89325850e-05 9.99911459e-01 -1.41778541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.757628 meters 0.012477858068461247 Centerline is valid? [True, True] Translation: X:75.80, Y:-14.10, Z:-0.14 [[ 9.54436043e-01 2.98082942e-01 -1.40854678e-02 7.58024669e+01] [-2.98052030e-01 9.54539968e-01 4.29391989e-03 -1.40974717e+01] [ 1.47250863e-02 9.99303726e-05 9.99891575e-01 -1.43215026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.817628 meters 0.012613965436267933 Centerline is valid? [True, True] Translation: X:75.86, Y:-14.11, Z:-0.14 [[ 9.54059207e-01 2.99263571e-01 -1.45720544e-02 7.58623601e+01] [-2.99230564e-01 9.54170478e-01 4.44617777e-03 -1.41136164e+01] [ 1.52348032e-02 1.18487233e-04 9.99883937e-01 -1.43380474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.877628 meters 0.012388636295243812 Centerline is valid? [True, True] Translation: X:75.92, Y:-14.13, Z:-0.14 [[ 9.54236355e-01 2.98783105e-01 -1.27135585e-02 7.59212538e+01] [-2.98757892e-01 9.54321040e-01 3.88258546e-03 -1.41319514e+01] [ 1.32928673e-02 9.33717520e-05 9.99911642e-01 -1.41568270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.937628 meters 0.012070010295879173 Centerline is valid? [True, True] Translation: X:75.98, Y:-14.15, Z:-0.14 [[ 9.55385425e-01 2.95171497e-01 -1.06055495e-02 7.59794391e+01] [-2.95153697e-01 9.55444287e-01 3.24178390e-03 -1.41534515e+01] [ 1.10898939e-02 3.31140667e-05 9.99938505e-01 -1.39057536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.997628 meters 0.012056780889119226 Centerline is valid? [True, True] Translation: X:76.04, Y:-14.18, Z:-0.14 [[ 9.57415018e-01 2.88618993e-01 -7.45385033e-03 7.60368762e+01] [-2.88609985e-01 9.57444033e-01 2.28055495e-03 -1.41788498e+01] [ 7.79485599e-03 -3.21819246e-05 9.99969619e-01 -1.35382811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.057628 meters 0.012317707251512055 Centerline is valid? [True, True] Translation: X:76.10, Y:-14.20, Z:-0.13 [[ 9.58268958e-01 2.85816759e-01 -5.42065801e-03 7.60961557e+01] [-2.85811940e-01 9.58284289e-01 1.66032897e-03 -1.42002510e+01] [ 5.66908125e-03 -4.17529324e-05 9.99983930e-01 -1.33765281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.117628 meters 0.01239953108622956 Centerline is valid? [True, True] Translation: X:76.16, Y:-14.22, Z:-0.13 [[ 9.58331717e-01 2.85626379e-01 -4.22998484e-03 7.61550499e+01] [-2.85623437e-01 9.58341051e-01 1.29689762e-03 -1.42191031e+01] [ 4.42419629e-03 -3.46753216e-05 9.99990213e-01 -1.33555191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.177628 meters 0.012219230608574867 Centerline is valid? [True, True] Translation: X:76.21, Y:-14.24, Z:-0.13 [[ 9.57400413e-01 2.88714753e-01 -5.31417491e-03 7.62139721e+01] [-2.88710151e-01 9.57415161e-01 1.63040541e-03 -1.42353904e+01] [ 5.55859372e-03 -2.66945692e-05 9.99984551e-01 -1.34051710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.237628 meters 0.012184867529280701 Centerline is valid? [True, True] Translation: X:76.27, Y:-14.25, Z:-0.14 [[ 9.56697063e-01 2.90968633e-01 -8.24528057e-03 7.62745743e+01] [-2.90957620e-01 9.56732593e-01 2.53163700e-03 -1.42501883e+01] [ 8.62515562e-03 -2.29824740e-05 9.99962802e-01 -1.37713269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.297628 meters 0.012105233306373045 Centerline is valid? [True, True] Translation: X:76.33, Y:-14.27, Z:-0.14 [[ 9.56319685e-01 2.92177031e-01 -9.23265529e-03 7.63349917e+01] [-2.92163251e-01 9.56364252e-01 2.83769062e-03 -1.42663239e+01] [ 9.65888949e-03 -1.62968202e-05 9.99953352e-01 -1.38548449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.357628 meters 0.012231554160640664 Centerline is valid? [True, True] Translation: X:76.40, Y:-14.28, Z:-0.14 [[ 9.57046334e-01 2.89818019e-01 -8.23595704e-03 7.63951125e+01] [-2.89806944e-01 9.57081770e-01 2.53397930e-03 -1.42848888e+01] [ 8.61687720e-03 -3.82980610e-05 9.99962873e-01 -1.37355724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.417628 meters 0.012696184670032482 Centerline is valid? [True, True] Translation: X:76.45, Y:-14.30, Z:-0.14 [[ 9.58328299e-01 2.85590702e-01 -6.69486206e-03 7.64535229e+01] [-2.85583269e-01 9.58351682e-01 2.06150778e-03 -1.43045518e+01] [ 7.00477977e-03 -6.36606497e-05 9.99975464e-01 -1.36661228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.477628 meters 0.013401511833057033 Centerline is valid? [True, True] Translation: X:76.51, Y:-14.33, Z:-0.14 [[ 9.59292208e-01 2.82351201e-01 -6.02152110e-03 7.65117632e+01] [-2.82345113e-01 9.59311103e-01 1.85584664e-03 -1.43251145e+01] [ 6.30051258e-03 -8.01521677e-05 9.99980148e-01 -1.35859351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.537628 meters 0.01645265117849719 Centerline is valid? [True, True] Translation: X:76.57, Y:-14.35, Z:-0.14 [[ 9.60439583e-01 2.78443181e-01 -5.02010202e-03 7.65704171e+01] [-2.78438889e-01 9.60452699e-01 1.54862831e-03 -1.43457806e+01] [ 5.25277552e-03 -8.95722985e-05 9.99986200e-01 -1.36592553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.597628 meters 0.014284476939157426 Centerline is valid? [True, True] Translation: X:76.63, Y:-14.36, Z:-0.13 [[ 9.60469372e-01 2.78331517e-01 -5.49110840e-03 7.66305354e+01] [-2.78326370e-01 9.60485063e-01 1.69563608e-03 -1.43635550e+01] [ 5.74607656e-03 -1.00286257e-04 9.99983486e-01 -1.34533610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.657628 meters 0.01612129554074342 Centerline is valid? [True, True] Translation: X:76.69, Y:-14.38, Z:-0.14 [[ 9.60236398e-01 2.79104870e-01 -6.82133890e-03 7.66906834e+01] [-2.79096932e-01 9.60260619e-01 2.10840249e-03 -1.43806972e+01] [ 7.13872852e-03 -1.20750057e-04 9.99974512e-01 -1.37547294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.717628 meters 0.013798028061230531 Centerline is valid? [True, True] Translation: X:76.75, Y:-14.40, Z:-0.13 [[ 9.59538126e-01 2.81504922e-01 -6.44693683e-03 7.67505624e+01] [-2.81497884e-01 9.59559779e-01 1.99298325e-03 -1.43988882e+01] [ 6.74725588e-03 -9.75443381e-05 9.99977232e-01 -1.34273734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.77762799999999 meters 0.013219019473435994 Centerline is valid? [True, True] Translation: X:76.81, Y:-14.41, Z:-0.13 [[ 9.58859146e-01 2.83836665e-01 -5.08778340e-03 7.68110142e+01] [-2.83832305e-01 9.58872642e-01 1.57451636e-03 -1.44146783e+01] [ 5.32544178e-03 -6.56621268e-05 9.99985818e-01 -1.33329903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.837628 meters 0.013005759872304864 Centerline is valid? [True, True] Translation: X:76.87, Y:-14.43, Z:-0.13 [[ 9.58093530e-01 2.86412052e-01 -4.99244913e-03 7.68710492e+01] [-2.86407882e-01 9.58106536e-01 1.54635961e-03 -1.44309459e+01] [ 5.22619417e-03 -5.16803579e-05 9.99986342e-01 -1.33808699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.897628 meters 0.012659952986407279 Centerline is valid? [True, True] Translation: X:76.93, Y:-14.45, Z:-0.13 [[ 9.57116082e-01 2.89657214e-01 -5.24445527e-03 7.69307850e+01] [-2.89652654e-01 9.57130449e-01 1.62579961e-03 -1.44480997e+01] [ 5.49055241e-03 -3.70085641e-05 9.99984926e-01 -1.33348049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.957628 meters 0.012294640667175229 Centerline is valid? [True, True] Translation: X:76.99, Y:-14.46, Z:-0.13 [[ 9.55620707e-01 2.94565824e-01 -4.47652359e-03 7.69902138e+01] [-2.94562550e-01 9.55631192e-01 1.38886380e-03 -1.44639373e+01] [ 4.68701738e-03 -8.61080421e-06 9.99989016e-01 -1.33099442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.017628 meters 0.012393107105903757 Centerline is valid? [True, True] Translation: X:77.05, Y:-14.48, Z:-0.13 [[ 9.53585136e-01 3.01104775e-01 -3.36198067e-03 7.70519553e+01] [-3.01102965e-01 9.53591062e-01 1.04426274e-03 -1.44780246e+01] [ 3.52038722e-03 1.65089154e-05 9.99993803e-01 -1.32591468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.077628 meters 0.01296690948861212 Centerline is valid? [True, True] Translation: X:77.11, Y:-14.49, Z:-0.13 [[ 9.52160997e-01 3.05573076e-01 -3.81199688e-03 7.71119000e+01] [-3.05570781e-01 9.52168627e-01 1.18491193e-03 -1.44937357e+01] [ 3.99174102e-03 3.66079440e-05 9.99992032e-01 -1.32608381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.13762799999999 meters 0.013147900070981216 Centerline is valid? [True, True] Translation: X:77.17, Y:-14.51, Z:-0.13 [[ 9.51482543e-01 3.07675121e-01 -4.12184704e-03 7.71718544e+01] [-3.07672453e-01 9.51491470e-01 1.28232304e-03 -1.45112422e+01] [ 4.31644119e-03 4.80707990e-05 9.99990683e-01 -1.33481321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.197628 meters 0.012935075911372763 Centerline is valid? [True, True] Translation: X:77.23, Y:-14.53, Z:-0.13 [[ 9.51806319e-01 3.06665110e-01 -4.60878193e-03 7.72308093e+01] [-3.06661756e-01 9.51817476e-01 1.43501820e-03 -1.45303738e+01] [ 4.82678920e-03 4.74777677e-05 9.99988350e-01 -1.34430315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.257628 meters 0.012436866713122413 Centerline is valid? [True, True] Translation: X:77.29, Y:-14.55, Z:-0.13 [[ 9.53187877e-01 3.02335749e-01 -5.09561557e-03 7.72888101e+01] [-3.02331580e-01 9.53201497e-01 1.58793581e-03 -1.45536697e+01] [ 5.33723815e-03 2.69643473e-05 9.99985756e-01 -1.33340868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.317628 meters 0.012359255285799283 Centerline is valid? [True, True] Translation: X:77.35, Y:-14.58, Z:-0.13 [[ 9.54619394e-01 2.97784167e-01 -5.13825332e-03 7.73469478e+01] [-2.97779855e-01 9.54633223e-01 1.60265655e-03 -1.45760317e+01] [ 5.38239307e-03 1.41300348e-07 9.99985515e-01 -1.33275036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.377628 meters 0.013038344208113718 Centerline is valid? [True, True] Translation: X:77.40, Y:-14.60, Z:-0.13 [[ 9.57498171e-01 2.88376809e-01 -6.00563407e-03 7.74029983e+01] [-2.88370723e-01 9.57517003e-01 1.87460770e-03 -1.46021470e+01] [ 6.29109013e-03 -6.30844053e-05 9.99980209e-01 -1.33972127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.437628 meters 0.015577914466080223 Centerline is valid? [True, True] Translation: X:77.46, Y:-14.63, Z:-0.14 [[ 9.60861973e-01 2.76939430e-01 -6.98726549e-03 7.74584963e+01] [-2.76930888e-01 9.60887364e-01 2.18099615e-03 -1.46288205e+01] [ 7.31797895e-03 -1.60646630e-04 9.99973210e-01 -1.35574717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.497628 meters 0.018180335090545702 Centerline is valid? [True, True] Translation: X:77.52, Y:-14.65, Z:-0.14 [[ 9.63227957e-01 2.68592800e-01 -7.05771836e-03 7.75150256e+01] [-2.68583860e-01 9.63253786e-01 2.20313924e-03 -1.46530919e+01] [ 7.39012127e-03 -2.26536071e-04 9.99972667e-01 -1.35082807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.557628 meters 0.021113961241919908 Centerline is valid? [True, True] Translation: X:77.57, Y:-14.68, Z:-0.13 [[ 9.66493857e-01 2.56644878e-01 -4.79900141e-03 7.75713785e+01] [-2.56640596e-01 9.66505748e-01 1.49816847e-03 -1.46766838e+01] [ 5.02275971e-03 -2.16352044e-04 9.99987362e-01 -1.32347286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.617628 meters 0.023301523899168116 Centerline is valid? [True, True] Translation: X:77.63, Y:-14.70, Z:-0.13 [[ 9.68064485e-01 2.50661515e-01 -4.46742126e-03 7.76292270e+01] [-2.50657740e-01 9.68074766e-01 1.39480913e-03 -1.46971352e+01] [ 4.67442276e-03 -2.30471460e-04 9.99989048e-01 -1.31754124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.677628 meters 0.02513158565631602 Centerline is valid? [True, True] Translation: X:77.69, Y:-14.71, Z:-0.13 [[ 9.68879369e-01 2.47499637e-01 -4.08626904e-03 7.76877149e+01] [-2.47496451e-01 9.68887960e-01 1.27587056e-03 -1.47139886e+01] [ 4.27491437e-03 -2.24827582e-04 9.99990837e-01 -1.30978376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.737628 meters 0.024558504675360412 Centerline is valid? [True, True] Translation: X:77.75, Y:-14.72, Z:-0.13 [[ 9.67777304e-01 2.51774798e-01 -4.06709285e-03 7.77489187e+01] [-2.51771678e-01 9.67785828e-01 1.27000142e-03 -1.47242720e+01] [ 4.25582917e-03 -2.05099759e-04 9.99990923e-01 -1.30807380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.797628 meters 0.02204122843948101 Centerline is valid? [True, True] Translation: X:77.81, Y:-14.73, Z:-0.13 [[ 9.65435663e-01 2.60623634e-01 -3.04984213e-03 7.78113779e+01] [-2.60621924e-01 9.65440472e-01 9.52472213e-04 -1.47292889e+01] [ 3.19267780e-03 -1.24694918e-04 9.99994896e-01 -1.30357380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.857628 meters 0.01721070482789669 Centerline is valid? [True, True] Translation: X:77.87, Y:-14.73, Z:-0.13 [[ 9.63176048e-01 2.68845685e-01 -3.72790130e-03 7.78748911e+01] [-2.68843191e-01 9.63183255e-01 1.16430606e-03 -1.47311123e+01] [ 3.90367077e-03 -1.19210833e-04 9.99992374e-01 -1.30680641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.917628 meters 0.015009405660052898 Centerline is valid? [True, True] Translation: X:77.94, Y:-14.74, Z:-0.13 [[ 9.61699307e-01 2.74062150e-01 -4.93771285e-03 7.79370948e+01] [-2.74057840e-01 9.61711974e-01 1.54236567e-03 -1.47377541e+01] [ 5.17136162e-03 -1.30073081e-04 9.99986620e-01 -1.33005536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.977628 meters 0.01546068755875625 Centerline is valid? [True, True] Translation: X:78.00, Y:-14.75, Z:-0.13 [[ 9.60853973e-01 2.76998184e-01 -5.62576365e-03 7.79964152e+01] [-2.76992630e-01 9.60870433e-01 1.75920737e-03 -1.47539830e+01] [ 5.89292720e-03 -1.32046323e-04 9.99982628e-01 -1.34186689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.037628 meters 0.013629793232872995 Centerline is valid? [True, True] Translation: X:78.06, Y:-14.76, Z:-0.13 [[ 9.59149083e-01 2.82855608e-01 -5.07368735e-03 7.80585215e+01] [-2.82851172e-01 9.59162498e-01 1.58643712e-03 -1.47608176e+01] [ 5.31522327e-03 -8.65312983e-05 9.99985870e-01 -1.32412033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.097628 meters 0.013326331606587668 Centerline is valid? [True, True] Translation: X:78.12, Y:-14.77, Z:-0.13 [[ 9.58426392e-01 2.85320918e-01 -3.29000796e-03 7.81194514e+01] [-2.85319063e-01 9.58432038e-01 1.02990526e-03 -1.47698764e+01] [ 3.44710255e-03 -4.83863970e-05 9.99994058e-01 -1.32058361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.157628 meters 0.013575336444751788 Centerline is valid? [True, True] Translation: X:78.18, Y:-14.78, Z:-0.13 [[ 9.58673335e-01 2.84501192e-01 -2.12307171e-03 7.81796795e+01] [-2.84500416e-01 9.58675686e-01 6.65410655e-04 -1.47831645e+01] [ 2.22464735e-03 -3.38966683e-05 9.99997525e-01 -1.31986885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.217628 meters 0.013967577375643267 Centerline is valid? [True, True] Translation: X:78.24, Y:-14.80, Z:-0.13 [[ 9.58962806e-01 2.83523461e-01 -2.18700725e-03 7.82398421e+01] [-2.83522634e-01 9.58965300e-01 6.85978722e-04 -1.47997082e+01] [ 2.29175513e-03 -3.77620234e-05 9.99997373e-01 -1.31423961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.27762799999999 meters 0.01474963042848713 Centerline is valid? [True, True] Translation: X:78.30, Y:-14.81, Z:-0.13 [[ 9.59309276e-01 2.82349167e-01 -2.15906090e-03 7.82993028e+01] [-2.82348357e-01 9.59311704e-01 6.77703897e-04 -1.48142131e+01] [ 2.26256152e-03 -4.05203383e-05 9.99997440e-01 -1.31244255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.337628 meters 0.014446747083604354 Centerline is valid? [True, True] Translation: X:78.36, Y:-14.83, Z:-0.13 [[ 9.58808559e-01 2.84035613e-01 -3.14937065e-03 7.83597097e+01] [-2.84033895e-01 9.58813730e-01 9.89201557e-04 -1.48284195e+01] [ 3.30062829e-03 -5.39269046e-05 9.99994551e-01 -1.31872467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.397628 meters 0.014576447451126599 Centerline is valid? [True, True] Translation: X:78.42, Y:-14.85, Z:-0.13 [[ 9.58573141e-01 2.84818705e-01 -3.97971298e-03 7.84205055e+01] [-2.84815965e-01 9.58581400e-01 1.25110048e-03 -1.48450571e+01] [ 4.17121566e-03 -6.57855255e-05 9.99991298e-01 -1.33751916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.457628 meters 0.013820776501902991 Centerline is valid? [True, True] Translation: X:78.48, Y:-14.86, Z:-0.14 [[ 9.58722913e-01 2.84261212e-01 -6.77790098e-03 7.84816553e+01] [-2.84253239e-01 9.58746864e-01 2.13224843e-03 -1.48584672e+01] [ 7.10440684e-03 -1.17595111e-04 9.99974756e-01 -1.36096146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.517628 meters 0.014033415251451882 Centerline is valid? [True, True] Translation: X:78.54, Y:-14.88, Z:-0.14 [[ 9.58880044e-01 2.83706060e-01 -7.74168841e-03 7.85408456e+01] [-2.83695624e-01 9.58911285e-01 2.43748213e-03 -1.48775606e+01] [ 8.11512083e-03 -1.40969843e-04 9.99967062e-01 -1.36149733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.577628 meters 0.014005310696894318 Centerline is valid? [True, True] Translation: X:78.60, Y:-14.90, Z:-0.13 [[ 9.58550844e-01 2.84839521e-01 -6.83563622e-03 7.85989631e+01] [-2.84831407e-01 9.58575210e-01 2.15311944e-03 -1.48959638e+01] [ 7.16576494e-03 -1.16870573e-04 9.99974319e-01 -1.34331439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.63762799999999 meters 0.01286387214321113 Centerline is valid? [True, True] Translation: X:78.66, Y:-14.91, Z:-0.13 [[ 9.57471226e-01 2.88491888e-01 -4.61316122e-03 7.86592760e+01] [-2.88488228e-01 9.57482337e-01 1.45461477e-03 -1.49112000e+01] [ 4.83666495e-03 -6.19090828e-05 9.99988301e-01 -1.31587540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.697628 meters 0.012458724256267973 Centerline is valid? [True, True] Translation: X:78.72, Y:-14.93, Z:-0.13 [[ 9.56762285e-01 2.90864373e-01 -1.96113994e-03 7.87191524e+01] [-2.90863715e-01 9.56764295e-01 6.19174229e-04 -1.49285789e+01] [ 2.05644440e-03 -2.19781015e-05 9.99997885e-01 -1.30597591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.757628 meters 0.012397332418657873 Centerline is valid? [True, True] Translation: X:78.78, Y:-14.95, Z:-0.13 [[ 9.56838449e-01 2.90619839e-01 -5.39533317e-04 7.87784740e+01] [-2.90619789e-01 9.56838601e-01 1.70900146e-04 -1.49481410e+01] [ 5.65913277e-04 -6.72477133e-06 9.99999840e-01 -1.29779651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.817628 meters 0.01305063459923972 Centerline is valid? [True, True] Translation: X:78.84, Y:-14.97, Z:-0.13 [[ 9.57750873e-01 2.87599001e-01 2.82395746e-04 7.88352594e+01] [-2.87598987e-01 9.57750915e-01 -8.88523426e-05 -1.49714778e+01] [-2.96018629e-04 3.88167806e-06 9.99999956e-01 -1.29101007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.877628 meters 0.013639775484401316 Centerline is valid? [True, True] Translation: X:78.89, Y:-14.99, Z:-0.13 [[ 9.58550521e-01 2.84922602e-01 -9.25770991e-05 7.88926321e+01] [-2.84922601e-01 9.58550526e-01 2.96854670e-05 -1.49942761e+01] [ 9.71978875e-05 -2.07771198e-06 9.99999995e-01 -1.29840952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.937628 meters 0.014880410166166126 Centerline is valid? [True, True] Translation: X:78.95, Y:-15.02, Z:-0.13 [[ 9.59817497e-01 2.80608834e-01 -3.00918234e-03 7.89498447e+01] [-2.80607227e-01 9.59822211e-01 9.52230011e-04 -1.50197129e+01] [ 3.15548420e-03 -6.95687141e-05 9.99995019e-01 -1.32957752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.997628 meters 0.01604061956924231 Centerline is valid? [True, True] Translation: X:79.01, Y:-15.04, Z:-0.14 [[ 9.60498186e-01 2.78206718e-01 -6.65254114e-03 7.90067092e+01] [-2.78198793e-01 9.60521209e-01 2.10691114e-03 -1.50443938e+01] [ 6.97606369e-03 -1.72955407e-04 9.99975652e-01 -1.36656433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.057628 meters 0.018070545886192477 Centerline is valid? [True, True] Translation: X:79.06, Y:-15.07, Z:-0.14 [[ 9.60578457e-01 2.77881056e-01 -8.43485515e-03 7.90644372e+01] [-2.77868285e-01 9.60615463e-01 2.67358232e-03 -1.50674724e+01] [ 8.84559017e-03 -2.24406853e-04 9.99960852e-01 -1.39823493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.117628 meters 0.015683928429682786 Centerline is valid? [True, True] Translation: X:79.12, Y:-15.09, Z:-0.14 [[ 9.60084015e-01 2.79630510e-01 -6.74258977e-03 7.91227671e+01] [-2.79622379e-01 9.60107676e-01 2.13907841e-03 -1.50884543e+01] [ 7.07176378e-03 -1.68315993e-04 9.99974981e-01 -1.36735468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.177628 meters 0.01365483630562438 Centerline is valid? [True, True] Translation: X:79.18, Y:-15.11, Z:-0.13 [[ 9.58409246e-01 2.85352225e-01 -5.08172815e-03 7.91814194e+01] [-2.85347687e-01 9.58422714e-01 1.61224978e-03 -1.51077875e+01] [ 5.33050275e-03 -9.51357278e-05 9.99985788e-01 -1.34957668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.237628 meters 0.012354644393360217 Centerline is valid? [True, True] Translation: X:79.24, Y:-15.13, Z:-0.13 [[ 9.55443691e-01 2.95148139e-01 -3.86376256e-03 7.92384851e+01] [-2.95145595e-01 9.55451503e-01 1.22586899e-03 -1.51268050e+01] [ 4.05345070e-03 -3.08762924e-05 9.99991784e-01 -1.34673099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.297628 meters 0.012033912514971393 Centerline is valid? [True, True] Translation: X:79.30, Y:-15.14, Z:-0.13 [[ 9.51798602e-01 3.06711076e-01 -2.78157463e-03 7.92979521e+01] [-3.06709803e-01 9.51802666e-01 8.83690872e-04 -1.51449846e+01] [ 2.91854793e-03 1.20404704e-05 9.99995741e-01 -1.34901002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.357628 meters 0.012668018914139562 Centerline is valid? [True, True] Translation: X:79.36, Y:-15.17, Z:-0.13 [[ 9.49931661e-01 3.12449123e-01 -2.32055596e-03 7.93563389e+01] [-3.12448252e-01 9.49934495e-01 7.37932444e-04 -1.51662742e+01] [ 2.43494250e-03 2.40682619e-05 9.99997035e-01 -1.34043418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.417628 meters 0.013421025408944286 Centerline is valid? [True, True] Translation: X:79.41, Y:-15.19, Z:-0.13 [[ 9.48786589e-01 3.15901600e-01 -3.19189017e-03 7.94128092e+01] [-3.15899970e-01 9.48791957e-01 1.01561889e-03 -1.51918101e+01] [ 3.34927535e-03 4.47124240e-05 9.99994390e-01 -1.34839208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.477628 meters 0.013112916097780088 Centerline is valid? [True, True] Translation: X:79.47, Y:-15.22, Z:-0.14 [[ 9.49204821e-01 3.14637161e-01 -3.69656479e-03 7.94688824e+01] [-3.14634962e-01 9.49212018e-01 1.17718425e-03 -1.52212405e+01] [ 3.87920963e-03 4.56795547e-05 9.99992475e-01 -1.36886041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.537628 meters 0.012781219438928241 Centerline is valid? [True, True] Translation: X:79.53, Y:-15.25, Z:-0.14 [[ 9.50004403e-01 3.12207334e-01 -4.26791537e-03 7.95252498e+01] [-3.12204373e-01 9.50013989e-01 1.36024104e-03 -1.52493802e+01] [ 4.47925653e-03 4.02268658e-05 9.99989967e-01 -1.37553020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.597628 meters 0.012541396360538548 Centerline is valid? [True, True] Translation: X:79.58, Y:-15.28, Z:-0.14 [[ 9.51603681e-01 3.07289183e-01 -4.87775718e-03 7.95797208e+01] [-3.07285244e-01 9.51616182e-01 1.55587170e-03 -1.52819853e+01] [ 5.11985520e-03 1.82895706e-05 9.99986893e-01 -1.39536064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.657628 meters 0.012559785139261153 Centerline is valid? [True, True] Translation: X:79.64, Y:-15.31, Z:-0.14 [[ 9.52546874e-01 3.04344592e-01 -5.36866440e-03 7.96362886e+01] [-3.04339765e-01 9.52562003e-01 1.71414443e-03 -1.53127799e+01] [ 5.63567630e-03 1.09513951e-06 9.99984119e-01 -1.40167955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.717628 meters 0.012897231080298449 Centerline is valid? [True, True] Translation: X:79.70, Y:-15.33, Z:-0.14 [[ 9.50304047e-01 3.11280299e-01 -5.17633965e-03 7.96963576e+01] [-3.11275907e-01 9.50318144e-01 1.65410692e-03 -1.53285273e+01] [ 5.43406038e-03 3.93653208e-05 9.99985235e-01 -1.39365486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.77762799999999 meters 0.013182945122050777 Centerline is valid? [True, True] Translation: X:79.76, Y:-15.35, Z:-0.14 [[ 9.49799327e-01 3.12793719e-01 -6.42861838e-03 7.97563769e+01] [-3.12786968e-01 9.49821081e-01 2.05589558e-03 -1.53456073e+01] [ 6.74910849e-03 5.80998107e-05 9.99977223e-01 -1.41305269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.837628 meters 0.012697086055272672 Centerline is valid? [True, True] Translation: X:79.81, Y:-15.37, Z:-0.14 [[ 9.51527322e-01 3.07494015e-01 -6.57156015e-03 7.98142433e+01] [-3.07486822e-01 9.51550015e-01 2.10336593e-03 -1.53683616e+01] [ 6.89994059e-03 1.92579886e-05 9.99976195e-01 -1.42145075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.897628 meters 0.012657912789723535 Centerline is valid? [True, True] Translation: X:79.87, Y:-15.39, Z:-0.14 [[ 9.53234961e-01 3.02203395e-01 -4.02697969e-03 7.98721146e+01] [-3.02200641e-01 9.53243467e-01 1.29021023e-03 -1.53897509e+01] [ 4.22859799e-03 -1.29176542e-05 9.99991059e-01 -1.39266140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.957628 meters 0.013307009188932534 Centerline is valid? [True, True] Translation: X:79.93, Y:-15.41, Z:-0.14 [[ 9.55581410e-01 2.94719314e-01 -2.16665744e-03 7.99296968e+01] [-2.94718496e-01 9.55583866e-01 6.94977761e-04 -1.54130393e+01] [ 2.27524626e-03 -2.55538081e-05 9.99997411e-01 -1.36514766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.017628 meters 0.015655251390912277 Centerline is valid? [True, True] Translation: X:79.99, Y:-15.43, Z:-0.14 [[ 9.58873206e-01 2.83832222e-01 -1.20192934e-03 7.99872631e+01] [-2.83831962e-01 9.58873959e-01 3.85556250e-04 -1.54341808e+01] [ 1.26193203e-03 -2.85535964e-05 9.99999203e-01 -1.37575959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.077628 meters 0.01834016325000249 Centerline is valid? [True, True] Translation: X:80.04, Y:-15.46, Z:-0.14 [[ 9.61507962e-01 2.74771773e-01 -1.70659471e-03 8.00447138e+01] [-2.74771233e-01 9.61509475e-01 5.47331312e-04 -1.54567921e+01] [ 1.79129818e-03 -5.73402803e-05 9.99998394e-01 -1.37841402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.13762799999999 meters 0.01792211232379618 Centerline is valid? [True, True] Translation: X:80.11, Y:-15.47, Z:-0.14 [[ 9.61663753e-01 2.74228411e-01 -1.26705942e-03 8.01052886e+01] [-2.74228112e-01 9.61664586e-01 4.07107348e-04 -1.54723042e+01] [ 1.33012657e-03 -4.40370678e-05 9.99999114e-01 -1.38195084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.197628 meters 0.01639810431532344 Centerline is valid? [True, True] Translation: X:80.17, Y:-15.48, Z:-0.14 [[ 9.59978568e-01 2.80072225e-01 -8.35175111e-04 8.01653705e+01] [-2.80072097e-01 9.59978931e-01 2.68155886e-04 -1.54849386e+01] [ 8.76853526e-04 -2.35146583e-05 9.99999615e-01 -1.38313759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.257628 meters 0.014810857790003297 Centerline is valid? [True, True] Translation: X:80.23, Y:-15.49, Z:-0.14 [[ 9.55048989e-01 2.96445348e-01 -1.25900075e-03 8.02281825e+01] [-2.96445072e-01 9.55049818e-01 4.04216737e-04 -1.54899654e+01] [ 1.32223661e-03 -1.28222172e-05 9.99999126e-01 -1.41314710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.317628 meters 0.01264156180854522 Centerline is valid? [True, True] Translation: X:80.29, Y:-15.50, Z:-0.14 [[ 9.50409309e-01 3.11001011e-01 -7.18308744e-04 8.02900362e+01] [-3.11000925e-01 9.50409581e-01 2.31218571e-04 -1.54994407e+01] [ 7.54596722e-04 3.64240166e-06 9.99999715e-01 -1.39523985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.377628 meters 0.013452360850927072 Centerline is valid? [True, True] Translation: X:80.35, Y:-15.51, Z:-0.14 [[ 9.48121087e-01 3.17908020e-01 9.46350931e-04 8.03504286e+01] [-3.17907875e-01 9.48121559e-01 -3.03882042e-04 -1.55140333e+01] [-9.93862259e-04 -1.27354420e-05 9.99999506e-01 -1.39554379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.437628 meters 0.013621974958715855 Centerline is valid? [True, True] Translation: X:80.41, Y:-15.53, Z:-0.14 [[ 9.47903135e-01 3.18554706e-01 1.59530666e-03 8.04103006e+01] [-3.18554294e-01 9.47904478e-01 -5.13008953e-04 -1.55346908e+01] [-1.67561975e-03 -2.19089926e-05 9.99998596e-01 -1.38773620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.497628 meters 0.015465270494070834 Centerline is valid? [True, True] Translation: X:80.47, Y:-15.56, Z:-0.14 [[ 9.49194639e-01 3.14687557e-01 1.13059830e-03 8.04672185e+01] [-3.14687347e-01 9.49195313e-01 -3.63795269e-04 -1.55611333e+01] [-1.18764045e-03 -1.04724609e-05 9.99999295e-01 -1.40131932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.557628 meters 0.012424851842284243 Centerline is valid? [True, True] Translation: X:80.52, Y:-15.59, Z:-0.14 [[ 9.51657947e-01 3.07159193e-01 6.17515605e-04 8.05227678e+01] [-3.07159129e-01 9.51658148e-01 -1.98675430e-04 -1.55894814e+01] [-6.48688741e-04 -6.04503607e-07 9.99999790e-01 -1.38394727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.617628 meters 0.013421575054959322 Centerline is valid? [True, True] Translation: X:80.58, Y:-15.62, Z:-0.14 [[ 9.54554530e-01 2.98032399e-01 -1.52914803e-03 8.05772145e+01] [-2.98031991e-01 9.54555755e-01 4.93827791e-04 -1.56203998e+01] [ 1.60683374e-03 -1.56505229e-05 9.99998709e-01 -1.40714844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.677628 meters 0.013719037282511327 Centerline is valid? [True, True] Translation: X:80.64, Y:-15.64, Z:-0.14 [[ 9.55156588e-01 2.96091593e-01 -2.37947731e-03 8.06351841e+01] [-2.96090596e-01 9.55159551e-01 7.68888671e-04 -1.56417460e+01] [ 2.50044195e-03 -2.98682249e-05 9.99996873e-01 -1.41216821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.737628 meters 0.013198303197029288 Centerline is valid? [True, True] Translation: X:80.70, Y:-15.66, Z:-0.14 [[ 9.54339572e-01 2.98701097e-01 -3.69263988e-03 8.06951965e+01] [-2.98698713e-01 9.54346716e-01 1.19399465e-03 -1.56579325e+01] [ 3.88070625e-03 -3.64895694e-05 9.99992469e-01 -1.42319650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.797628 meters 0.013633330199334808 Centerline is valid? [True, True] Translation: X:80.75, Y:-15.68, Z:-0.14 [[ 9.54935751e-01 2.96763542e-01 -5.39548164e-03 8.07543685e+01] [-2.96758414e-01 9.54950991e-01 1.74585855e-03 -1.56776936e+01] [ 5.67052771e-03 -6.60281745e-05 9.99983920e-01 -1.44378269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.857628 meters 0.014422919325396029 Centerline is valid? [True, True] Translation: X:80.81, Y:-15.70, Z:-0.14 [[ 9.56258273e-01 2.92479911e-01 -5.06139576e-03 8.08124808e+01] [-2.92475336e-01 9.56271663e-01 1.63828942e-03 -1.56985984e+01] [ 5.31923609e-03 -8.62943912e-05 9.99985849e-01 -1.44113722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.917628 meters 0.016732702211512185 Centerline is valid? [True, True] Translation: X:80.87, Y:-15.72, Z:-0.14 [[ 9.59659675e-01 2.81140719e-01 -3.63377192e-03 8.08697312e+01] [-2.81138278e-01 9.59666549e-01 1.17664054e-03 -1.57216921e+01] [ 3.81801093e-03 -1.07582098e-04 9.99992706e-01 -1.42323147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.977628 meters 0.019879626139445068 Centerline is valid? [True, True] Translation: X:80.93, Y:-15.75, Z:-0.14 [[ 9.62874445e-01 2.69948370e-01 -8.25294469e-04 8.09267351e+01] [-2.69948240e-01 9.62874798e-01 2.67313520e-04 -1.57455150e+01] [ 8.66816094e-04 -3.46025677e-05 9.99999624e-01 -1.40223375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.037628 meters 0.02223909208764695 Centerline is valid? [True, True] Translation: X:80.98, Y:-15.77, Z:-0.14 [[ 9.64591334e-01 2.63745809e-01 1.30629914e-03 8.09848835e+01] [-2.63745478e-01 9.64592216e-01 -4.22977837e-04 -1.57654390e+01] [-1.37160461e-03 6.34702662e-05 9.99999057e-01 -1.38709439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.097628 meters 0.021239768587125646 Centerline is valid? [True, True] Translation: X:81.05, Y:-15.78, Z:-0.14 [[ 9.64130693e-01 2.65421284e-01 1.88355736e-03 8.10458868e+01] [-2.65420598e-01 9.64132529e-01 -6.10046915e-04 -1.57783838e+01] [-1.97791836e-03 8.82300351e-05 9.99998040e-01 -1.39521232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.157628 meters 0.02058030696779963 Centerline is valid? [True, True] Translation: X:81.10, Y:-15.79, Z:-0.14 [[ 9.62802981e-01 2.70200954e-01 1.36543665e-03 8.11048910e+01] [-2.70200597e-01 9.62803948e-01 -4.42549435e-04 -1.57929432e+01] [-1.43422508e-03 5.71461171e-05 9.99998970e-01 -1.40593085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.217628 meters 0.016885585947283916 Centerline is valid? [True, True] Translation: X:81.17, Y:-15.80, Z:-0.14 [[ 9.59756434e-01 2.80832776e-01 -7.34536224e-04 8.11670248e+01] [-2.80832676e-01 9.59756715e-01 2.38185533e-04 -1.58003786e+01] [ 7.71866378e-04 -2.23183243e-05 9.99999702e-01 -1.43127885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.27762799999999 meters 0.014463769798495393 Centerline is valid? [True, True] Translation: X:81.23, Y:-15.81, Z:-0.15 [[ 9.56502149e-01 2.91717471e-01 -2.13432193e-03 8.12284043e+01] [-2.91716653e-01 9.56504530e-01 6.91991405e-04 -1.58103763e+01] [ 2.24335457e-03 -3.92740174e-05 9.99997483e-01 -1.46057231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.337628 meters 0.013048194542203552 Centerline is valid? [True, True] Translation: X:81.29, Y:-15.82, Z:-0.15 [[ 9.53972660e-01 2.99881755e-01 -2.66395090e-03 8.12888667e+01] [-2.99880511e-01 9.53976379e-01 8.64009532e-04 -1.58238975e+01] [ 2.80044693e-03 -2.53745122e-05 9.99996078e-01 -1.47283019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.397628 meters 0.012831236400735654 Centerline is valid? [True, True] Translation: X:81.35, Y:-15.84, Z:-0.15 [[ 9.53279790e-01 3.02079185e-01 -2.40997354e-03 8.13474073e+01] [-3.02078172e-01 9.53282836e-01 7.82605157e-04 -1.58435042e+01] [ 2.53379514e-03 -1.80412788e-05 9.99996790e-01 -1.47611326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.457628 meters 0.013054438821481842 Centerline is valid? [True, True] Translation: X:81.41, Y:-15.87, Z:-0.15 [[ 9.53668948e-01 3.00848645e-01 -2.37284903e-03 8.14050880e+01] [-3.00847659e-01 9.53671900e-01 7.70715219e-04 -1.58653966e+01] [ 2.49478808e-03 -2.11410960e-05 9.99996888e-01 -1.47658007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.517628 meters 0.014099621509060125 Centerline is valid? [True, True] Translation: X:81.46, Y:-15.89, Z:-0.14 [[ 9.55229505e-01 2.95864341e-01 9.40914877e-04 8.14599995e+01] [-2.95864183e-01 9.55229968e-01 -3.05360707e-04 -1.58934733e+01] [-9.89135432e-04 1.33065450e-05 9.99999511e-01 -1.42866739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.577628 meters 0.014993325978086553 Centerline is valid? [True, True] Translation: X:81.52, Y:-15.92, Z:-0.14 [[ 9.56837669e-01 2.90616629e-01 1.91057630e-03 8.15167594e+01] [-2.90615968e-01 9.56839576e-01 -6.20872784e-04 -1.59189288e+01] [-2.00855097e-03 3.88304859e-05 9.99997982e-01 -1.41838956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.63762799999999 meters 0.015215176674594882 Centerline is valid? [True, True] Translation: X:81.57, Y:-15.94, Z:-0.15 [[ 9.57584651e-01 2.88151093e-01 -7.64149665e-04 8.15744231e+01] [-2.88150986e-01 9.57584956e-01 2.48978564e-04 -1.59408498e+01] [ 8.03481669e-04 -1.82275722e-05 9.99999677e-01 -1.46214458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.697628 meters 0.015422280859556083 Centerline is valid? [True, True] Translation: X:81.63, Y:-15.96, Z:-0.15 [[ 9.57652259e-01 2.87903786e-01 -3.68252603e-03 8.16325835e+01] [-2.87901301e-01 9.57659335e-01 1.19934435e-03 -1.59636145e+01] [ 3.87190121e-03 -8.83507897e-05 9.99992500e-01 -1.48832519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.757628 meters 0.01814678299598967 Centerline is valid? [True, True] Translation: X:81.69, Y:-15.98, Z:-0.15 [[ 9.57091254e-01 2.89687048e-01 -7.59906873e-03 8.16917555e+01] [-2.89676508e-01 9.57121406e-01 2.47687047e-03 -1.59834688e+01] [ 7.99074864e-03 -1.69319370e-04 9.99968059e-01 -1.54231479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.817628 meters 0.01544969527036949 Centerline is valid? [True, True] Translation: X:81.75, Y:-16.00, Z:-0.15 [[ 9.56704124e-01 2.90969187e-01 -7.35874721e-03 8.17510225e+01] [-2.90959327e-01 9.56732412e-01 2.40047116e-03 -1.60026218e+01] [ 7.73881511e-03 -1.55444520e-04 9.99970043e-01 -1.52161660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.877628 meters 0.015646668460686238 Centerline is valid? [True, True] Translation: X:81.81, Y:-16.02, Z:-0.15 [[ 9.56636340e-01 2.91192715e-01 -7.32905493e-03 8.18102019e+01] [-2.91182923e-01 9.56664402e-01 2.39308956e-03 -1.60241312e+01] [ 7.70829620e-03 -1.55220803e-04 9.99970279e-01 -1.50747984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.937628 meters 0.016020699474563756 Centerline is valid? [True, True] Translation: X:81.87, Y:-16.04, Z:-0.15 [[ 9.57217502e-01 2.89347811e-01 -3.53524505e-03 8.18689344e+01] [-2.89345516e-01 9.57224027e-01 1.15547157e-03 -1.60443767e+01] [ 3.71835468e-03 -8.31303068e-05 9.99993083e-01 -1.47606806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.997628 meters 0.016187235940777533 Centerline is valid? [True, True] Translation: X:81.93, Y:-16.06, Z:-0.15 [[ 9.58067815e-01 2.86541500e-01 -1.77933288e-04 8.19285239e+01] [-2.86541494e-01 9.58067831e-01 5.86184903e-05 -1.60612209e+01] [ 1.87268789e-04 -5.17521886e-06 9.99999982e-01 -1.46089364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.057628 meters 0.01689529458128776 Centerline is valid? [True, True] Translation: X:81.99, Y:-16.08, Z:-0.15 [[ 9.58688470e-01 2.84456654e-01 9.10799531e-04 8.19869582e+01] [-2.84456500e-01 9.58688902e-01 -2.97644344e-04 -1.60810692e+01] [-9.57840316e-04 2.62653543e-05 9.99999541e-01 -1.45047101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.117628 meters 0.017744100320347355 Centerline is valid? [True, True] Translation: X:82.05, Y:-16.10, Z:-0.14 [[ 9.59434775e-01 2.81930329e-01 4.49903384e-04 8.20464686e+01] [-2.81930291e-01 9.59434880e-01 -1.47151485e-04 -1.60996574e+01] [-4.73139466e-04 1.43408597e-05 9.99999888e-01 -1.43993925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.177628 meters 0.01757668537803517 Centerline is valid? [True, True] Translation: X:82.11, Y:-16.11, Z:-0.15 [[ 9.59110914e-01 2.83020641e-01 -2.36050998e-03 8.21076049e+01] [-2.83019594e-01 9.59113816e-01 7.73091432e-04 -1.61142042e+01] [ 2.48279856e-03 -7.34098541e-05 9.99996915e-01 -1.47359921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.237628 meters 0.01659478444365413 Centerline is valid? [True, True] Translation: X:82.17, Y:-16.13, Z:-0.15 [[ 9.58171860e-01 2.86132707e-01 -5.89587166e-03 8.21685559e+01] [-2.86126228e-01 9.58189985e-01 1.93261927e-03 -1.61275513e+01] [ 6.20235076e-03 -1.64817885e-04 9.99980752e-01 -1.50969444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.297628 meters 0.016409572754169276 Centerline is valid? [True, True] Translation: X:82.23, Y:-16.14, Z:-0.15 [[ 9.57463397e-01 2.88498257e-01 -5.70951253e-03 8.22275011e+01] [-2.88492214e-01 9.57480409e-01 1.87293692e-03 -1.61437230e+01] [ 6.00708543e-03 -1.46118631e-04 9.99981947e-01 -1.51433672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.357628 meters 0.01842756918690397 Centerline is valid? [True, True] Translation: X:82.29, Y:-16.16, Z:-0.15 [[ 9.57137229e-01 2.89585770e-01 -5.32985213e-03 8.22871164e+01] [-2.89580513e-01 9.57152059e-01 1.74992412e-03 -1.61618808e+01] [ 5.60823206e-03 -1.31496205e-04 9.99984265e-01 -1.53585132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.417628 meters 0.014761700867642774 Centerline is valid? [True, True] Translation: X:82.35, Y:-16.18, Z:-0.15 [[ 9.55769976e-01 2.94098262e-01 -3.15678170e-03 8.23458030e+01] [-2.94096443e-01 9.55775187e-01 1.03637703e-03 -1.61802308e+01] [ 3.32197030e-03 -6.21397861e-05 9.99994480e-01 -1.49498800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.477628 meters 0.01359583988575762 Centerline is valid? [True, True] Translation: X:82.40, Y:-16.20, Z:-0.15 [[ 9.53917994e-01 3.00060122e-01 -2.09389511e-03 8.24040875e+01] [-3.00059336e-01 9.53920291e-01 6.87529592e-04 -1.61977536e+01] [ 2.20370925e-03 -2.75540740e-05 9.99997571e-01 -1.48758983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.537628 meters 0.012698004973674872 Centerline is valid? [True, True] Translation: X:82.46, Y:-16.22, Z:-0.15 [[ 9.52003248e-01 3.06068856e-01 -3.41636608e-03 8.24637165e+01] [-3.06066797e-01 9.52009378e-01 1.12300921e-03 -1.62156885e+01] [ 3.59613069e-03 -2.34721963e-05 9.99993534e-01 -1.50228282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.597628 meters 0.012582191868986395 Centerline is valid? [True, True] Translation: X:82.52, Y:-16.24, Z:-0.15 [[ 9.51733864e-01 3.06899539e-01 -3.91482598e-03 8.25226667e+01] [-3.06896837e-01 9.51741915e-01 1.28807771e-03 -1.62373084e+01] [ 4.12121443e-03 -2.44594611e-05 9.99991507e-01 -1.51307093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.657628 meters 0.013846337383867436 Centerline is valid? [True, True] Translation: X:82.58, Y:-16.26, Z:-0.15 [[ 9.53802230e-01 3.00412883e-01 -3.66151158e-03 8.25775460e+01] [-3.00410472e-01 9.53809256e-01 1.20447194e-03 -1.62649708e+01] [ 3.85422253e-03 -4.88716015e-05 9.99992571e-01 -1.53626242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.717628 meters 0.015325342282437725 Centerline is valid? [True, True] Translation: X:82.63, Y:-16.29, Z:-0.15 [[ 9.56920130e-01 2.90342393e-01 -2.27137071e-03 8.26324569e+01] [-2.90341436e-01 9.56922824e-01 7.47622155e-04 -1.62933992e+01] [ 2.39059288e-03 -5.59416569e-05 9.99997141e-01 -1.50588517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.77762799999999 meters 0.01576897260308086 Centerline is valid? [True, True] Translation: X:82.69, Y:-16.31, Z:-0.15 [[ 9.57120120e-01 2.89687735e-01 -1.44666149e-03 8.26916945e+01] [-2.89687345e-01 9.57121212e-01 4.76874352e-04 -1.63121704e+01] [ 1.52277505e-03 -3.73465110e-05 9.99998840e-01 -1.50344944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.837628 meters 0.015413021733477705 Centerline is valid? [True, True] Translation: X:82.75, Y:-16.33, Z:-0.15 [[ 9.56652631e-01 2.91214375e-01 -3.15159169e-03 8.27509240e+01] [-2.91212530e-01 9.56657819e-01 1.03923714e-03 -1.63297124e+01] [ 3.31763562e-03 -7.64059590e-05 9.99994494e-01 -1.52143680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.897628 meters 0.015235210286228198 Centerline is valid? [True, True] Translation: X:82.81, Y:-16.35, Z:-0.15 [[ 9.56272978e-01 2.92450329e-01 -3.84659037e-03 8.28108987e+01] [-2.92447588e-01 9.56280710e-01 1.26937351e-03 -1.63473901e+01] [ 4.04964887e-03 -8.89415156e-05 9.99991796e-01 -1.53688204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.957628 meters 0.015815614152345437 Centerline is valid? [True, True] Translation: X:82.87, Y:-16.36, Z:-0.16 [[ 9.55726070e-01 2.94215821e-01 -4.97296716e-03 8.28715660e+01] [-2.94211257e-01 9.55739002e-01 1.64232502e-03 -1.63617975e+01] [ 5.23605667e-03 -1.06509922e-04 9.99986286e-01 -1.56060325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.017628 meters 0.01491564188856986 Centerline is valid? [True, True] Translation: X:82.93, Y:-16.38, Z:-0.16 [[ 9.54651998e-01 2.97677029e-01 -5.28670098e-03 8.29301844e+01] [-2.97671916e-01 9.54666632e-01 1.74720502e-03 -1.63796797e+01] [ 5.56713981e-03 -9.42703536e-05 9.99984499e-01 -1.55269407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.077628 meters 0.01351158466865495 Centerline is valid? [True, True] Translation: X:82.99, Y:-16.39, Z:-0.16 [[ 9.53291850e-01 3.02012975e-01 -4.77624153e-03 8.29914755e+01] [-3.02008855e-01 9.53303813e-01 1.57874815e-03 -1.63939378e+01] [ 5.03001169e-03 -6.25405054e-05 9.99987347e-01 -1.55598743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.13762799999999 meters 0.012982982998333602 Centerline is valid? [True, True] Translation: X:83.05, Y:-16.41, Z:-0.16 [[ 9.52316199e-01 3.05100172e-01 -2.78248074e-03 8.30506390e+01] [-3.05098785e-01 9.52320263e-01 9.20296631e-04 -1.64105772e+01] [ 2.93059545e-03 -2.74818953e-05 9.99995705e-01 -1.55643475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.197628 meters 0.012331936273719226 Centerline is valid? [True, True] Translation: X:83.11, Y:-16.43, Z:-0.15 [[ 9.50925964e-01 3.09416897e-01 -9.97824120e-04 8.31108683e+01] [-3.09416721e-01 9.50926487e-01 3.30183028e-04 -1.64281106e+01] [ 1.05102159e-03 -5.23614619e-06 9.99999448e-01 -1.54140163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.257628 meters 0.01218513014702845 Centerline is valid? [True, True] Translation: X:83.17, Y:-16.45, Z:-0.15 [[ 9.49630101e-01 3.13369559e-01 -1.48004726e-03 8.31688787e+01] [-3.13369175e-01 9.49631255e-01 4.90265986e-04 -1.64461218e+01] [ 1.55913357e-03 -1.77014833e-06 9.99998785e-01 -1.54961788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.317628 meters 0.012239710511775333 Centerline is valid? [True, True] Translation: X:83.23, Y:-16.47, Z:-0.16 [[ 9.48331229e-01 3.17277934e-01 -1.61047815e-03 8.32285621e+01] [-3.17277484e-01 9.48332596e-01 5.34093974e-04 -1.64656451e+01] [ 1.69672515e-03 4.47045978e-06 9.99998561e-01 -1.55020901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.377628 meters 0.012547447556991836 Centerline is valid? [True, True] Translation: X:83.29, Y:-16.49, Z:-0.16 [[ 9.47433018e-01 3.19941119e-01 -2.89084811e-03 8.32863719e+01] [-3.19939682e-01 9.47437428e-01 9.58948795e-04 -1.64858171e+01] [ 3.04570485e-03 1.63572763e-05 9.99995362e-01 -1.57760633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.437628 meters 0.012701205679430814 Centerline is valid? [True, True] Translation: X:83.34, Y:-16.51, Z:-0.16 [[ 9.46603166e-01 3.22373886e-01 -4.18604820e-03 8.33448079e+01] [-3.22370893e-01 9.46612421e-01 1.38960508e-03 -1.65059377e+01] [ 4.41053762e-03 3.40555280e-05 9.99990273e-01 -1.58980433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.49762799999999 meters 0.012828786411453555 Centerline is valid? [True, True] Translation: X:83.40, Y:-16.53, Z:-0.16 [[ 9.46233834e-01 3.23445112e-01 -4.97897767e-03 8.34031093e+01] [-3.23440886e-01 9.46246933e-01 1.65412843e-03 -1.65273567e+01] [ 5.24636210e-03 4.52126587e-05 9.99986237e-01 -1.59674996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.557628 meters 0.012378191060463003 Centerline is valid? [True, True] Translation: X:83.46, Y:-16.56, Z:-0.16 [[ 9.48518008e-01 3.16701015e-01 -3.74919108e-03 8.34578981e+01] [-3.16698561e-01 9.48525417e-01 1.24659067e-03 -1.65558210e+01] [ 3.95099956e-03 4.94972425e-06 9.99992195e-01 -1.57915864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.617628 meters 0.012934105856386189 Centerline is valid? [True, True] Translation: X:83.51, Y:-16.58, Z:-0.15 [[ 9.51902769e-01 3.06398857e-01 -9.26922402e-04 8.35134905e+01] [-3.06398701e-01 9.51903220e-01 3.08798698e-04 -1.65848906e+01] [ 9.76955987e-04 -9.93851493e-06 9.99999523e-01 -1.53236691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.677628 meters 0.013311898499832036 Centerline is valid? [True, True] Translation: X:83.57, Y:-16.61, Z:-0.15 [[ 9.52685243e-01 3.03958593e-01 4.69633844e-05 8.35720569e+01] [-3.03958593e-01 9.52685244e-01 -1.51971540e-05 -1.66055203e+01] [-4.93606289e-05 2.03180065e-07 9.99999999e-01 -1.52110207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.737628 meters 0.014855021153231979 Centerline is valid? [True, True] Translation: X:83.63, Y:-16.63, Z:-0.15 [[ 9.55323679e-01 2.95557251e-01 -1.60595273e-03 8.36302180e+01] [-2.95556769e-01 9.55325029e-01 5.34867644e-04 -1.66260307e+01] [ 1.69229085e-03 -3.63215256e-05 9.99998567e-01 -1.54240069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.797628 meters 0.01788582466659048 Centerline is valid? [True, True] Translation: X:83.69, Y:-16.65, Z:-0.16 [[ 9.57721396e-01 2.87677245e-01 -3.39555389e-03 8.36862715e+01] [-2.87675042e-01 9.57727410e-01 1.13098046e-03 -1.66492353e+01] [ 3.57737237e-03 -1.06348082e-04 9.99993596e-01 -1.55389097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.857628 meters 0.017773957184467646 Centerline is valid? [True, True] Translation: X:83.75, Y:-16.67, Z:-0.15 [[ 9.58529256e-01 2.84971672e-01 -3.57929675e-03 8.37458666e+01] [-2.84969203e-01 9.58535931e-01 1.19250111e-03 -1.66665619e+01] [ 3.77071358e-03 -1.23057860e-04 9.99992883e-01 -1.54101145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.917628 meters 0.017988453333092614 Centerline is valid? [True, True] Translation: X:83.81, Y:-16.68, Z:-0.16 [[ 9.58086369e-01 2.86440219e-01 -4.74446707e-03 8.38074293e+01] [-2.86435896e-01 9.58098104e-01 1.58146110e-03 -1.66796952e+01] [ 4.99865897e-03 -1.56190646e-04 9.99987494e-01 -1.55097960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.977628 meters 0.01629305946154891 Centerline is valid? [True, True] Translation: X:83.87, Y:-16.69, Z:-0.15 [[ 9.55984662e-01 2.93387947e-01 -4.10344646e-03 8.38668751e+01] [-2.93384778e-01 9.55993463e-01 1.36755783e-03 -1.66905191e+01] [ 4.32409298e-03 -1.03475586e-04 9.99990646e-01 -1.53963516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.037628 meters 0.014250470916607787 Centerline is valid? [True, True] Translation: X:83.93, Y:-16.70, Z:-0.15 [[ 9.53084292e-01 3.02680613e-01 -3.84421360e-03 8.39268229e+01] [-3.02677905e-01 9.53092043e-01 1.28167090e-03 -1.66996280e+01] [ 4.05182633e-03 -5.79818817e-05 9.99991790e-01 -1.53883971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.097628 meters 0.012190747003108682 Centerline is valid? [True, True] Translation: X:83.99, Y:-16.71, Z:-0.15 [[ 9.49379804e-01 3.14111290e-01 -3.47646836e-03 8.39896673e+01] [-3.14109151e-01 9.49386169e-01 1.15913032e-03 -1.67057657e+01] [ 3.66460690e-03 -8.46438675e-06 9.99993285e-01 -1.53920972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.157628 meters 0.012685338721229017 Centerline is valid? [True, True] Translation: X:84.05, Y:-16.72, Z:-0.15 [[ 9.45913747e-01 3.24407876e-01 -2.59113414e-03 8.40518693e+01] [-3.24406723e-01 9.45917295e-01 8.65029547e-04 -1.67165470e+01] [ 2.73162100e-03 2.23379979e-05 9.99996269e-01 -1.52811561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.217628 meters 0.01335451600675033 Centerline is valid? [True, True] Translation: X:84.11, Y:-16.73, Z:-0.15 [[ 9.44209155e-01 3.29337683e-01 -2.40040505e-03 8.41119166e+01] [-3.29336708e-01 9.44212206e-01 8.02058192e-04 -1.67317985e+01] [ 2.53063974e-03 3.32308092e-05 9.99996797e-01 -1.52764943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.27762799999999 meters 0.013536335818045938 Centerline is valid? [True, True] Translation: X:84.17, Y:-16.75, Z:-0.15 [[ 9.44033869e-01 3.29838165e-01 -2.61509782e-03 8.41714011e+01] [-3.29837007e-01 9.44037491e-01 8.74635277e-04 -1.67508944e+01] [ 2.75723847e-03 3.68707131e-05 9.99996198e-01 -1.52639528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.337628 meters 0.013081126572816636 Centerline is valid? [True, True] Translation: X:84.23, Y:-16.77, Z:-0.16 [[ 9.44773887e-01 3.27687353e-01 -4.82720126e-03 8.42306376e+01] [-3.27683377e-01 9.44786217e-01 1.61531303e-03 -1.67707541e+01] [ 5.08999087e-03 5.56880351e-05 9.99987044e-01 -1.55455203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.397628 meters 0.012602628543665917 Centerline is valid? [True, True] Translation: X:84.29, Y:-16.80, Z:-0.16 [[ 9.46684153e-01 3.22022610e-01 -9.51589201e-03 8.42888949e+01] [-3.22006844e-01 9.46731977e-01 3.18684779e-03 -1.67958100e+01] [ 1.00352363e-02 4.72440541e-05 9.99949645e-01 -1.60364811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.457628 meters 0.012816170726558667 Centerline is valid? [True, True] Translation: X:84.34, Y:-16.83, Z:-0.16 [[ 9.49982955e-01 3.12094389e-01 -1.13788053e-02 8.43439285e+01] [-3.12071095e-01 9.50051097e-01 3.81370042e-03 -1.68266098e+01] [ 1.20006809e-02 -7.19541710e-05 9.99927987e-01 -1.60350911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.517628 meters 0.01623956318841977 Centerline is valid? [True, True] Translation: X:84.40, Y:-16.86, Z:-0.16 [[ 9.53840156e-01 3.00061342e-01 -1.23348499e-02 8.43961894e+01] [-3.00032964e-01 9.53919877e-01 4.13371332e-03 -1.68590237e+01] [ 1.30068261e-02 -2.42040175e-04 9.99915378e-01 -1.61129457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.577628 meters 0.01656583949355872 Centerline is valid? [True, True] Translation: X:84.45, Y:-16.88, Z:-0.16 [[ 9.56463193e-01 2.91566218e-01 -1.29345246e-02 8.44523817e+01] [-2.91534230e-01 9.56550574e-01 4.33506999e-03 -1.68825582e+01] [ 1.36364868e-02 -3.75478223e-04 9.99906948e-01 -1.58834817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.63762799999999 meters 0.02021494270717958 Centerline is valid? [True, True] Translation: X:84.51, Y:-16.91, Z:-0.16 [[ 9.60212765e-01 2.79034349e-01 -1.14576360e-02 8.45069104e+01] [-2.79008349e-01 9.60280996e-01 3.84056453e-03 -1.69130252e+01] [ 1.20741996e-02 -4.90982982e-04 9.99926984e-01 -1.57110971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.697628 meters 0.022907004022602158 Centerline is valid? [True, True] Translation: X:84.56, Y:-16.94, Z:-0.16 [[ 9.63149973e-01 2.68782501e-01 -9.90434980e-03 8.45623282e+01] [-2.68762529e-01 9.63200747e-01 3.32013639e-03 -1.69384954e+01] [ 1.04322717e-02 -5.35871181e-04 9.99945439e-01 -1.55111280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.757628 meters 0.027118133016713945 Centerline is valid? [True, True] Translation: X:84.62, Y:-16.96, Z:-0.16 [[ 9.64654151e-01 2.63356668e-01 -9.25393325e-03 8.46179605e+01] [-2.63338982e-01 9.64698376e-01 3.10220497e-03 -1.69608229e+01] [ 9.74424074e-03 -5.55633540e-04 9.99952369e-01 -1.55082251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.817628 meters 0.025879170339518035 Centerline is valid? [True, True] Translation: X:84.68, Y:-16.98, Z:-0.15 [[ 9.64167388e-01 2.65169844e-01 -8.13648403e-03 8.46781004e+01] [-2.65156231e-01 9.64201602e-01 2.72814570e-03 -1.69764535e+01] [ 8.56863291e-03 -4.72949670e-04 9.99963177e-01 -1.51959225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.877628 meters 0.026223269992574398 Centerline is valid? [True, True] Translation: X:84.74, Y:-16.99, Z:-0.15 [[ 9.62886887e-01 2.69789297e-01 -7.91063809e-03 8.47366652e+01] [-2.69776585e-01 9.62919290e-01 2.65240163e-03 -1.69908962e+01] [ 8.33289559e-03 -4.19857819e-04 9.99965193e-01 -1.52998119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.937628 meters 0.023322029290312345 Centerline is valid? [True, True] Translation: X:84.80, Y:-17.00, Z:-0.15 [[ 9.59999056e-01 2.79900910e-01 -7.56922528e-03 8.47976832e+01] [-2.79889584e-01 9.60028843e-01 2.53797909e-03 -1.69976153e+01] [ 7.97705725e-03 -3.17910220e-04 9.99968132e-01 -1.52781178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.99762799999999 meters 0.019616982065617374 Centerline is valid? [True, True] Translation: X:84.86, Y:-17.00, Z:-0.15 [[ 9.56858625e-01 2.90465992e-01 -7.14697880e-03 8.48599164e+01] [-2.90456186e-01 9.56885291e-01 2.39652973e-03 -1.70025464e+01] [ 7.53494927e-03 -2.17255934e-04 9.99971588e-01 -1.52480382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.057628 meters 0.01972901250178689 Centerline is valid? [True, True] Translation: X:84.92, Y:-17.01, Z:-0.15 [[ 9.54687000e-01 2.97538298e-01 -6.61010044e-03 8.49221053e+01] [-2.97530078e-01 9.54709872e-01 2.21667931e-03 -1.70090595e+01] [ 6.97027513e-03 -1.49531214e-04 9.99975696e-01 -1.53831027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.117628 meters 0.015504440358932664 Centerline is valid? [True, True] Translation: X:84.98, Y:-17.02, Z:-0.15 [[ 9.53171793e-01 3.02364674e-01 -6.25593251e-03 8.49833635e+01] [-3.02357414e-01 9.53192316e-01 2.09815323e-03 -1.70184488e+01] [ 6.59751422e-03 -1.08372899e-04 9.99978230e-01 -1.51436648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.177628 meters 0.014933096733498349 Centerline is valid? [True, True] Translation: X:85.04, Y:-17.03, Z:-0.15 [[ 9.52381328e-01 3.04835030e-01 -6.73872535e-03 8.50439189e+01] [-3.04826653e-01 9.52405163e-01 2.26205477e-03 -1.70318132e+01] [ 7.10755035e-03 -1.00195636e-04 9.99974736e-01 -1.53050672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.237628 meters 0.012711172287531936 Centerline is valid? [True, True] Translation: X:85.11, Y:-17.04, Z:-0.15 [[ 9.50871774e-01 3.09490571e-01 -7.64559452e-03 8.51065876e+01] [-3.09479922e-01 9.50902509e-01 2.56854635e-03 -1.70414659e+01] [ 8.06515588e-03 -7.62002306e-05 9.99967473e-01 -1.51118451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.297628 meters 0.01199877981010175 Centerline is valid? [True, True] Translation: X:85.17, Y:-17.05, Z:-0.15 [[ 9.48002744e-01 3.18159802e-01 -8.07079984e-03 8.51686341e+01] [-3.18148230e-01 9.48037098e-01 2.71357567e-03 -1.70514946e+01] [ 8.51476836e-03 -4.76649675e-06 9.99963749e-01 -1.52232423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.357628 meters 0.012399595062198461 Centerline is valid? [True, True] Translation: X:85.23, Y:-17.06, Z:-0.15 [[ 9.45191904e-01 3.26429533e-01 -7.48500026e-03 8.52297765e+01] [-3.26419822e-01 9.45221538e-01 2.51868215e-03 -1.70646247e+01] [ 7.89715570e-03 6.26144839e-05 9.99968815e-01 -1.52552622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.417628 meters 0.012670997164802475 Centerline is valid? [True, True] Translation: X:85.29, Y:-17.09, Z:-0.15 [[ 9.44056136e-01 3.29679336e-01 -8.33953530e-03 8.52881094e+01] [-3.29667388e-01 9.44092965e-01 2.80852886e-03 -1.70851628e+01] [ 8.79921054e-03 9.78639125e-05 9.99961281e-01 -1.51707784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.477628 meters 0.012653246976419614 Centerline is valid? [True, True] Translation: X:85.35, Y:-17.11, Z:-0.15 [[ 9.44073071e-01 3.29551782e-01 -1.10299623e-02 8.53463102e+01] [-3.29530838e-01 9.44137494e-01 3.71751684e-03 -1.71067454e+01] [ 1.16389153e-02 1.25105189e-04 9.99932258e-01 -1.53313253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.537628 meters 0.01260710902791587 Centerline is valid? [True, True] Translation: X:85.40, Y:-17.13, Z:-0.16 [[ 9.44734996e-01 3.27553400e-01 -1.35852023e-02 8.54022767e+01] [-3.27521398e-01 9.44832660e-01 4.58026796e-03 -1.71304723e+01] [ 1.43360252e-02 1.22305014e-04 9.99897226e-01 -1.55992085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.597628 meters 0.01256532553098032 Centerline is valid? [True, True] Translation: X:85.46, Y:-17.15, Z:-0.16 [[ 9.45091116e-01 3.26517124e-01 -1.37604751e-02 8.54611407e+01] [-3.26484115e-01 9.45191280e-01 4.64388366e-03 -1.71533442e+01] [ 1.45225886e-02 1.03683336e-04 9.99894536e-01 -1.56101112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.657628 meters 0.012136635116848744 Centerline is valid? [True, True] Translation: X:85.52, Y:-17.19, Z:-0.15 [[ 9.47983569e-01 3.18092526e-01 -1.20124445e-02 8.55152118e+01] [-3.18066651e-01 9.48059673e-01 4.05723688e-03 -1.71865620e+01] [ 1.26790909e-02 -2.54359044e-05 9.99919617e-01 -1.52770365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.717628 meters 0.012730779261793028 Centerline is valid? [True, True] Translation: X:85.57, Y:-17.22, Z:-0.15 [[ 9.51279765e-01 3.08198431e-01 -8.97415591e-03 8.55699839e+01] [-3.08183523e-01 9.51322087e-01 3.03372814e-03 -1.72176027e+01] [ 9.47230298e-03 -1.20237211e-04 9.99955130e-01 -1.48654218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.77762799999999 meters 0.013857798964036562 Centerline is valid? [True, True] Translation: X:85.63, Y:-17.25, Z:-0.15 [[ 9.53438216e-01 3.01514951e-01 -6.65606095e-03 8.56258370e+01] [-3.01506584e-01 9.53461439e-01 2.25042644e-03 -1.72458414e+01] [ 7.02483467e-03 -1.38796369e-04 9.99975316e-01 -1.46207211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.837628 meters 0.0164885205919201 Centerline is valid? [True, True] Translation: X:85.68, Y:-17.27, Z:-0.15 [[ 9.54925031e-01 2.96785442e-01 -6.04860523e-03 8.56802941e+01] [-2.96778427e-01 9.54944174e-01 2.04689801e-03 -1.72748304e+01] [ 6.38356986e-03 -1.59538606e-04 9.99979612e-01 -1.46455733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.897628 meters 0.018102961682447266 Centerline is valid? [True, True] Translation: X:85.74, Y:-17.30, Z:-0.15 [[ 9.55698770e-01 2.94253002e-01 -7.41836602e-03 8.57364515e+01] [-2.94242367e-01 9.55727536e-01 2.51107537e-03 -1.72997883e+01] [ 7.82882815e-03 -2.17034057e-04 9.99969331e-01 -1.48194896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.957628 meters 0.016629385605474285 Centerline is valid? [True, True] Translation: X:85.79, Y:-17.32, Z:-0.15 [[ 9.55491096e-01 2.94819273e-01 -1.08794038e-02 8.57944439e+01] [-2.94796418e-01 9.55552981e-01 3.68417455e-03 -1.73205951e+01] [ 1.14820124e-02 -3.12986711e-04 9.99934031e-01 -1.50186003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.017628 meters 0.01922181997387702 Centerline is valid? [True, True] Translation: X:85.85, Y:-17.34, Z:-0.15 [[ 9.54990327e-01 2.96391900e-01 -1.20547522e-02 8.58516215e+01] [-2.96363922e-01 9.55066350e-01 4.08562260e-03 -1.73440531e+01] [ 1.27240336e-02 -3.29136429e-04 9.99918992e-01 -1.51356300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.077628 meters 0.014958593000777499 Centerline is valid? [True, True] Translation: X:85.91, Y:-17.36, Z:-0.15 [[ 9.54006674e-01 2.99625489e-01 -9.78942163e-03 8.59108572e+01] [-2.99607205e-01 9.54056871e-01 3.31818929e-03 -1.73623919e+01] [ 1.03338790e-02 -2.32593478e-04 9.99946577e-01 -1.47887233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.13762799999999 meters 0.014276092735930973 Centerline is valid? [True, True] Translation: X:85.97, Y:-17.38, Z:-0.15 [[ 9.53026550e-01 3.02756462e-01 -8.88363115e-03 8.59702975e+01] [-3.02741527e-01 9.53067937e-01 3.01267467e-03 -1.73817928e+01] [ 9.37881073e-03 -1.81714887e-04 9.99956001e-01 -1.47785540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.197628 meters 0.013434595275732118 Centerline is valid? [True, True] Translation: X:86.03, Y:-17.40, Z:-0.15 [[ 9.51249888e-01 3.08305319e-01 -8.45462725e-03 8.60281104e+01] [-3.08292009e-01 9.51287452e-01 2.86735447e-03 -1.74005844e+01] [ 8.92680145e-03 -1.21076602e-04 9.99960148e-01 -1.48033772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.257628 meters 0.012401129156790869 Centerline is valid? [True, True] Translation: X:86.09, Y:-17.42, Z:-0.15 [[ 9.48687246e-01 3.16099538e-01 -8.57855185e-03 8.60879622e+01] [-3.16086127e-01 9.48726030e-01 2.91212842e-03 -1.74174935e+01] [ 9.05921789e-03 -5.11378548e-05 9.99958963e-01 -1.48407354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.317628 meters 0.012249171118975258 Centerline is valid? [True, True] Translation: X:86.15, Y:-17.44, Z:-0.15 [[ 9.46012592e-01 3.24022589e-01 -8.33895985e-03 8.61458633e+01] [-3.24010206e-01 9.46049344e-01 2.83288170e-03 -1.74365114e+01] [ 8.80698516e-03 2.19663357e-05 9.99961218e-01 -1.47500794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.377628 meters 0.012456705734917915 Centerline is valid? [True, True] Translation: X:86.20, Y:-17.46, Z:-0.15 [[ 9.45131381e-01 3.26548909e-01 -9.61676946e-03 8.62037411e+01] [-3.26532558e-01 9.45180304e-01 3.26821689e-03 -1.74576883e+01] [ 1.01568137e-02 5.12939934e-05 9.99948417e-01 -1.48798972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.437628 meters 0.012563138199065646 Centerline is valid? [True, True] Translation: X:86.26, Y:-17.48, Z:-0.15 [[ 9.45789629e-01 3.24628442e-01 -9.91727967e-03 8.62599502e+01] [-3.24610915e-01 9.45841622e-01 3.37348301e-03 -1.74841858e+01] [ 1.04753044e-02 2.86519834e-05 9.99945132e-01 -1.50818934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.49762799999999 meters 0.012730564948571256 Centerline is valid? [True, True] Translation: X:86.31, Y:-17.52, Z:-0.15 [[ 9.47804171e-01 3.18748044e-01 -8.18158484e-03 8.63142168e+01] [-3.18735876e-01 9.47839482e-01 2.78533916e-03 -1.75161507e+01] [ 8.64265054e-03 -3.21914639e-05 9.99962651e-01 -1.47719105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.557628 meters 0.013336940982301895 Centerline is valid? [True, True] Translation: X:86.37, Y:-17.55, Z:-0.15 [[ 9.49573242e-01 3.13491047e-01 -5.83285340e-03 8.63696902e+01] [-3.13484753e-01 9.49591154e-01 1.98742450e-03 -1.75461064e+01] [ 6.16186578e-03 -5.86945173e-05 9.99981014e-01 -1.45715203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.617628 meters 0.013323503156591712 Centerline is valid? [True, True] Translation: X:86.43, Y:-17.57, Z:-0.14 [[ 9.49517456e-01 3.13679478e-01 -4.66746761e-03 8.64283502e+01] [-3.13675442e-01 9.49528927e-01 1.59196380e-03 -1.75687099e+01] [ 4.93126188e-03 -4.75274539e-05 9.99987840e-01 -1.43551477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.677628 meters 0.013132424116088783 Centerline is valid? [True, True] Translation: X:86.49, Y:-17.59, Z:-0.15 [[ 9.47996006e-01 3.18189392e-01 -7.68658180e-03 8.64872514e+01] [-3.18178589e-01 9.48027167e-01 2.62230771e-03 -1.75851949e+01] [ 8.12147887e-03 -4.02314804e-05 9.99967019e-01 -1.46188429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.737628 meters 0.01304171755817267 Centerline is valid? [True, True] Translation: X:86.55, Y:-17.60, Z:-0.15 [[ 9.47525750e-01 3.19496756e-01 -1.08062427e-02 8.65468765e+01] [-3.19475454e-01 9.47587368e-01 3.68969024e-03 -1.76028291e+01] [ 1.14187031e-02 -4.37472410e-05 9.99934804e-01 -1.49125236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.797628 meters 0.013509386874848765 Centerline is valid? [True, True] Translation: X:86.60, Y:-17.62, Z:-0.15 [[ 9.48460167e-01 3.16662012e-01 -1.21852945e-02 8.66048741e+01] [-3.16634652e-01 9.48538435e-01 4.16356986e-03 -1.76236508e+01] [ 1.28766646e-02 -9.06936817e-05 9.99917088e-01 -1.50626677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.857628 meters 0.015118781858300538 Centerline is valid? [True, True] Translation: X:86.66, Y:-17.65, Z:-0.15 [[ 9.52385608e-01 3.04776724e-01 -8.53239030e-03 8.66612631e+01] [-3.04762822e-01 9.52423812e-01 2.91642735e-03 -1.76489135e+01] [ 9.01531086e-03 -1.77208088e-04 9.99959346e-01 -1.46586491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.917628 meters 0.017541544892568765 Centerline is valid? [True, True] Translation: X:86.72, Y:-17.67, Z:-0.14 [[ 9.55386899e-01 2.95295544e-01 -6.03438563e-03 8.67167892e+01] [-2.95288394e-01 9.55405937e-01 2.06375346e-03 -1.76741227e+01] [ 6.37470506e-03 -1.89798983e-04 9.99979663e-01 -1.43965906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.977628 meters 0.021476583527028106 Centerline is valid? [True, True] Translation: X:86.77, Y:-17.70, Z:-0.14 [[ 9.58719666e-01 2.84333934e-01 -3.28859882e-03 8.67717475e+01] [-2.84331746e-01 9.58725296e-01 1.12464838e-03 -1.76992828e+01] [ 3.47263857e-03 -1.43169472e-04 9.99993960e-01 -1.42015964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.037628 meters 0.024016921478416033 Centerline is valid? [True, True] Translation: X:86.83, Y:-17.72, Z:-0.14 [[ 9.60096880e-01 2.79658922e-01 -2.20661039e-03 8.68287951e+01] [-2.79657924e-01 9.60099409e-01 7.54703878e-04 -1.77193997e+01] [ 2.32962501e-03 -1.07492756e-04 9.99997281e-01 -1.43247153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.097628 meters 0.021690207461935673 Centerline is valid? [True, True] Translation: X:86.89, Y:-17.73, Z:-0.15 [[ 9.58967128e-01 2.83496073e-01 -3.46748904e-03 8.68898386e+01] [-2.83493634e-01 9.58973385e-01 1.18611341e-03 -1.77317628e+01] [ 3.66148820e-03 -1.54432700e-04 9.99993285e-01 -1.45016126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.157628 meters 0.019823346753325113 Centerline is valid? [True, True] Translation: X:86.95, Y:-17.74, Z:-0.15 [[ 9.55767703e-01 2.94056667e-01 -6.22691188e-03 8.69517662e+01] [-2.94049021e-01 9.55787965e-01 2.13033492e-03 -1.77407992e+01] [ 6.57804663e-03 -2.05087969e-04 9.99978343e-01 -1.49582306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.217628 meters 0.015461254925961608 Centerline is valid? [True, True] Translation: X:87.01, Y:-17.75, Z:-0.15 [[ 9.52686976e-01 3.03886854e-01 -6.34868924e-03 8.70121575e+01] [-3.03879123e-01 9.52708119e-01 2.17214044e-03 -1.77526859e+01] [ 6.70853272e-03 -1.40135789e-04 9.99977488e-01 -1.47599992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.27762799999999 meters 0.01297840548669197 Centerline is valid? [True, True] Translation: X:87.07, Y:-17.76, Z:-0.15 [[ 9.48302986e-01 3.17296209e-01 -6.67558901e-03 8.70739539e+01] [-3.17287990e-01 9.48326481e-01 2.28424367e-03 -1.77617525e+01] [ 7.05541969e-03 -4.80708749e-05 9.99975109e-01 -1.49178489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.337628 meters 0.01256656502806962 Centerline is valid? [True, True] Translation: X:87.14, Y:-17.77, Z:-0.15 [[ 9.44393759e-01 3.28771218e-01 -5.46932411e-03 8.71355333e+01] [-3.28765881e-01 9.44409596e-01 1.87340441e-03 -1.77737312e+01] [ 5.78120362e-03 2.88957283e-05 9.99983288e-01 -1.49166449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.397628 meters 0.01349089159402639 Centerline is valid? [True, True] Translation: X:87.19, Y:-17.79, Z:-0.15 [[ 9.42084565e-01 3.35337938e-01 -5.01390390e-03 8.71942242e+01] [-3.35333540e-01 9.42097905e-01 1.71868987e-03 -1.77911383e+01] [ 5.29993028e-03 6.21789436e-05 9.99985953e-01 -1.49327301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.457628 meters 0.013726801171341684 Centerline is valid? [True, True] Translation: X:87.25, Y:-17.81, Z:-0.15 [[ 9.41392978e-01 3.37285809e-01 -4.18856875e-03 8.72519197e+01] [-3.37282753e-01 9.41402294e-01 1.43702216e-03 -1.78145566e+01] [ 4.42781541e-03 5.99294312e-05 9.99990195e-01 -1.50293995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.517628 meters 0.013726801171341684 Centerline is valid? [True, True] Translation: X:87.31, Y:-17.83, Z:-0.15 [[ 9.41298255e-01 3.37550076e-01 -4.18814608e-03 8.73109241e+01] [-3.37547017e-01 9.41307571e-01 1.43825377e-03 -1.78348813e+01] [ 4.42781628e-03 5.98704509e-05 9.99990195e-01 -1.50398314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.577628 meters 0.013324182556374606 Centerline is valid? [True, True] Translation: X:87.37, Y:-17.86, Z:-0.15 [[ 9.41614507e-01 3.36647430e-01 -5.53420134e-03 8.73683822e+01] [-3.36642064e-01 9.41630768e-01 1.90213693e-03 -1.78619557e+01] [ 5.85152377e-03 7.19652396e-05 9.99982877e-01 -1.51172742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.63762799999999 meters 0.013043825582604378 Centerline is valid? [True, True] Translation: X:87.43, Y:-17.89, Z:-0.15 [[ 9.42331041e-01 3.34633729e-01 -5.69880489e-03 8.74254358e+01] [-3.34627993e-01 9.42348271e-01 1.96021764e-03 -1.78880089e+01] [ 6.02621387e-03 5.98057132e-05 9.99981840e-01 -1.51407539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.697628 meters 0.012623776190002798 Centerline is valid? [True, True] Translation: X:87.48, Y:-17.92, Z:-0.15 [[ 9.44081003e-01 3.29673298e-01 -5.15519795e-03 8.74796212e+01] [-3.29668523e-01 9.44095078e-01 1.77455192e-03 -1.79176600e+01] [ 5.45201940e-03 2.41857379e-05 9.99985137e-01 -1.51801721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.757628 meters 0.012524645841449687 Centerline is valid? [True, True] Translation: X:87.54, Y:-17.94, Z:-0.15 [[ 9.45014632e-01 3.26992543e-01 -4.81904669e-03 8.75364371e+01] [-3.26988328e-01 9.45026919e-01 1.66024554e-03 -1.79428690e+01] [ 5.09701675e-03 6.81569564e-06 9.99987010e-01 -1.51130064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.817628 meters 0.012529355267131007 Centerline is valid? [True, True] Translation: X:87.60, Y:-17.96, Z:-0.15 [[ 9.45493392e-01 3.25604625e-01 -4.88601968e-03 8.75958688e+01] [-3.25600266e-01 9.45506017e-01 1.68491207e-03 -1.79646118e+01] [ 5.16837616e-03 -2.18392386e-06 9.99986644e-01 -1.50450816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.877628 meters 0.012813971333261677 Centerline is valid? [True, True] Translation: X:87.65, Y:-17.99, Z:-0.15 [[ 9.46866684e-01 3.21592562e-01 -4.65902019e-03 8.76548542e+01] [-3.21588542e-01 9.46878146e-01 1.60810689e-03 -1.79878562e+01] [ 4.92867961e-03 -2.43753265e-05 9.99987854e-01 -1.50219166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.937628 meters 0.013977701254624312 Centerline is valid? [True, True] Translation: X:87.71, Y:-18.01, Z:-0.15 [[ 9.49327521e-01 3.14258375e-01 -4.35105406e-03 8.77108404e+01] [-3.14254790e-01 9.49337490e-01 1.50214565e-03 -1.80119046e+01] [ 4.60268060e-03 -5.86886276e-05 9.99989406e-01 -1.50448841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.99762799999999 meters 0.015565956185399184 Centerline is valid? [True, True] Translation: X:87.77, Y:-18.03, Z:-0.15 [[ 9.52287648e-01 3.05178770e-01 -3.76211102e-03 8.77687205e+01] [-3.05176018e-01 9.52295075e-01 1.29892765e-03 -1.80327216e+01] [ 3.97904494e-03 -8.88466928e-05 9.99992080e-01 -1.50941573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.057628 meters 0.018863708149329344 Centerline is valid? [True, True] Translation: X:87.82, Y:-18.06, Z:-0.15 [[ 9.55827258e-01 2.93922671e-01 -1.92779986e-03 8.78248021e+01] [-2.93921926e-01 9.55829199e-01 6.65690811e-04 -1.80570302e+01] [ 2.03830902e-03 -6.96627742e-05 9.99997920e-01 -1.48598544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.117628 meters 0.026619382708398948 Centerline is valid? [True, True] Translation: X:87.88, Y:-18.09, Z:-0.15 [[ 9.58938141e-01 2.83613263e-01 -1.07623242e-03 8.78789925e+01] [-2.83613023e-01 9.58938744e-01 3.71863765e-04 -1.80855076e+01] [ 1.13750646e-03 -5.13608181e-05 9.99999352e-01 -1.48669616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.177628 meters 0.02266710394281645 Centerline is valid? [True, True] Translation: X:87.94, Y:-18.10, Z:-0.15 [[ 9.60050751e-01 2.79825937e-01 2.65364012e-05 8.79394825e+01] [-2.79825937e-01 9.60050751e-01 -9.00421754e-06 -1.80978907e+01] [-2.79959055e-05 1.21893249e-06 1.00000000e+00 -1.47627566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.237628 meters 0.022386790416828402 Centerline is valid? [True, True] Translation: X:88.00, Y:-18.11, Z:-0.15 [[ 9.59915582e-01 2.80288316e-01 -7.31319576e-04 8.80017520e+01] [-2.80288204e-01 9.59915860e-01 2.53388520e-04 -1.81116516e+01] [ 7.73027101e-04 -3.82513379e-05 9.99999700e-01 -1.49095332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.297628 meters 0.019292054355872605 Centerline is valid? [True, True] Translation: X:88.06, Y:-18.12, Z:-0.15 [[ 9.58221939e-01 2.86022994e-01 -1.24975147e-03 8.80636322e+01] [-2.86022673e-01 9.58222753e-01 4.32252010e-04 -1.81192466e+01] [ 1.32117431e-03 -5.67361037e-05 9.99999126e-01 -1.49704758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.357628 meters 0.01885079966722979 Centerline is valid? [True, True] Translation: X:88.12, Y:-18.13, Z:-0.15 [[ 9.56229420e-01 2.92617474e-01 5.57335426e-04 8.81231541e+01] [-2.92617412e-01 9.56229582e-01 -1.92733519e-04 -1.81296351e+01] [-5.89337817e-04 2.12114109e-05 9.99999826e-01 -1.48402729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.417628 meters 0.01683508276651817 Centerline is valid? [True, True] Translation: X:88.18, Y:-18.14, Z:-0.15 [[ 9.54139937e-01 2.99353857e-01 2.06103889e-03 8.81846727e+01] [-2.99353015e-01 9.54142161e-01 -7.12805618e-04 -1.81380414e+01] [-2.17990521e-03 6.31381019e-05 9.99997622e-01 -1.47273072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.477628 meters 0.015303874330955236 Centerline is valid? [True, True] Translation: X:88.25, Y:-18.15, Z:-0.15 [[ 9.52690797e-01 3.03930168e-01 2.58820615e-03 8.82460313e+01] [-3.03928857e-01 9.52694310e-01 -8.95245820e-04 -1.81491298e+01] [-2.73786148e-03 6.62619176e-05 9.99996250e-01 -1.47742977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.537628 meters 0.013509653728090218 Centerline is valid? [True, True] Translation: X:88.31, Y:-18.16, Z:-0.15 [[ 9.50059839e-01 3.12065829e-01 1.10472526e-03 8.83079302e+01] [-3.12065596e-01 9.50060481e-01 -3.82145294e-04 -1.81573327e+01] [-1.16881030e-03 1.83141513e-05 9.99999317e-01 -1.49325735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.597628 meters 0.011752674274037906 Centerline is valid? [True, True] Translation: X:88.37, Y:-18.17, Z:-0.15 [[ 9.46475679e-01 3.22769644e-01 -1.88319233e-03 8.83706955e+01] [-3.22768987e-01 9.46477552e-01 6.51707776e-04 -1.81654035e+01] [ 1.99275075e-03 -8.98947983e-06 9.99998014e-01 -1.51453355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.657628 meters 0.011577575408738943 Centerline is valid? [True, True] Translation: X:88.43, Y:-18.18, Z:-0.15 [[ 9.44278116e-01 3.29136489e-01 -2.83035872e-03 8.84324364e+01] [-3.29135028e-01 9.44282358e-01 9.80720533e-04 -1.81786481e+01] [ 2.99544872e-03 5.49726133e-06 9.99995514e-01 -1.52741507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.717628 meters 0.011770712058070846 Centerline is valid? [True, True] Translation: X:88.49, Y:-18.19, Z:-0.15 [[ 9.42613244e-01 3.33878665e-01 -2.30405922e-03 8.84923549e+01] [-3.33877709e-01 9.42616060e-01 7.99042669e-04 -1.81942479e+01] [ 2.43862652e-03 1.60858120e-05 9.99997026e-01 -1.51795940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.77762799999999 meters 0.011642865210074684 Centerline is valid? [True, True] Translation: X:88.55, Y:-18.22, Z:-0.15 [[ 9.43426593e-01 3.31578688e-01 -1.35590304e-03 8.85491755e+01] [-3.31578353e-01 9.43427567e-01 4.70715032e-04 -1.82166802e+01] [ 1.43527538e-03 5.50301885e-06 9.99998970e-01 -1.50182114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.837628 meters 0.011554910097716368 Centerline is valid? [True, True] Translation: X:88.61, Y:-18.24, Z:-0.15 [[ 9.45484273e-01 3.25664185e-01 -1.52597477e-03 8.86060998e+01] [-3.25663754e-01 9.45485504e-01 5.30177654e-04 -1.82419445e+01] [ 1.61544690e-03 -4.31996229e-06 9.99998695e-01 -1.50913863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.897628 meters 0.01289196208113018 Centerline is valid? [True, True] Translation: X:88.66, Y:-18.27, Z:-0.15 [[ 9.47860645e-01 3.18650943e-01 -4.66629446e-03 8.86619171e+01] [-3.18646821e-01 9.47872130e-01 1.62149271e-03 -1.82700148e+01] [ 4.93974065e-03 -5.00492294e-05 9.99987798e-01 -1.53626887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.957628 meters 0.013495610179393368 Centerline is valid? [True, True] Translation: X:88.72, Y:-18.30, Z:-0.15 [[ 9.49606107e-01 3.13381696e-01 -6.33674467e-03 8.87191943e+01] [-3.13373977e-01 9.49627244e-01 2.20202913e-03 -1.82953835e+01] [ 6.70762100e-03 -1.05289432e-04 9.99977498e-01 -1.53406632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.017628 meters 0.015839037307814927 Centerline is valid? [True, True] Translation: X:88.77, Y:-18.33, Z:-0.15 [[ 9.52435404e-01 3.04639988e-01 -7.82808671e-03 8.87739708e+01] [-3.04627910e-01 9.52467551e-01 2.72052197e-03 -1.83252858e+01] [ 8.28477836e-03 -2.06467753e-04 9.99965659e-01 -1.54102393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.077628 meters 0.01984420564723435 Centerline is valid? [True, True] Translation: X:88.83, Y:-18.36, Z:-0.15 [[ 9.55778194e-01 2.94001304e-01 -7.16075829e-03 8.88285729e+01] [-2.93990896e-01 9.55804979e-01 2.48897175e-03 -1.83557075e+01] [ 7.57604937e-03 -2.73707186e-04 9.99971264e-01 -1.53830156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.13762799999999 meters 0.021643835201990737 Centerline is valid? [True, True] Translation: X:88.88, Y:-18.39, Z:-0.15 [[ 9.58333283e-01 2.85624395e-01 -4.00289598e-03 8.88812001e+01] [-2.85621069e-01 9.58341624e-01 1.39138812e-03 -1.83867181e+01] [ 4.23355623e-03 -1.90102114e-04 9.99991020e-01 -1.49878592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.197628 meters 0.02160100679801239 Centerline is valid? [True, True] Translation: X:88.94, Y:-18.41, Z:-0.15 [[ 9.59153846e-01 2.82864173e-01 -3.42906113e-03 8.89384769e+01] [-2.82861714e-01 9.59159960e-01 1.19210520e-03 -1.84086538e+01] [ 3.62622199e-03 -1.73462180e-04 9.99993410e-01 -1.49479504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.257628 meters 0.02042189729924478 Centerline is valid? [True, True] Translation: X:89.00, Y:-18.43, Z:-0.15 [[ 9.58346172e-01 2.85582585e-01 -3.89898149e-03 8.89967547e+01] [-2.85579428e-01 9.58354085e-01 1.35562062e-03 -1.84272279e+01] [ 4.12374648e-03 -1.85684934e-04 9.99991480e-01 -1.49558290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.317628 meters 0.01868495818622379 Centerline is valid? [True, True] Translation: X:89.06, Y:-18.44, Z:-0.15 [[ 9.55690440e-01 2.94318013e-01 -5.71760091e-03 8.90556780e+01] [-2.94311379e-01 9.55707518e-01 1.98803428e-03 -1.84434749e+01] [ 6.04946847e-03 -2.17190350e-04 9.99981678e-01 -1.50519353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.377628 meters 0.015224672469984797 Centerline is valid? [True, True] Translation: X:89.12, Y:-18.46, Z:-0.15 [[ 9.52723861e-01 3.03783081e-01 -5.75193680e-03 8.91161303e+01] [-3.03776537e-01 9.52741211e-01 2.00028337e-03 -1.84557896e+01] [ 6.08775948e-03 -1.58414251e-04 9.99981457e-01 -1.50639090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.437628 meters 0.014005868122305183 Centerline is valid? [True, True] Translation: X:89.18, Y:-18.47, Z:-0.15 [[ 9.50572710e-01 3.10463429e-01 -4.89722490e-03 8.91755610e+01] [-3.10458773e-01 9.50585319e-01 1.70322805e-03 -1.84717219e+01] [ 5.18402012e-03 -9.86556755e-05 9.99986558e-01 -1.51583965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.49762799999999 meters 0.01251100218948865 Centerline is valid? [True, True] Translation: X:89.24, Y:-18.49, Z:-0.15 [[ 9.47609290e-01 3.19418080e-01 -2.95355919e-03 8.92356107e+01] [-3.19416429e-01 9.47613893e-01 1.02746590e-03 -1.84876962e+01] [ 3.12702491e-03 -3.02209084e-05 9.99995110e-01 -1.51278661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.557628 meters 0.012025152571911625 Centerline is valid? [True, True] Translation: X:89.30, Y:-18.51, Z:-0.15 [[ 9.46229273e-01 3.23491341e-01 -1.87479430e-03 8.92952808e+01] [-3.23490684e-01 9.46231130e-01 6.52472147e-04 -1.85069094e+01] [ 1.98505782e-03 -1.09097558e-05 9.99998030e-01 -1.51156342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.617628 meters 0.01188848118309779 Centerline is valid? [True, True] Translation: X:89.35, Y:-18.53, Z:-0.15 [[ 9.45468032e-01 3.25714189e-01 -6.84486965e-04 8.93532635e+01] [-3.25714101e-01 9.45468279e-01 2.38791701e-04 -1.85277328e+01] [ 7.24938558e-04 -2.82286283e-06 9.99999737e-01 -1.51552120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.677628 meters 0.011973954095627378 Centerline is valid? [True, True] Translation: X:89.41, Y:-18.55, Z:-0.15 [[ 9.45464872e-01 3.25723876e-01 -3.64386398e-04 8.94105021e+01] [-3.25723851e-01 9.45464942e-01 1.27459036e-04 -1.85515528e+01] [ 3.86031015e-04 -1.81870046e-06 9.99999925e-01 -1.50994100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.737628 meters 0.012066167716266363 Centerline is valid? [True, True] Translation: X:89.47, Y:-18.58, Z:-0.15 [[ 9.45657664e-01 3.25163884e-01 -1.73668126e-04 8.94679805e+01] [-3.25163879e-01 9.45657680e-01 6.10497482e-05 -1.85774423e+01] [ 1.84081771e-04 -1.26156077e-06 9.99999983e-01 -1.51533371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.797628 meters 0.012055281901563842 Centerline is valid? [True, True] Translation: X:89.53, Y:-18.60, Z:-0.15 [[ 9.45372944e-01 3.25989706e-01 -8.41226856e-04 8.95256638e+01] [-3.25989574e-01 9.45373318e-01 2.94178657e-04 -1.86015418e+01] [ 8.91172638e-04 -3.87735880e-06 9.99999603e-01 -1.53480354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.857628 meters 0.012107562532283058 Centerline is valid? [True, True] Translation: X:89.58, Y:-18.63, Z:-0.15 [[ 9.45044637e-01 3.26935024e-01 -2.03076670e-03 8.95831460e+01] [-3.26934253e-01 9.45046819e-01 7.10112569e-04 -1.86276290e+01] [ 2.15133028e-03 -7.16088306e-06 9.99997686e-01 -1.54279948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.917628 meters 0.012094605379301758 Centerline is valid? [True, True] Translation: X:89.64, Y:-18.65, Z:-0.15 [[ 9.44542159e-01 3.28381943e-01 -2.32567343e-03 8.96412692e+01] [-3.28380934e-01 9.44545023e-01 8.13918781e-04 -1.86530652e+01] [ 2.46397950e-03 -5.07378955e-06 9.99996964e-01 -1.53970012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.977628 meters 0.012059510570664858 Centerline is valid? [True, True] Translation: X:89.70, Y:-18.68, Z:-0.15 [[ 9.43841792e-01 3.30384175e-01 -2.99480968e-03 8.96996116e+01] [-3.30382510e-01 9.43846543e-01 1.04890838e-03 -1.86762932e+01] [ 3.17318349e-03 -5.70820533e-07 9.99994965e-01 -1.54877091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.037628 meters 0.012285996886927312 Centerline is valid? [True, True] Translation: X:89.76, Y:-18.70, Z:-0.16 [[ 9.43193691e-01 3.32215230e-01 -4.32468571e-03 8.97554685e+01] [-3.32211776e-01 9.43203605e-01 1.51485894e-03 -1.87020544e+01] [ 4.58231836e-03 7.90612265e-06 9.99989501e-01 -1.56764892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.097628 meters 0.01240491506002952 Centerline is valid? [True, True] Translation: X:89.81, Y:-18.73, Z:-0.16 [[ 9.43038878e-01 3.32622288e-01 -6.33154150e-03 8.98108112e+01] [-3.32614883e-01 9.43060132e-01 2.21945937e-03 -1.87286853e+01] [ 6.70926602e-03 1.29284617e-05 9.99977493e-01 -1.57838101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.157628 meters 0.012517906590417738 Centerline is valid? [True, True] Translation: X:89.87, Y:-18.75, Z:-0.16 [[ 9.41782446e-01 3.36175522e-01 -5.64297662e-03 8.98706987e+01] [-3.36169693e-01 9.41799351e-01 1.98001110e-03 -1.87470485e+01] [ 5.98018298e-03 3.22580221e-05 9.99982118e-01 -1.56705935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.217628 meters 0.012436492604973783 Centerline is valid? [True, True] Translation: X:89.93, Y:-18.77, Z:-0.16 [[ 9.42113424e-01 3.35248443e-01 -5.54781384e-03 8.99301202e+01] [-3.35242782e-01 9.42129758e-01 1.94837941e-03 -1.87687807e+01] [ 5.87995168e-03 2.42701478e-05 9.99982713e-01 -1.56357151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.27762799999999 meters 0.012343281959182386 Centerline is valid? [True, True] Translation: X:89.99, Y:-18.79, Z:-0.16 [[ 9.44128670e-01 3.29558599e-01 -3.49048491e-03 8.99875980e+01] [-3.29556315e-01 9.44135123e-01 1.22696287e-03 -1.87928012e+01] [ 3.69984556e-03 -8.09947796e-06 9.99993156e-01 -1.55083687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.337628 meters 0.01253762468855905 Centerline is valid? [True, True] Translation: X:90.05, Y:-18.81, Z:-0.15 [[ 9.45162225e-01 3.26594934e-01 -2.02906510e-03 9.00457215e+01] [-3.26594153e-01 9.45164403e-01 7.14060451e-04 -1.88142180e+01] [ 2.15100863e-03 -1.22221668e-05 9.99997687e-01 -1.54096039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.397628 meters 0.012807794685141219 Centerline is valid? [True, True] Translation: X:90.10, Y:-18.84, Z:-0.15 [[ 9.46144981e-01 3.23741952e-01 -9.07888096e-04 9.01044160e+01] [-3.23741794e-01 9.46145416e-01 3.19982155e-04 -1.88357078e+01] [ 9.62585808e-04 -8.82818917e-06 9.99999537e-01 -1.52179521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.457628 meters 0.012726647372955409 Centerline is valid? [True, True] Translation: X:90.16, Y:-18.85, Z:-0.15 [[ 9.45747163e-01 3.24887718e-01 -3.20531105e-03 9.01643227e+01] [-3.24885755e-01 9.45752594e-01 1.12966085e-03 -1.88546330e+01] [ 3.39844418e-03 -2.70136466e-05 9.99994225e-01 -1.54759822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.517628 meters 0.012208039633607462 Centerline is valid? [True, True] Translation: X:90.22, Y:-18.87, Z:-0.16 [[ 9.43980008e-01 3.29968714e-01 -4.73198880e-03 9.02237505e+01] [-3.29964495e-01 9.43991868e-01 1.66856995e-03 -1.88704560e+01] [ 5.01753483e-03 -1.37083827e-05 9.99987412e-01 -1.57543855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.577628 meters 0.012217245612119676 Centerline is valid? [True, True] Translation: X:90.28, Y:-18.89, Z:-0.16 [[ 9.42373086e-01 3.34522254e-01 -5.27524159e-03 9.02843070e+01] [-3.34517073e-01 9.42387851e-01 1.86184324e-03 -1.88878672e+01] [ 5.59415159e-03 1.01074173e-05 9.99984353e-01 -1.57396106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.63762799999999 meters 0.012585185387891194 Centerline is valid? [True, True] Translation: X:90.34, Y:-18.90, Z:-0.16 [[ 9.40115495e-01 3.40812058e-01 -5.47696410e-03 9.03438876e+01] [-3.40806572e-01 9.40131448e-01 1.93444770e-03 -1.89044858e+01] [ 5.80834929e-03 4.79811033e-05 9.99983130e-01 -1.58325338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.697628 meters 0.012803643572014658 Centerline is valid? [True, True] Translation: X:90.40, Y:-18.93, Z:-0.16 [[ 9.39393537e-01 3.42796299e-01 -5.52085948e-03 9.04022221e+01] [-3.42790749e-01 9.39409758e-01 1.95147513e-03 -1.89266195e+01] [ 5.85530773e-03 5.92964306e-05 9.99982856e-01 -1.58550312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.757628 meters 0.012454966011803228 Centerline is valid? [True, True] Translation: X:90.46, Y:-18.95, Z:-0.16 [[ 9.40046974e-01 3.41005664e-01 -5.17921921e-03 9.04599284e+01] [-3.41000745e-01 9.40061240e-01 1.83219683e-03 -1.89503963e+01] [ 5.49357273e-03 4.37665283e-05 9.99984909e-01 -1.58363808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.817628 meters 0.012040331708317913 Centerline is valid? [True, True] Translation: X:90.52, Y:-18.98, Z:-0.16 [[ 9.41987723e-01 3.35616654e-01 -4.53783664e-03 9.05167218e+01] [-3.35612809e-01 9.41998652e-01 1.60662010e-03 -1.89762967e+01] [ 4.81384447e-03 9.53969434e-06 9.99988413e-01 -1.57884656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.877628 meters 0.012162991040013105 Centerline is valid? [True, True] Translation: X:90.58, Y:-19.00, Z:-0.16 [[ 9.43895512e-01 3.30224169e-01 -3.64147031e-03 9.05752487e+01] [-3.30221647e-01 9.43902536e-01 1.29056551e-03 -1.90007971e+01] [ 3.86336898e-03 -1.56666679e-05 9.99992537e-01 -1.56019533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.937628 meters 0.012686654116908532 Centerline is valid? [True, True] Translation: X:90.63, Y:-19.02, Z:-0.16 [[ 9.45283457e-01 3.26229978e-01 -3.63155249e-03 9.06320687e+01] [-3.26227437e-01 9.45290432e-01 1.28787026e-03 -1.90237532e+01] [ 3.85301371e-03 -3.26903934e-05 9.99992577e-01 -1.55307105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.99762799999999 meters 0.013539404321235397 Centerline is valid? [True, True] Translation: X:90.69, Y:-19.05, Z:-0.16 [[ 9.47504238e-01 3.19727967e-01 -3.12197520e-03 9.06895869e+01] [-3.19726053e-01 9.47509380e-01 1.10744858e-03 -1.90456332e+01] [ 3.31218307e-03 -5.11354168e-05 9.99994513e-01 -1.55199722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.057628 meters 0.01469665699028615 Centerline is valid? [True, True] Translation: X:90.75, Y:-19.07, Z:-0.16 [[ 9.49375999e-01 3.14102650e-01 -4.97362937e-03 9.07478360e+01] [-3.14097715e-01 9.49389021e-01 1.76440647e-03 -1.90665142e+01] [ 5.27611387e-03 -1.12879535e-04 9.99986075e-01 -1.56766168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.117628 meters 0.017530614465812465 Centerline is valid? [True, True] Translation: X:90.80, Y:-19.09, Z:-0.16 [[ 9.50621183e-01 3.10246988e-01 -8.13466246e-03 9.08037994e+01] [-3.10233636e-01 9.50655962e-01 2.88674303e-03 -1.90889241e+01] [ 8.62886870e-03 -2.20553159e-04 9.99962746e-01 -1.60258994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.177628 meters 0.01841233665485982 Centerline is valid? [True, True] Translation: X:90.86, Y:-19.11, Z:-0.16 [[ 9.50581841e-01 3.10352017e-01 -8.70570109e-03 9.08625784e+01] [-3.10336705e-01 9.50621675e-01 3.09205821e-03 -1.91082086e+01] [ 9.23545465e-03 -2.37555800e-04 9.99957324e-01 -1.60608734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.237628 meters 0.01823163783975744 Centerline is valid? [True, True] Translation: X:90.92, Y:-19.13, Z:-0.16 [[ 9.50010454e-01 3.12103831e-01 -8.44607157e-03 9.09213060e+01] [-3.12089470e-01 9.50047973e-01 3.00178059e-03 -1.91251231e+01] [ 8.96104041e-03 -2.15792935e-04 9.99959826e-01 -1.61636477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.297628 meters 0.015596753067724166 Centerline is valid? [True, True] Translation: X:90.98, Y:-19.14, Z:-0.16 [[ 9.49763310e-01 3.12850819e-01 -8.60349242e-03 9.09811153e+01] [-3.12835926e-01 9.49802252e-01 3.06017189e-03 -1.91411376e+01] [ 9.12899376e-03 -2.14957465e-04 9.99958307e-01 -1.59769352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.357628 meters 0.014977144028356561 Centerline is valid? [True, True] Translation: X:91.04, Y:-19.16, Z:-0.16 [[ 9.48919550e-01 3.15458559e-01 -6.13070114e-03 9.10399764e+01] [-3.15451040e-01 9.48939344e-01 2.18244202e-03 -1.91598791e+01] [ 6.50613353e-03 -1.37025848e-04 9.99978825e-01 -1.57523992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.417628 meters 0.013898238497856253 Centerline is valid? [True, True] Translation: X:91.10, Y:-19.18, Z:-0.15 [[ 9.47263977e-01 3.20447230e-01 -2.12851889e-03 9.10980830e+01] [-3.20446336e-01 9.47266368e-01 7.57644483e-04 -1.91759834e+01] [ 2.25905944e-03 -3.56132459e-05 9.99997448e-01 -1.54075628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.477628 meters 0.012942632276340476 Centerline is valid? [True, True] Translation: X:91.16, Y:-19.19, Z:-0.15 [[ 9.46012548e-01 3.24128725e-01 -9.09784988e-04 9.11574402e+01] [-3.24128563e-01 9.46012986e-01 3.24513294e-04 -1.91940102e+01] [ 9.65852493e-04 -1.21063470e-05 9.99999533e-01 -1.53025048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.537628 meters 0.012391332581833649 Centerline is valid? [True, True] Translation: X:91.22, Y:-19.21, Z:-0.15 [[ 9.44173087e-01 3.29444465e-01 -1.87768543e-03 9.12165014e+01] [-3.29443785e-01 9.44174954e-01 6.69397628e-04 -1.92113294e+01] [ 1.99339290e-03 -1.34354285e-05 9.99998013e-01 -1.54444023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.597628 meters 0.012044475289028666 Centerline is valid? [True, True] Translation: X:91.28, Y:-19.23, Z:-0.16 [[ 9.42925308e-01 3.32991025e-01 -2.97339792e-03 9.12760757e+01] [-3.32989336e-01 9.42929996e-01 1.06082420e-03 -1.92287720e+01] [ 3.15695102e-03 -1.01681845e-05 9.99995017e-01 -1.56610292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.657628 meters 0.012008550110358443 Centerline is valid? [True, True] Translation: X:91.34, Y:-19.25, Z:-0.16 [[ 9.41942313e-01 3.35730863e-01 -5.42821935e-03 9.13359558e+01] [-3.35725269e-01 9.41957954e-01 1.93809565e-03 -1.92474768e+01] [ 5.76383292e-03 -3.18389436e-06 9.99983389e-01 -1.58614052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.717628 meters 0.012081434176137107 Centerline is valid? [True, True] Translation: X:91.39, Y:-19.27, Z:-0.16 [[ 9.42218640e-01 3.34923941e-01 -7.07020168e-03 9.13928034e+01] [-3.34914417e-01 9.42245166e-01 2.52588611e-03 -1.92700683e+01] [ 7.50784309e-03 -1.20245055e-05 9.99971816e-01 -1.60699942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.77762799999999 meters 0.012159958079991262 Centerline is valid? [True, True] Translation: X:91.45, Y:-19.29, Z:-0.16 [[ 9.42644002e-01 3.33737854e-01 -6.42879612e-03 9.14512750e+01] [-3.33729938e-01 9.42665924e-01 2.29882952e-03 -1.92943121e+01] [ 6.82741347e-03 -2.14961311e-05 9.99976693e-01 -1.61295044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.837628 meters 0.015164825188502255 Centerline is valid? [True, True] Translation: X:91.51, Y:-19.32, Z:-0.16 [[ 9.42817670e-01 3.33261543e-01 -5.62005609e-03 9.15086729e+01] [-3.33255474e-01 9.42834420e-01 2.01147780e-03 -1.93215463e+01] [ 5.96913052e-03 -2.35423564e-05 9.99982184e-01 -1.60628867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.897628 meters 0.011932420780019458 Centerline is valid? [True, True] Translation: X:91.57, Y:-19.35, Z:-0.16 [[ 9.42433027e-01 3.34375916e-01 -3.56889687e-03 9.15663697e+01] [-3.34373472e-01 9.42439784e-01 1.27845530e-03 -1.93455645e+01] [ 3.79095506e-03 -1.15140558e-05 9.99992814e-01 -1.57110188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.957628 meters 0.01498192354644746 Centerline is valid? [True, True] Translation: X:91.62, Y:-19.37, Z:-0.16 [[ 9.41615429e-01 3.36664177e-01 -4.19704061e-03 9.16245082e+01] [-3.36660814e-01 9.41624783e-01 1.50482294e-03 -1.93697428e+01] [ 4.45865744e-03 -3.98539144e-06 9.99990060e-01 -1.59992508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.017628 meters 0.012038834033943204 Centerline is valid? [True, True] Translation: X:91.68, Y:-19.39, Z:-0.16 [[ 9.40165725e-01 3.40685534e-01 -4.66649619e-03 9.16829497e+01] [-3.40681419e-01 9.40177306e-01 1.67459917e-03 -1.93931137e+01] [ 4.95784553e-03 1.53877999e-05 9.99987710e-01 -1.59097524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.077628 meters 0.012216750614078084 Centerline is valid? [True, True] Translation: X:91.74, Y:-19.41, Z:-0.16 [[ 9.39494868e-01 3.42508706e-01 -6.09748414e-03 9.17398184e+01] [-3.42501714e-01 9.39514654e-01 2.18862424e-03 -1.94148360e+01] [ 6.47829856e-03 3.21975308e-05 9.99979015e-01 -1.59676560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.13762799999999 meters 0.012373400906496666 Centerline is valid? [True, True] Translation: X:91.80, Y:-19.43, Z:-0.16 [[ 9.38667534e-01 3.44783926e-01 -5.22539932e-03 9.17994492e+01] [-3.44778816e-01 9.38682078e-01 1.87754147e-03 -1.94349844e+01] [ 5.55233481e-03 3.92197630e-05 9.99984585e-01 -1.58706711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.197628 meters 0.012416116149795767 Centerline is valid? [True, True] Translation: X:91.86, Y:-19.46, Z:-0.16 [[ 9.38844937e-01 3.44295495e-01 -5.54940049e-03 9.18586026e+01] [-3.44289713e-01 9.38861337e-01 1.99566482e-03 -1.94553169e+01] [ 5.89721597e-03 3.69816922e-05 9.99982611e-01 -1.59498680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.257628 meters 0.01243444496298007 Centerline is valid? [True, True] Translation: X:91.92, Y:-19.48, Z:-0.16 [[ 9.40527281e-01 3.39678669e-01 -5.18034735e-03 9.19165403e+01] [-3.39673553e-01 9.40541547e-01 1.86438809e-03 -1.94787668e+01] [ 5.50562478e-03 6.11912792e-06 9.99984844e-01 -1.59831105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.317628 meters 0.013627713798790624 Centerline is valid? [True, True] Translation: X:91.97, Y:-19.51, Z:-0.16 [[ 9.43867167e-01 3.30292919e-01 -4.62145152e-03 9.19710672e+01] [-3.30288729e-01 9.43878480e-01 1.66444269e-03 -1.95074500e+01] [ 4.91184227e-03 -4.45994590e-05 9.99987936e-01 -1.59846075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.377628 meters 0.01666721162563981 Centerline is valid? [True, True] Translation: X:92.03, Y:-19.53, Z:-0.16 [[ 9.47158878e-01 3.20736957e-01 -4.22662461e-03 9.20266707e+01] [-3.20733352e-01 9.47168304e-01 1.52315192e-03 -1.95335349e+01] [ 4.49185598e-03 -8.70473829e-05 9.99989908e-01 -1.60339288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.437628 meters 0.01893509958207273 Centerline is valid? [True, True] Translation: X:92.08, Y:-19.56, Z:-0.16 [[ 9.49331804e-01 3.14253645e-01 -3.71105427e-03 9.20833080e+01] [-3.14250813e-01 9.49339052e-01 1.33821833e-03 -1.95565664e+01] [ 3.94358873e-03 -1.04211399e-04 9.99992219e-01 -1.59940302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.49762799999999 meters 0.022080054899823457 Centerline is valid? [True, True] Translation: X:92.14, Y:-19.58, Z:-0.16 [[ 9.52361128e-01 3.04961690e-01 -2.57863622e-03 9.21401225e+01] [-3.04960289e-01 9.52364614e-01 9.29772628e-04 -1.95789559e+01] [ 2.73934692e-03 -9.90976641e-05 9.99996243e-01 -1.59491269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.557628 meters 0.024283973628494455 Centerline is valid? [True, True] Translation: X:92.20, Y:-19.60, Z:-0.16 [[ 9.53434604e-01 3.01594444e-01 -1.80205574e-03 9.21967709e+01] [-3.01593753e-01 9.53436304e-01 6.50132033e-04 -1.95995772e+01] [ 1.91422157e-03 -7.63696229e-05 9.99998165e-01 -1.59774446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.617628 meters 0.021939166338129368 Centerline is valid? [True, True] Translation: X:92.26, Y:-19.61, Z:-0.16 [[ 9.53071030e-01 3.02742955e-01 -1.52156506e-03 9.22595754e+01] [-3.02742462e-01 9.53072243e-01 5.49614184e-04 -1.96096152e+01] [ 1.61655325e-03 -6.31790038e-05 9.99998691e-01 -1.59990452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.677628 meters 0.01946948469158346 Centerline is valid? [True, True] Translation: X:92.32, Y:-19.62, Z:-0.16 [[ 9.50918509e-01 3.09440711e-01 -6.59519641e-04 9.23216792e+01] [-3.09440620e-01 9.50918738e-01 2.38114315e-04 -1.96188844e+01] [ 7.00831848e-04 -2.23451432e-05 9.99999754e-01 -1.59704676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.737628 meters 0.0165320139816709 Centerline is valid? [True, True] Translation: X:92.38, Y:-19.63, Z:-0.16 [[ 9.47030058e-01 3.21144758e-01 3.38295427e-04 9.23830383e+01] [-3.21144735e-01 9.47030118e-01 -1.22080428e-04 -1.96272849e+01] [-3.59581448e-04 6.97203979e-06 9.99999935e-01 -1.59136485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.797628 meters 0.01420469602539261 Centerline is valid? [True, True] Translation: X:92.44, Y:-19.64, Z:-0.16 [[ 9.43959513e-01 3.30060315e-01 7.91425116e-04 9.24447959e+01] [-3.30060192e-01 9.43959845e-01 -2.85656729e-04 -1.96375162e+01] [-8.41357480e-04 8.43046098e-06 9.99999646e-01 -1.59243509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.857628 meters 0.013117599238682906 Centerline is valid? [True, True] Translation: X:92.51, Y:-19.65, Z:-0.16 [[ 9.40269479e-01 3.40427429e-01 1.57204867e-03 9.25073944e+01] [-3.40426956e-01 9.40270794e-01 -5.67592410e-04 -1.96461062e+01] [-1.67137547e-03 -1.47792227e-06 9.99998603e-01 -1.59465059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.917628 meters 0.013322506925330208 Centerline is valid? [True, True] Translation: X:92.57, Y:-19.66, Z:-0.16 [[ 9.38204044e-01 3.46079698e-01 1.41965472e-03 9.25676872e+01] [-3.46079318e-01 9.38205118e-01 -5.12913043e-04 -1.96610624e+01] [-1.50943612e-03 -1.00960477e-05 9.99998861e-01 -1.60910007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.977628 meters 0.013257721405304056 Centerline is valid? [True, True] Translation: X:92.63, Y:-19.68, Z:-0.16 [[ 9.37778434e-01 3.47230426e-01 1.62460411e-03 9.26267400e+01] [-3.47229929e-01 9.37779841e-01 -5.87468921e-04 -1.96813694e+01] [-1.72750807e-03 -1.31954854e-05 9.99998508e-01 -1.61992981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.037628 meters 0.013278958581774749 Centerline is valid? [True, True] Translation: X:92.69, Y:-19.70, Z:-0.16 [[ 9.37919713e-01 3.46851559e-01 7.79811162e-04 9.26853452e+01] [-3.46851445e-01 9.37920037e-01 -2.81974324e-04 -1.97043229e+01] [-8.29203747e-04 -6.00935138e-06 9.99999656e-01 -1.62744297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.097628 meters 0.013170487265768686 Centerline is valid? [True, True] Translation: X:92.74, Y:-19.73, Z:-0.16 [[ 9.38076979e-01 3.46425961e-01 7.96718481e-04 9.27427787e+01] [-3.46425841e-01 9.38077317e-01 -2.88354425e-04 -1.97291445e+01] [-8.47276994e-04 -5.50522238e-06 9.99999641e-01 -1.62316965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.157628 meters 0.013205588228922689 Centerline is valid? [True, True] Translation: X:92.80, Y:-19.75, Z:-0.16 [[ 9.37772091e-01 3.47250858e-01 5.89422542e-04 9.28008324e+01] [-3.47250793e-01 9.37772276e-01 -2.13380175e-04 -1.97523485e+01] [-6.26840567e-04 -4.57547218e-06 9.99999804e-01 -1.61918662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.217628 meters 0.01341002624588028 Centerline is valid? [True, True] Translation: X:92.86, Y:-19.77, Z:-0.16 [[ 9.37166499e-01 3.48881675e-01 -7.28587938e-04 9.28584060e+01] [-3.48881574e-01 9.37166782e-01 2.64964197e-04 -1.97734616e+01] [ 7.75249566e-04 5.87533845e-06 9.99999699e-01 -1.64121806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.27762799999999 meters 0.013161172637981474 Centerline is valid? [True, True] Translation: X:92.92, Y:-19.80, Z:-0.16 [[ 9.36994432e-01 3.49340470e-01 -1.63440390e-03 9.29166546e+01] [-3.49339964e-01 9.36995857e-01 5.94527343e-04 -1.97964154e+01] [ 1.73912214e-03 1.38937893e-05 9.99998488e-01 -1.64505254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.337628 meters 0.01303836000804358 Centerline is valid? [True, True] Translation: X:92.97, Y:-19.82, Z:-0.17 [[ 9.37409698e-01 3.48210286e-01 -3.55744238e-03 9.29727589e+01] [-3.48207881e-01 9.37416447e-01 1.29447834e-03 -1.98231030e+01] [ 3.78555567e-03 2.52729221e-05 9.99992834e-01 -1.65856345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.397628 meters 0.012807922674462681 Centerline is valid? [True, True] Translation: X:93.03, Y:-19.85, Z:-0.16 [[ 9.38754994e-01 3.44554878e-01 -4.58224710e-03 9.30288124e+01] [-3.44550838e-01 9.38766177e-01 1.66851644e-03 -1.98505226e+01] [ 4.87655407e-03 1.24889428e-05 9.99988109e-01 -1.64948030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.457628 meters 0.013071450055205078 Centerline is valid? [True, True] Translation: X:93.08, Y:-19.88, Z:-0.16 [[ 9.41356505e-01 3.37385611e-01 -4.34513737e-03 9.30844797e+01] [-3.37381895e-01 9.41366533e-01 1.58364927e-03 -1.98818371e+01] [ 4.62466738e-03 -2.48078647e-05 9.99989306e-01 -1.63844932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.517628 meters 0.014403244008493066 Centerline is valid? [True, True] Translation: X:93.14, Y:-19.91, Z:-0.16 [[ 9.44641377e-01 3.28077202e-01 -4.24475937e-03 9.31380999e+01] [-3.28073557e-01 9.44650912e-01 1.54808157e-03 -1.99142870e+01] [ 4.51770608e-03 -6.97886009e-05 9.99989793e-01 -1.63167496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.577628 meters 0.016856973091984792 Centerline is valid? [True, True] Translation: X:93.19, Y:-19.94, Z:-0.16 [[ 9.47262792e-01 3.20422419e-01 -4.76188730e-03 9.31919375e+01] [-3.20417730e-01 9.47274754e-01 1.73766959e-03 -1.99437431e+01] [ 5.06760391e-03 -1.20236630e-04 9.99987152e-01 -1.63652693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.63762799999999 meters 0.021602135737994382 Centerline is valid? [True, True] Translation: X:93.24, Y:-19.98, Z:-0.16 [[ 9.51500996e-01 3.07587317e-01 -5.99150300e-03 9.32446791e+01] [-3.07579638e-01 9.51519830e-01 2.18639158e-03 -1.99780401e+01] [ 6.37354024e-03 -2.37489443e-04 9.99979661e-01 -1.64128535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.697628 meters 0.021614726511140613 Centerline is valid? [True, True] Translation: X:93.30, Y:-20.00, Z:-0.16 [[ 9.53764447e-01 3.00523913e-01 -4.33106199e-03 9.33017844e+01] [-3.00519827e-01 9.53774258e-01 1.58062475e-03 -2.00015679e+01] [ 4.60587097e-03 -2.05973694e-04 9.99989372e-01 -1.60949108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.757628 meters 0.02048298860117296 Centerline is valid? [True, True] Translation: X:93.36, Y:-20.02, Z:-0.16 [[ 9.53210488e-01 3.02288418e-01 -3.38799024e-03 9.33606519e+01] [-3.02285924e-01 9.53216496e-01 1.23780775e-03 -2.00202575e+01] [ 3.60366313e-03 -1.55749572e-04 9.99993495e-01 -1.59707580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.817628 meters 0.019728388465871882 Centerline is valid? [True, True] Translation: X:93.42, Y:-20.04, Z:-0.16 [[ 9.51695864e-01 3.06989795e-01 -5.67870114e-03 9.34199208e+01] [-3.06982874e-01 9.51712778e-01 2.07427624e-03 -2.00368593e+01] [ 6.04127407e-03 -2.30816125e-04 9.99981725e-01 -1.61025118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.877628 meters 0.018526498237869164 Centerline is valid? [True, True] Translation: X:93.48, Y:-20.05, Z:-0.16 [[ 9.50476190e-01 3.10739263e-01 -6.01027093e-03 9.34793632e+01] [-3.10731584e-01 9.50495167e-01 2.19562741e-03 -2.00527943e+01] [ 6.39500111e-03 -2.19310574e-04 9.99979528e-01 -1.61629067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.937628 meters 0.017001873181541498 Centerline is valid? [True, True] Translation: X:93.54, Y:-20.07, Z:-0.16 [[ 9.48267733e-01 3.17440144e-01 -4.47898653e-03 9.35402179e+01] [-3.17435953e-01 9.48278302e-01 1.63639254e-03 -2.00650272e+01] [ 4.76678243e-03 -1.29946881e-04 9.99988630e-01 -1.61822035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.99762799999999 meters 0.015095502028092839 Centerline is valid? [True, True] Translation: X:93.60, Y:-20.08, Z:-0.16 [[ 9.45796258e-01 3.24734759e-01 -4.09572140e-03 9.36012665e+01] [-3.24731322e-01 9.45805122e-01 1.49654087e-03 -2.00776819e+01] [ 4.35973311e-03 -8.54137299e-05 9.99990493e-01 -1.60130700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.057628 meters 0.01395260646081939 Centerline is valid? [True, True] Translation: X:93.66, Y:-20.09, Z:-0.16 [[ 9.44031308e-01 3.29832043e-01 -3.96392118e-03 9.36616084e+01] [-3.29828867e-01 9.44039628e-01 1.44853883e-03 -2.00911445e+01] [ 4.21987319e-03 -6.00503704e-05 9.99991094e-01 -1.60660707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.117628 meters 0.01328647374550491 Centerline is valid? [True, True] Translation: X:93.72, Y:-20.11, Z:-0.16 [[ 9.43319380e-01 3.31865431e-01 -3.72587450e-03 9.37220509e+01] [-3.31862636e-01 9.43326737e-01 1.36297531e-03 -2.01078637e+01] [ 3.96704142e-03 -4.92424940e-05 9.99992130e-01 -1.60643844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.177628 meters 0.012988908997108337 Centerline is valid? [True, True] Translation: X:93.78, Y:-20.12, Z:-0.16 [[ 9.42583842e-01 3.33938958e-01 -4.52473611e-03 9.37816300e+01] [-3.33934854e-01 9.42594701e-01 1.65638559e-03 -2.01244804e+01] [ 4.81812396e-03 -5.03152038e-05 9.99988392e-01 -1.61449087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.237628 meters 0.012913204507193295 Centerline is valid? [True, True] Translation: X:93.84, Y:-20.14, Z:-0.16 [[ 9.41487450e-01 3.37006696e-01 -5.27906333e-03 9.38400986e+01] [-3.37001151e-01 9.41502249e-01 1.93376906e-03 -2.01422860e+01] [ 5.62194312e-03 -4.15688872e-05 9.99984196e-01 -1.63964482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.297628 meters 0.012387815112401734 Centerline is valid? [True, True] Translation: X:93.90, Y:-20.16, Z:-0.17 [[ 9.40392369e-01 3.40046920e-01 -5.50322813e-03 9.38980606e+01] [-3.40040938e-01 9.40408471e-01 2.01715478e-03 -2.01606324e+01] [ 5.86120962e-03 -2.55941080e-05 9.99982823e-01 -1.65190530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.357628 meters 0.012152161823169482 Centerline is valid? [True, True] Translation: X:93.96, Y:-20.18, Z:-0.17 [[ 9.38174697e-01 3.46085050e-01 -7.30592823e-03 9.39587173e+01] [-3.46074672e-01 9.38203143e-01 2.68012023e-03 -2.01791616e+01] [ 7.78199437e-03 1.39757347e-05 9.99969720e-01 -1.66568339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.417628 meters 0.012535231024170632 Centerline is valid? [True, True] Translation: X:94.02, Y:-20.20, Z:-0.17 [[ 9.36215917e-01 3.51337168e-01 -7.87095986e-03 9.40181370e+01] [-3.51325292e-01 9.36249000e-01 2.88937714e-03 -2.01984160e+01] [ 8.38432389e-03 6.01864076e-05 9.99964849e-01 -1.68173155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.477628 meters 0.012525415420803508 Centerline is valid? [True, True] Translation: X:94.08, Y:-20.22, Z:-0.17 [[ 9.35215737e-01 3.53986504e-01 -8.06722299e-03 9.40755633e+01] [-3.53974106e-01 9.35250527e-01 2.96374121e-03 -2.02215383e+01] [ 8.59399894e-03 8.38506265e-05 9.99963067e-01 -1.66804088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.537628 meters 0.012549853481991436 Centerline is valid? [True, True] Translation: X:94.13, Y:-20.25, Z:-0.17 [[ 9.34916968e-01 3.54787333e-01 -7.49742526e-03 9.41329327e+01] [-3.54776631e-01 9.34947026e-01 2.75693182e-03 -2.02475013e+01] [ 7.98781994e-03 8.24089351e-05 9.99968093e-01 -1.66039576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.597628 meters 0.012312021059233097 Centerline is valid? [True, True] Translation: X:94.19, Y:-20.27, Z:-0.16 [[ 9.35520206e-01 3.53213606e-01 -6.48787205e-03 9.41900261e+01] [-3.53205541e-01 9.35542701e-01 2.38752692e-03 -2.02723975e+01] [ 6.91298833e-03 5.79726831e-05 9.99976103e-01 -1.64976344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.657628 meters 0.011848232357031918 Centerline is valid? [True, True] Translation: X:94.24, Y:-20.30, Z:-0.16 [[ 9.37508023e-01 3.47931730e-01 -4.71365417e-03 9.42449824e+01] [-3.47927403e-01 9.37519872e-01 1.73529461e-03 -2.03009076e+01] [ 5.02290851e-03 1.31568373e-05 9.99987385e-01 -1.63779301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.717628 meters 0.011924075371322255 Centerline is valid? [True, True] Translation: X:94.30, Y:-20.33, Z:-0.16 [[ 9.39536040e-01 3.42409223e-01 -5.28706597e-03 9.43007183e+01] [-3.42403680e-01 9.39550916e-01 1.94838445e-03 -2.03316338e+01] [ 5.63461248e-03 -2.02665685e-05 9.99984125e-01 -1.62840177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.77762799999999 meters 0.012193439861983972 Centerline is valid? [True, True] Translation: X:94.36, Y:-20.36, Z:-0.16 [[ 9.40611997e-01 3.39434040e-01 -5.79684102e-03 9.43561112e+01] [-3.39427311e-01 9.40629859e-01 2.13762267e-03 -2.03586315e+01] [ 6.17826365e-03 -4.30673699e-05 9.99980913e-01 -1.64000143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.837628 meters 0.012571827994753846 Centerline is valid? [True, True] Translation: X:94.41, Y:-20.39, Z:-0.16 [[ 9.41658521e-01 3.36521543e-01 -5.69910460e-03 9.44113470e+01] [-3.36514977e-01 9.41675765e-01 2.10323787e-03 -2.03870942e+01] [ 6.07449354e-03 -6.26978163e-05 9.99981548e-01 -1.64042311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.897628 meters 0.01274923249357248 Centerline is valid? [True, True] Translation: X:94.47, Y:-20.41, Z:-0.16 [[ 9.41674768e-01 3.36483454e-01 -5.24558884e-03 9.44673176e+01] [-3.36477881e-01 9.41689377e-01 1.93749914e-03 -2.04143482e+01] [ 5.59165169e-03 -5.94694338e-05 9.99984365e-01 -1.63243694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.957628 meters 0.012258594580512337 Centerline is valid? [True, True] Translation: X:94.53, Y:-20.43, Z:-0.16 [[ 9.40421836e-01 3.39984882e-01 -4.12926744e-03 9.45259834e+01] [-3.39981457e-01 9.40430901e-01 1.52640551e-03 -2.04341930e+01] [ 4.40224549e-03 -3.15907151e-05 9.99990310e-01 -1.62445498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.017628 meters 0.011835146407093058 Centerline is valid? [True, True] Translation: X:94.58, Y:-20.45, Z:-0.16 [[ 9.38242765e-01 3.45947474e-01 -4.56722531e-03 9.45841114e+01] [-3.45943352e-01 9.38253881e-01 1.68878078e-03 -2.04519157e+01] [ 4.86944632e-03 -4.48511239e-06 9.99988144e-01 -1.63761954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.077628 meters 0.011925319281151205 Centerline is valid? [True, True] Translation: X:94.64, Y:-20.47, Z:-0.16 [[ 9.37228657e-01 3.48686368e-01 -4.50117960e-03 9.46433749e+01] [-3.48682388e-01 9.37239466e-01 1.66600601e-03 -2.04726479e+01] [ 4.79959675e-03 8.05347673e-06 9.99988482e-01 -1.63992456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.13762799999999 meters 0.011920823903830962 Centerline is valid? [True, True] Translation: X:94.70, Y:-20.49, Z:-0.16 [[ 9.36757730e-01 3.49956472e-01 -3.92729947e-03 9.47030083e+01] [-3.49953448e-01 9.36765962e-01 1.45486247e-03 -2.04941566e+01] [ 4.18809901e-03 1.15183277e-05 9.99991230e-01 -1.64149912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.197628 meters 0.011914331278476594 Centerline is valid? [True, True] Translation: X:94.76, Y:-20.51, Z:-0.16 [[ 9.36801425e-01 3.49852436e-01 -2.52253430e-03 9.47607639e+01] [-3.49851186e-01 9.36804821e-01 9.35165489e-04 -2.05143097e+01] [ 2.69029222e-03 6.44725481e-06 9.99996381e-01 -1.63882903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.257628 meters 0.012008981669932306 Centerline is valid? [True, True] Translation: X:94.82, Y:-20.54, Z:-0.16 [[ 9.36738268e-01 3.50023819e-01 -2.17794024e-03 9.48199905e+01] [-3.50022886e-01 9.36740800e-01 8.08204659e-04 -2.05361166e+01] [ 2.32305637e-03 5.25269684e-06 9.99997302e-01 -1.63889784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.317628 meters 0.01207560177559947 Centerline is valid? [True, True] Translation: X:94.88, Y:-20.56, Z:-0.16 [[ 9.36481133e-01 3.50713909e-01 -1.68561868e-03 9.48782846e+01] [-3.50713351e-01 9.36482650e-01 6.25747860e-04 -2.05561221e+01] [ 1.79801113e-03 5.16791005e-06 9.99998384e-01 -1.64442393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.377628 meters 0.012031394814280186 Centerline is valid? [True, True] Translation: X:94.94, Y:-20.58, Z:-0.16 [[ 9.36209177e-01 3.51440811e-01 -1.31644429e-03 9.49377734e+01] [-3.51440471e-01 9.36210103e-01 4.89325328e-04 -2.05760970e+01] [ 1.40443733e-03 4.54093805e-06 9.99999014e-01 -1.64676850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.437628 meters 0.011949716193019844 Centerline is valid? [True, True] Translation: X:95.00, Y:-20.60, Z:-0.17 [[ 9.36800097e-01 3.49859173e-01 -2.03403463e-03 9.49956385e+01] [-3.49858356e-01 9.36802305e-01 7.56320822e-04 -2.05975964e+01] [ 2.17009411e-03 3.10259368e-06 9.99997645e-01 -1.67330934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.49762799999999 meters 0.012764145037149925 Centerline is valid? [True, True] Translation: X:95.05, Y:-20.63, Z:-0.17 [[ 9.39736026e-01 3.41895771e-01 -1.86601404e-03 9.50494622e+01] [-3.41895067e-01 9.39737879e-01 6.94243306e-04 -2.06276675e+01] [ 1.99092292e-03 -1.44244518e-05 9.99998018e-01 -1.66649861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.557628 meters 0.01479789877097425 Centerline is valid? [True, True] Translation: X:95.11, Y:-20.66, Z:-0.17 [[ 9.41950606e-01 3.35749499e-01 -1.15344050e-03 9.51050555e+01] [-3.35749225e-01 9.41951312e-01 4.29100517e-04 -2.06555499e+01] [ 1.23055508e-03 -1.69247377e-05 9.99999243e-01 -1.66150558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.617628 meters 0.01786102565329139 Centerline is valid? [True, True] Translation: X:95.16, Y:-20.68, Z:-0.17 [[ 9.44044932e-01 3.29816551e-01 -4.56990662e-04 9.51608478e+01] [-3.29816507e-01 9.44045043e-01 1.70355619e-04 -2.06792569e+01] [ 4.87605872e-04 -1.01002951e-05 9.99999881e-01 -1.67365211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.677628 meters 0.021629739662693905 Centerline is valid? [True, True] Translation: X:95.22, Y:-20.71, Z:-0.17 [[ 9.46058283e-01 3.23993733e-01 -1.33650198e-03 9.52154814e+01] [-3.23993354e-01 9.46059226e-01 4.97343852e-04 -2.07052430e+01] [ 1.42554632e-03 -3.74985127e-05 9.99998983e-01 -1.68322087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.737628 meters 0.023252099604398307 Centerline is valid? [True, True] Translation: X:95.27, Y:-20.73, Z:-0.17 [[ 9.46663242e-01 3.22220716e-01 -1.58615007e-03 9.52728615e+01] [-3.22220178e-01 9.46664570e-01 5.90613750e-04 -2.07279673e+01] [ 1.69186006e-03 -4.80227688e-05 9.99998568e-01 -1.68672851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.797628 meters 0.02224842050353707 Centerline is valid? [True, True] Translation: X:95.33, Y:-20.74, Z:-0.17 [[ 9.45804640e-01 3.24729781e-01 -2.03777224e-03 9.53331917e+01] [-3.24728899e-01 9.45806834e-01 7.58716751e-04 -2.07428453e+01] [ 2.17371684e-03 -5.58742866e-05 9.99997636e-01 -1.69866865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.857628 meters 0.02064958852048477 Centerline is valid? [True, True] Translation: X:95.39, Y:-20.76, Z:-0.17 [[ 9.44811662e-01 3.27607567e-01 -2.05092917e-03 9.53927810e+01] [-3.27606681e-01 9.44813886e-01 7.63656416e-04 -2.07588808e+01] [ 2.18792598e-03 -4.96133884e-05 9.99997605e-01 -1.70881260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.917628 meters 0.013847414235880973 Centerline is valid? [True, True] Translation: X:95.46, Y:-20.77, Z:-0.17 [[ 9.43207313e-01 3.32195270e-01 -2.50352472e-03 9.54554906e+01] [-3.32193966e-01 9.43210634e-01 9.32280216e-04 -2.07661610e+01] [ 2.67105022e-03 -4.76777117e-05 9.99996432e-01 -1.70168939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.977628 meters 0.01380591962428265 Centerline is valid? [True, True] Translation: X:95.51, Y:-20.79, Z:-0.17 [[ 9.42582970e-01 3.33952520e-01 -3.61369024e-03 9.55136185e+01] [-3.33949810e-01 9.42589895e-01 1.34693144e-03 -2.07857133e+01] [ 3.85603906e-03 -6.28034647e-05 9.99992563e-01 -1.72071974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.037628 meters 0.014870679184219221 Centerline is valid? [True, True] Translation: X:95.57, Y:-20.81, Z:-0.17 [[ 9.43498223e-01 3.31360698e-01 -3.34523837e-03 9.55694063e+01] [-3.31358356e-01 9.43504151e-01 1.24773861e-03 -2.08101288e+01] [ 3.56969783e-03 -6.87664752e-05 9.99993626e-01 -1.72446556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.097628 meters 0.015446154639505603 Centerline is valid? [True, True] Translation: X:95.63, Y:-20.83, Z:-0.17 [[ 9.44833585e-01 3.27542700e-01 -2.29707667e-03 9.56262807e+01] [-3.27541584e-01 9.44836376e-01 8.56821143e-04 -2.08347170e+01] [ 2.45100710e-03 -5.71652610e-05 9.99996995e-01 -1.71205252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.157628 meters 0.019307622215872504 Centerline is valid? [True, True] Translation: X:95.68, Y:-20.86, Z:-0.17 [[ 9.46798886e-01 3.21825384e-01 5.39653413e-04 9.56794083e+01] [-3.21825321e-01 9.46799040e-01 -2.01241987e-04 -2.08646277e+01] [-5.75708113e-04 1.68615560e-05 9.99999834e-01 -1.68065499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.217628 meters 0.01855021244925658 Centerline is valid? [True, True] Translation: X:95.74, Y:-20.89, Z:-0.17 [[ 9.47332824e-01 3.20241314e-01 2.45397221e-03 9.57372640e+01] [-3.20240016e-01 9.47335999e-01 -9.15389577e-04 -2.08860274e+01] [-2.61788178e-03 8.13184923e-05 9.99996570e-01 -1.65796318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.27762799999999 meters 0.018325886495818677 Centerline is valid? [True, True] Translation: X:95.79, Y:-20.91, Z:-0.16 [[ 9.46464465e-01 3.22749437e-01 6.14964535e-03 9.57942664e+01] [-3.22741330e-01 9.46484424e-01 -2.29521320e-03 -2.09085338e+01] [-6.56132230e-03 1.87593010e-04 9.99978457e-01 -1.61760775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.337628 meters 0.014869277779979826 Centerline is valid? [True, True] Translation: X:95.85, Y:-20.92, Z:-0.16 [[ 9.43679374e-01 3.30812672e-01 5.67576577e-03 9.58549136e+01] [-3.30805909e-01 9.43696435e-01 -2.11873041e-03 -2.09223162e+01] [-6.05710279e-03 1.21825330e-04 9.99981648e-01 -1.64178416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.397628 meters 0.013003683633128907 Centerline is valid? [True, True] Translation: X:95.91, Y:-20.94, Z:-0.17 [[ 9.40936030e-01 3.38561318e-01 3.95223085e-03 9.59148400e+01] [-3.38558107e-01 9.40944329e-01 -1.47552834e-03 -2.09385355e+01] [-4.21838603e-03 5.03179884e-05 9.99991101e-01 -1.66856286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.457628 meters 0.011913956514577455 Centerline is valid? [True, True] Translation: X:95.97, Y:-20.95, Z:-0.17 [[ 9.37915674e-01 3.46860624e-01 1.37660721e-03 9.59747651e+01] [-3.46860244e-01 9.37916685e-01 -5.13924859e-04 -2.09545551e+01] [-1.46940316e-03 4.52787016e-06 9.99998920e-01 -1.69656002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.517628 meters 0.012332223876913842 Centerline is valid? [True, True] Translation: X:96.04, Y:-20.97, Z:-0.17 [[ 9.33927700e-01 3.57452675e-01 -2.57598817e-03 9.60355180e+01] [-3.57451377e-01 9.33931252e-01 9.63615880e-04 -2.09696657e+01] [ 2.75024294e-03 2.08429577e-05 9.99996218e-01 -1.73628041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.577628 meters 0.013416546594850755 Centerline is valid? [True, True] Translation: X:96.09, Y:-20.99, Z:-0.18 [[ 9.31564171e-01 3.63540978e-01 -5.11401799e-03 9.60936829e+01] [-3.63535952e-01 9.31578205e-01 1.91308576e-03 -2.09901711e+01] [ 5.45959276e-03 7.69672489e-05 9.99985093e-01 -1.75817763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.63762799999999 meters 0.013355538481259923 Centerline is valid? [True, True] Translation: X:96.15, Y:-21.02, Z:-0.17 [[ 9.31475919e-01 3.63774015e-01 -4.59112375e-03 9.61512944e+01] [-3.63769959e-01 9.31487231e-01 1.71926935e-03 -2.10159639e+01] [ 4.90199866e-03 6.86548973e-05 9.99987983e-01 -1.74568788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.697628 meters 0.01224265459896102 Centerline is valid? [True, True] Translation: X:96.21, Y:-21.04, Z:-0.17 [[ 9.33924594e-01 3.57462155e-01 -2.37928181e-03 9.62067930e+01] [-3.57461045e-01 9.33927624e-01 8.91049826e-04 -2.10435540e+01] [ 2.54059360e-03 1.83272158e-05 9.99996773e-01 -1.73016466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.757628 meters 0.011877803171260363 Centerline is valid? [True, True] Translation: X:96.26, Y:-21.07, Z:-0.17 [[ 9.35541550e-01 3.53216604e-01 1.95297389e-04 9.62646096e+01] [-3.53216597e-01 9.35541571e-01 -7.27452464e-05 -2.10659787e+01] [-2.08403655e-04 -9.26078575e-07 9.99999978e-01 -1.70368546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.817628 meters 0.011887307879053977 Centerline is valid? [True, True] Translation: X:96.32, Y:-21.08, Z:-0.17 [[ 9.35402643e-01 3.53578257e-01 2.07632056e-03 9.63248284e+01] [-3.53577401e-01 9.35404948e-01 -7.78226875e-04 -2.10845302e+01] [-2.21736463e-03 -6.18455034e-06 9.99997542e-01 -1.68394677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.877628 meters 0.011811851552817805 Centerline is valid? [True, True] Translation: X:96.38, Y:-21.11, Z:-0.17 [[ 9.35047681e-01 3.54516155e-01 2.03244957e-03 9.63847384e+01] [-3.54515335e-01 9.35049890e-01 -7.62431670e-04 -2.11051124e+01] [-2.17073609e-03 -7.62457400e-06 9.99997644e-01 -1.68359629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.937628 meters 0.01187655230722767 Centerline is valid? [True, True] Translation: X:96.44, Y:-21.13, Z:-0.17 [[ 9.35434278e-01 3.53500138e-01 6.02295306e-04 9.64441537e+01] [-3.53500066e-01 9.35434472e-01 -2.25781213e-04 -2.11267020e+01] [-6.43221482e-04 -1.70794505e-06 9.99999793e-01 -1.71445711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.99762799999999 meters 0.011799126576401288 Centerline is valid? [True, True] Translation: X:96.50, Y:-21.15, Z:-0.17 [[ 9.36649937e-01 3.50262538e-01 -1.74661106e-03 9.65021781e+01] [-3.50261921e-01 9.36651565e-01 6.57255614e-04 -2.11508573e+01] [ 1.86617800e-03 -3.84708376e-06 9.99998259e-01 -1.74395343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.057628 meters 0.012349100962067323 Centerline is valid? [True, True] Translation: X:96.56, Y:-21.18, Z:-0.18 [[ 9.39067352e-01 3.43708314e-01 -4.13552003e-03 9.65588052e+01] [-3.43704791e-01 9.39076458e-01 1.55665017e-03 -2.11763779e+01] [ 4.41860310e-03 -4.04013036e-05 9.99990237e-01 -1.76397496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.117628 meters 0.014373650651169266 Centerline is valid? [True, True] Translation: X:96.61, Y:-21.20, Z:-0.18 [[ 9.42456706e-01 3.34278109e-01 -5.78819759e-03 9.66135433e+01] [-3.34271023e-01 9.42474473e-01 2.17982568e-03 -2.12048452e+01] [ 6.18389648e-03 -1.19564597e-04 9.99980872e-01 -1.77054316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.177628 meters 0.017890832833203283 Centerline is valid? [True, True] Translation: X:96.67, Y:-21.23, Z:-0.18 [[ 9.47379589e-01 3.20084093e-01 -4.25293910e-03 9.66680571e+01] [-3.20080122e-01 9.47389122e-01 1.60216067e-03 -2.12331631e+01] [ 4.54201439e-03 -1.56573054e-04 9.99989673e-01 -1.75542889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.237628 meters 0.022422151386189533 Centerline is valid? [True, True] Translation: X:96.72, Y:-21.26, Z:-0.17 [[ 9.50588583e-01 3.10446453e-01 -2.08444184e-03 9.67226750e+01] [-3.10445475e-01 9.50590864e-01 7.85543023e-04 -2.12591889e+01] [ 2.22532041e-03 -9.96226917e-05 9.99997519e-01 -1.74764248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.297628 meters 0.02269790262508582 Centerline is valid? [True, True] Translation: X:96.78, Y:-21.28, Z:-0.17 [[ 9.51789048e-01 3.06751162e-01 -1.15464856e-03 9.67807658e+01] [-3.06750859e-01 9.51789746e-01 4.35160943e-04 -2.12793771e+01] [ 1.23246878e-03 -5.99919817e-05 9.99999239e-01 -1.73228543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.357628 meters 0.021119638112287762 Centerline is valid? [True, True] Translation: X:96.84, Y:-21.29, Z:-0.17 [[ 9.51672784e-01 3.07111351e-01 1.23713287e-03 9.68418407e+01] [-3.07111004e-01 9.51673586e-01 -4.66084062e-04 -2.12923107e+01] [-1.32048638e-03 6.36223987e-05 9.99999126e-01 -1.71510013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.417628 meters 0.020431426375258736 Centerline is valid? [True, True] Translation: X:96.90, Y:-21.31, Z:-0.17 [[ 9.50647892e-01 3.10260956e-01 2.59306073e-03 9.69022073e+01] [-3.10259440e-01 9.50651421e-01 -9.77903289e-04 -2.13064526e+01] [-2.76850208e-03 1.25120130e-04 9.99996160e-01 -1.70978389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.477628 meters 0.018255956087045232 Centerline is valid? [True, True] Translation: X:96.96, Y:-21.32, Z:-0.17 [[ 9.48065033e-01 3.18051091e-01 4.02441924e-03 9.69640731e+01] [-3.18047509e-01 9.48073562e-01 -1.51787680e-03 -2.13162994e+01] [-4.29820786e-03 1.59089408e-04 9.99990750e-01 -1.71070415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.537628 meters 0.01636793724371574 Centerline is valid? [True, True] Translation: X:97.03, Y:-21.32, Z:-0.17 [[ 9.45672900e-01 3.25104644e-01 3.12021261e-03 9.70256983e+01] [-3.25102529e-01 9.45678043e-01 -1.17692889e-03 -2.13249950e+01] [-3.33334160e-03 9.86007515e-05 9.99994440e-01 -1.73158931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.597628 meters 0.01590563582243044 Centerline is valid? [True, True] Translation: X:97.09, Y:-21.34, Z:-0.18 [[ 9.44174936e-01 3.29441608e-01 1.38490157e-03 9.70856037e+01] [-3.29441196e-01 9.44175951e-01 -5.22393840e-04 -2.13389323e+01] [-1.47968902e-03 3.69875403e-05 9.99998905e-01 -1.76497350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.657628 meters 0.014628252738858044 Centerline is valid? [True, True] Translation: X:97.15, Y:-21.35, Z:-0.18 [[ 9.42565653e-01 3.34020351e-01 6.28226294e-04 9.71462210e+01] [-3.34020267e-01 9.42565862e-01 -2.36962065e-04 -2.13520283e+01] [-6.71294810e-04 1.35119886e-05 9.99999775e-01 -1.78434441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.717628 meters 0.014488208374951586 Centerline is valid? [True, True] Translation: X:97.21, Y:-21.37, Z:-0.18 [[ 9.42224333e-01 3.34980963e-01 1.03010941e-03 9.72053517e+01] [-3.34980739e-01 9.42224896e-01 -3.88503534e-04 -2.13714582e+01] [-1.10073602e-03 2.09906716e-05 9.99999394e-01 -1.78368620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.77762799999999 meters 0.014163128668275175 Centerline is valid? [True, True] Translation: X:97.27, Y:-21.39, Z:-0.18 [[ 9.41372592e-01 3.37367896e-01 7.39496010e-04 9.72654165e+01] [-3.37367780e-01 9.41372882e-01 -2.78985180e-04 -2.13878514e+01] [-7.90262133e-04 1.31468745e-05 9.99999688e-01 -1.79734003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.837628 meters 0.012845264153455247 Centerline is valid? [True, True] Translation: X:97.33, Y:-21.40, Z:-0.18 [[ 9.39056661e-01 3.43760794e-01 1.05070896e-03 9.73258649e+01] [-3.43760565e-01 9.39057249e-01 -3.96968227e-04 -2.14023961e+01] [-1.12313798e-03 1.15833514e-05 9.99999369e-01 -1.80164109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.897628 meters 0.012215668361980646 Centerline is valid? [True, True] Translation: X:97.39, Y:-21.42, Z:-0.18 [[ 9.36756089e-01 3.49982882e-01 -1.09698964e-04 9.73858652e+01] [-3.49982880e-01 9.36756095e-01 4.19430995e-05 -2.14184775e+01] [ 1.17440540e-04 -8.97694525e-07 9.99999993e-01 -1.81644023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.957628 meters 0.012273551571601876 Centerline is valid? [True, True] Translation: X:97.45, Y:-21.43, Z:-0.19 [[ 9.33277223e-01 3.59151369e-01 -1.97959999e-03 9.74476227e+01] [-3.59150587e-01 9.33279322e-01 7.49886418e-04 -2.14329123e+01] [ 2.11684247e-03 1.11225840e-05 9.99997759e-01 -1.85269250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.017628 meters 0.013111828561243268 Centerline is valid? [True, True] Translation: X:97.51, Y:-21.45, Z:-0.19 [[ 9.30743877e-01 3.65654856e-01 -3.51582428e-03 9.75071227e+01] [-3.65652432e-01 9.30750517e-01 1.33237405e-03 -2.14521938e+01] [ 3.75954431e-03 4.54707054e-05 9.99992932e-01 -1.86561828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.077628 meters 0.01348198797077189 Centerline is valid? [True, True] Translation: X:97.56, Y:-21.48, Z:-0.19 [[ 9.30144055e-01 3.67160762e-01 -5.00113090e-03 9.75638741e+01] [-3.67155871e-01 9.30157497e-01 1.89634296e-03 -2.14753384e+01] [ 5.34810212e-03 7.23224430e-05 9.99985696e-01 -1.86790692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.13762799999999 meters 0.013497567518682438 Centerline is valid? [True, True] Translation: X:97.62, Y:-21.50, Z:-0.19 [[ 9.30662867e-01 3.65817196e-01 -6.66379958e-03 9.76204021e+01] [-3.65808466e-01 9.30686721e-01 2.52871518e-03 -2.15012772e+01] [ 7.12695728e-03 8.42929786e-05 9.99974599e-01 -1.88514080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.197628 meters 0.013141261525866641 Centerline is valid? [True, True] Translation: X:97.68, Y:-21.53, Z:-0.19 [[ 9.31417083e-01 3.63868000e-01 -7.89280982e-03 9.76754012e+01] [-3.63855665e-01 9.31450521e-01 2.99714732e-03 -2.15306501e+01] [ 8.44232782e-03 8.02493502e-05 9.99964360e-01 -1.88507109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.257628 meters 0.012856293019839912 Centerline is valid? [True, True] Translation: X:97.73, Y:-21.56, Z:-0.19 [[ 9.32330348e-01 3.61517579e-01 -8.07235038e-03 9.77310520e+01] [-3.61504569e-01 9.32365292e-01 3.06756532e-03 -2.15591307e+01] [ 8.63535811e-03 5.82073031e-05 9.99962713e-01 -1.87605653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.317628 meters 0.012516125613276478 Centerline is valid? [True, True] Translation: X:97.78, Y:-21.59, Z:-0.19 [[ 9.34371936e-01 3.56229520e-01 -7.04375520e-03 9.77844735e+01] [-3.56219456e-01 9.34398485e-01 2.67766431e-03 -2.15913119e+01] [ 7.53553726e-03 7.18825951e-06 9.99971607e-01 -1.86780177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.377628 meters 0.012661997947160197 Centerline is valid? [True, True] Translation: X:97.84, Y:-21.62, Z:-0.18 [[ 9.35901236e-01 3.52208648e-01 -6.15991449e-03 9.78397183e+01] [-3.52200849e-01 9.35921507e-01 2.34387505e-03 -2.16217518e+01] [ 6.59072951e-03 -2.41084367e-05 9.99978281e-01 -1.84566802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.437628 meters 0.01374746653788411 Centerline is valid? [True, True] Translation: X:97.89, Y:-21.66, Z:-0.18 [[ 9.38283068e-01 3.45830840e-01 -5.09070591e-03 9.78921114e+01] [-3.45825413e-01 9.38296876e-01 1.93829926e-03 -2.16567114e+01] [ 5.44691711e-03 -5.81779018e-05 9.99985164e-01 -1.81613957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.49762799999999 meters 0.014788196086509286 Centerline is valid? [True, True] Translation: X:97.95, Y:-21.69, Z:-0.18 [[ 9.39666952e-01 3.42053988e-01 -5.00884808e-03 9.79476371e+01] [-3.42048673e-01 9.39680298e-01 1.90848418e-03 -2.16855585e+01] [ 5.35952048e-03 -8.00696759e-05 9.99985634e-01 -1.81651566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.557628 meters 0.016896767459627256 Centerline is valid? [True, True] Translation: X:98.00, Y:-21.72, Z:-0.18 [[ 9.41183550e-01 3.37844445e-01 -5.88694610e-03 9.80012423e+01] [-3.37837013e-01 9.41201953e-01 2.24437629e-03 -2.17168150e+01] [ 6.29905522e-03 -1.23541758e-04 9.99980153e-01 -1.83104807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.617628 meters 0.01592725028832255 Centerline is valid? [True, True] Translation: X:98.06, Y:-21.74, Z:-0.18 [[ 9.42720678e-01 3.33507694e-01 -7.09513727e-03 9.80575387e+01] [-3.33496773e-01 9.42747360e-01 2.70524022e-03 -2.17430464e+01] [ 7.59114035e-03 -1.84080511e-04 9.99971170e-01 -1.81778040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.677628 meters 0.01757045761807007 Centerline is valid? [True, True] Translation: X:98.11, Y:-21.77, Z:-0.18 [[ 9.44721077e-01 3.27799807e-01 -7.02656378e-03 9.81117932e+01] [-3.27788936e-01 9.44747180e-01 2.67932051e-03 -2.17726288e+01] [ 7.51660707e-03 -2.27980694e-04 9.99971724e-01 -1.81729106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.737628 meters 0.018495840738930514 Centerline is valid? [True, True] Translation: X:98.17, Y:-21.80, Z:-0.18 [[ 9.45705136e-01 3.24944002e-01 -7.29322802e-03 9.81682462e+01] [-3.24932201e-01 9.45733222e-01 2.78164953e-03 -2.17996603e+01] [ 7.80132837e-03 -2.60815614e-04 9.99969535e-01 -1.80832053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.797628 meters 0.02000557214246476 Centerline is valid? [True, True] Translation: X:98.22, Y:-21.83, Z:-0.18 [[ 9.45834033e-01 3.24565596e-01 -7.42677464e-03 9.82239647e+01] [-3.24553336e-01 9.45863151e-01 2.83381779e-03 -2.18259219e+01] [ 7.94447223e-03 -2.69936821e-04 9.99968406e-01 -1.81334228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.857628 meters 0.01692887250502162 Centerline is valid? [True, True] Translation: X:98.28, Y:-21.84, Z:-0.18 [[ 9.43976509e-01 3.29952161e-01 -6.31838870e-03 9.82829142e+01] [-3.29943408e-01 9.43997635e-01 2.41085102e-03 -2.18423309e+01] [ 6.76000949e-03 -1.91076029e-04 9.99977133e-01 -1.80226232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.917628 meters 0.01628222723974253 Centerline is valid? [True, True] Translation: X:98.34, Y:-21.86, Z:-0.18 [[ 9.43006141e-01 3.32723578e-01 -5.86843443e-03 9.83418234e+01] [-3.32716077e-01 9.43024387e-01 2.23987647e-03 -2.18633697e+01] [ 6.27933649e-03 -1.59694785e-04 9.99980272e-01 -1.79892498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.977628 meters 0.01450003165272689 Centerline is valid? [True, True] Translation: X:98.40, Y:-21.88, Z:-0.18 [[ 9.40957336e-01 3.38477984e-01 -5.65212461e-03 9.84013956e+01] [-3.38471126e-01 9.40974304e-01 2.15780278e-03 -2.18810558e+01] [ 6.04887276e-03 -1.17319368e-04 9.99981699e-01 -1.79477035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.037628 meters 0.013157872723687293 Centerline is valid? [True, True] Translation: X:98.46, Y:-21.90, Z:-0.18 [[ 9.38633780e-01 3.44861346e-01 -6.10565741e-03 9.84604869e+01] [-3.44853477e-01 9.38653634e-01 2.33111111e-03 -2.18973058e+01] [ 6.53500763e-03 -8.25024430e-05 9.99978643e-01 -1.80643485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.097628 meters 0.012762670676954269 Centerline is valid? [True, True] Translation: X:98.52, Y:-21.92, Z:-0.18 [[ 9.37470602e-01 3.47980300e-01 -7.65382624e-03 9.85195580e+01] [-3.47968018e-01 9.37501842e-01 2.92476087e-03 -2.19172858e+01] [ 8.19323537e-03 -7.85905907e-05 9.99966432e-01 -1.82604944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.157628 meters 0.012983721407405302 Centerline is valid? [True, True] Translation: X:98.58, Y:-21.94, Z:-0.18 [[ 9.37723097e-01 3.47272092e-01 -8.80263037e-03 9.85777342e+01] [-3.47255792e-01 9.37764407e-01 3.36619729e-03 -2.19398656e+01] [ 9.42377983e-03 -9.97965702e-05 9.99955590e-01 -1.84292463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.217628 meters 0.014333955781551735 Centerline is valid? [True, True] Translation: X:98.63, Y:-21.97, Z:-0.19 [[ 9.39738126e-01 3.41789534e-01 -8.49522675e-03 9.86328202e+01] [-3.41774108e-01 9.39776511e-01 3.25083688e-03 -2.19668745e+01] [ 9.09471658e-03 -1.51486811e-04 9.99958631e-01 -1.85033702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.27762799999999 meters 0.015857651159018264 Centerline is valid? [True, True] Translation: X:98.69, Y:-21.99, Z:-0.18 [[ 9.41936933e-01 3.35720880e-01 -6.80482474e-03 9.86885465e+01] [-3.35710821e-01 9.41961497e-01 2.60431755e-03 -2.19949406e+01] [ 7.28420668e-03 -1.68649584e-04 9.99973456e-01 -1.83742477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.337628 meters 0.019579722744960344 Centerline is valid? [True, True] Translation: X:98.74, Y:-22.03, Z:-0.18 [[ 9.45161899e-01 3.26549157e-01 -5.88490752e-03 9.87413478e+01] [-3.26541456e-01 9.45180197e-01 2.25226301e-03 -2.20260367e+01] [ 6.29777264e-03 -2.07086915e-04 9.99980147e-01 -1.82912588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.397628 meters 0.021856349563019222 Centerline is valid? [True, True] Translation: X:98.80, Y:-22.05, Z:-0.18 [[ 9.46764413e-01 3.21870509e-01 -6.04330572e-03 9.87971362e+01] [-3.21862290e-01 9.46783669e-01 2.31317184e-03 -2.20519166e+01] [ 6.46624495e-03 -2.44916561e-04 9.99979064e-01 -1.83058371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.457628 meters 0.02003028171266596 Centerline is valid? [True, True] Translation: X:98.86, Y:-22.07, Z:-0.18 [[ 9.47664339e-01 3.19192112e-01 -6.97824334e-03 9.88558852e+01] [-3.19181077e-01 9.47689983e-01 2.67147493e-03 -2.20709076e+01] [ 7.46592503e-03 -3.04338298e-04 9.99972083e-01 -1.82354351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.517628 meters 0.02289930913378288 Centerline is valid? [True, True] Translation: X:98.91, Y:-22.09, Z:-0.19 [[ 9.47315239e-01 3.20188122e-01 -8.56769195e-03 9.89136678e+01] [-3.20171506e-01 9.47353911e-01 3.28247565e-03 -2.20917829e+01] [ 9.16764619e-03 -3.66408373e-04 9.99957909e-01 -1.86628575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.577628 meters 0.019989907705866623 Centerline is valid? [True, True] Translation: X:98.97, Y:-22.11, Z:-0.19 [[ 9.45005264e-01 3.26913593e-01 -9.62049469e-03 9.89725789e+01] [-3.26892993e-01 9.45054172e-01 3.68550936e-03 -2.21071607e+01] [ 1.02967318e-02 -3.37953443e-04 9.99946930e-01 -1.85568848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.63762799999999 meters 0.01674124714359097 Centerline is valid? [True, True] Translation: X:99.03, Y:-22.12, Z:-0.18 [[ 9.42952722e-01 3.32789411e-01 -9.55887006e-03 9.90330975e+01] [-3.32769370e-01 9.43001131e-01 3.66232523e-03 -2.21213754e+01] [ 1.02328083e-02 -2.72500375e-04 9.99947606e-01 -1.84081103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.697628 meters 0.013901945928020487 Centerline is valid? [True, True] Translation: X:99.09, Y:-22.13, Z:-0.18 [[ 9.39218728e-01 3.43223848e-01 -8.09755056e-03 9.90942386e+01] [-3.43209850e-01 9.39253625e-01 3.10270199e-03 -2.21329372e+01] [ 8.67057504e-03 -1.34956698e-04 9.99962401e-01 -1.82259753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.757628 meters 0.012119049483888015 Centerline is valid? [True, True] Translation: X:99.16, Y:-22.15, Z:-0.18 [[ 9.35293158e-01 3.53816702e-01 -6.36006836e-03 9.91559520e+01] [-3.53808306e-01 9.35314782e-01 2.43760772e-03 -2.21451822e+01] [ 6.81113227e-03 -2.96328090e-05 9.99976804e-01 -1.80937683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.817628 meters 0.011896959743438707 Centerline is valid? [True, True] Translation: X:99.22, Y:-22.16, Z:-0.18 [[ 9.32764521e-01 3.60460354e-01 -4.32225415e-03 9.92157285e+01] [-3.60456540e-01 9.32774535e-01 1.65816255e-03 -2.21616223e+01] [ 4.62939047e-03 1.13095791e-05 9.99989284e-01 -1.79543366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.877628 meters 0.0128708225529597 Centerline is valid? [True, True] Translation: X:99.27, Y:-22.18, Z:-0.18 [[ 9.29751610e-01 3.68182583e-01 -1.87856855e-03 9.92747532e+01] [-3.68181878e-01 9.29753508e-01 7.20665926e-04 -2.21771059e+01] [ 2.01194234e-03 2.16145907e-05 9.99997976e-01 -1.77886495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.937628 meters 0.013337394813497862 Centerline is valid? [True, True] Translation: X:99.33, Y:-22.20, Z:-0.18 [[ 9.28639575e-01 3.70982245e-01 -8.44253165e-04 9.93329405e+01] [-3.70982104e-01 9.28639959e-01 3.24466349e-04 -2.21973396e+01] [ 9.04378479e-04 1.18905220e-05 9.99999591e-01 -1.77453926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.99762799999999 meters 0.01308068249889015 Centerline is valid? [True, True] Translation: X:99.39, Y:-22.22, Z:-0.18 [[ 9.28675532e-01 3.70892444e-01 -7.42896034e-04 9.93908545e+01] [-3.70892334e-01 9.28675829e-01 2.85920102e-04 -2.22217585e+01] [ 7.95955196e-04 1.00074414e-05 9.99999683e-01 -1.77296881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.057628 meters 0.012893602947742734 Centerline is valid? [True, True] Translation: X:99.45, Y:-22.25, Z:-0.18 [[ 9.29492719e-01 3.68838675e-01 -1.14748826e-03 9.94459871e+01] [-3.68838411e-01 9.29493427e-01 4.41554016e-04 -2.22473510e+01] [ 1.22944500e-03 1.28165038e-05 9.99999244e-01 -1.77933018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.117628 meters 0.012688811864262245 Centerline is valid? [True, True] Translation: X:99.50, Y:-22.27, Z:-0.18 [[ 9.30167005e-01 3.67134850e-01 -1.15996407e-03 9.95027202e+01] [-3.67134578e-01 9.30167728e-01 4.46703793e-04 -2.22723847e+01] [ 1.24296168e-03 1.03537925e-05 9.99999227e-01 -1.77947677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.177628 meters 0.012287174375871813 Centerline is valid? [True, True] Translation: X:99.56, Y:-22.30, Z:-0.18 [[ 9.31857898e-01 3.62813613e-01 -2.67195277e-03 9.95582688e+01] [-3.62812153e-01 9.31861729e-01 1.02916335e-03 -2.22996128e+01] [ 2.86328500e-03 1.03829413e-05 9.99995901e-01 -1.79929484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.237628 meters 0.012192607341291004 Centerline is valid? [True, True] Translation: X:99.61, Y:-22.33, Z:-0.18 [[ 9.33360414e-01 3.58916560e-01 -4.15216160e-03 9.96146023e+01] [-3.58912991e-01 9.33369650e-01 1.60049606e-03 -2.23277789e+01] [ 4.44994616e-03 -3.57492968e-06 9.99990099e-01 -1.81134114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.297628 meters 0.0130370579893267 Centerline is valid? [True, True] Translation: X:99.67, Y:-22.36, Z:-0.18 [[ 9.36506115e-01 3.50618999e-01 -4.75544780e-03 9.96687387e+01] [-3.50614205e-01 9.36518187e-01 1.83423924e-03 -2.23608895e+01] [ 5.09668248e-03 -5.04487172e-05 9.99987011e-01 -1.81178748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.35762799999999 meters 0.014792224946899081 Centerline is valid? [True, True] Translation: X:99.72, Y:-22.39, Z:-0.18 [[ 9.38619306e-01 3.44926530e-01 -4.41444112e-03 9.97228341e+01] [-3.44922330e-01 9.38629684e-01 1.70384238e-03 -2.23911073e+01] [ 4.73122591e-03 -7.66200385e-05 9.99988805e-01 -1.80981632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.417628 meters 0.015871836053648995 Centerline is valid? [True, True] Translation: X:99.78, Y:-22.42, Z:-0.18 [[ 9.41149802e-01 3.37973328e-01 -3.32849064e-03 9.97777761e+01] [-3.37970894e-01 9.41155684e-01 1.28550875e-03 -2.24186430e+01] [ 3.56709556e-03 -8.49233457e-05 9.99993634e-01 -1.79701972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.477628 meters 0.017901892495217706 Centerline is valid? [True, True] Translation: X:99.83, Y:-22.45, Z:-0.18 [[ 9.42782211e-01 3.33399042e-01 -2.60414785e-03 9.98326123e+01] [-3.33397534e-01 9.42785804e-01 1.00584620e-03 -2.24455323e+01] [ 2.79050178e-03 -8.00774296e-05 9.99996103e-01 -1.79216840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.537628 meters 0.018653401508110973 Centerline is valid? [True, True] Translation: X:99.89, Y:-22.47, Z:-0.18 [[ 9.45275053e-01 3.26272132e-01 -1.25256785e-03 9.98890996e+01] [-3.26271777e-01 9.45275882e-01 4.84309170e-04 -2.24696195e+01] [ 1.34203876e-03 -4.91278395e-05 9.99999098e-01 -1.77722018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.597628 meters 0.019827276143820804 Centerline is valid? [True, True] Translation: X:99.95, Y:-22.49, Z:-0.18 [[ 9.46612590e-01 3.22373221e-01 -3.33041129e-04 9.99462021e+01] [-3.22373196e-01 9.46612648e-01 1.29136126e-04 -2.24923743e+01] [ 3.56890974e-04 -1.48783496e-05 9.99999936e-01 -1.76072702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.657628 meters 0.019572464164379872 Centerline is valid? [True, True] Translation: X:100.00, Y:-22.51, Z:-0.18 [[ 9.46441616e-01 3.22874614e-01 5.00117029e-04 1.00004730e+02] [-3.22874557e-01 9.46441748e-01 -1.93061774e-04 -2.25121324e+01] [-5.35666381e-04 2.12466334e-05 9.99999856e-01 -1.75680479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.717628 meters 0.0174217186171295 Centerline is valid? [True, True] Translation: X:100.07, Y:-22.52, Z:-0.18 [[ 9.44039944e-01 3.29829827e-01 9.32000175e-04 1.00065877e+02] [-3.29829632e-01 9.44040404e-01 -3.60589581e-04 -2.25243704e+01] [-9.98779021e-04 3.30096934e-05 9.99999501e-01 -1.76026915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.77762799999999 meters 0.014594430959297964 Centerline is valid? [True, True] Translation: X:100.13, Y:-22.53, Z:-0.18 [[ 9.39652470e-01 3.42129125e-01 -9.46786038e-04 1.00128039e+02] [-3.42128930e-01 9.39652947e-01 3.66446263e-04 -2.25335412e+01] [ 1.01502223e-03 -2.04092426e-05 9.99999485e-01 -1.77789356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.837628 meters 0.013594696860687514 Centerline is valid? [True, True] Translation: X:100.19, Y:-22.55, Z:-0.18 [[ 9.37972356e-01 3.46703651e-01 -2.10669498e-03 1.00187573e+02] [-3.46702692e-01 9.37974721e-01 8.16314913e-04 -2.25513009e+01] [ 2.25904599e-03 -3.52840026e-05 9.99997448e-01 -1.78693797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.897628 meters 0.01246431224092075 Centerline is valid? [True, True] Translation: X:100.25, Y:-22.56, Z:-0.18 [[ 9.34927911e-01 3.54822429e-01 -3.29325021e-03 1.00247825e+02] [-3.54820137e-01 9.34933711e-01 1.27559255e-03 -2.25645388e+01] [ 3.53157948e-03 -2.40755857e-05 9.99993764e-01 -1.79709521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.957628 meters 0.012157906211508088 Centerline is valid? [True, True] Translation: X:100.31, Y:-22.57, Z:-0.18 [[ 9.30964757e-01 3.65081080e-01 -4.51942762e-03 1.00311093e+02] [-3.65076882e-01 9.30975727e-01 1.75107241e-03 -2.25745946e+01] [ 4.84676082e-03 1.97518387e-05 9.99988254e-01 -1.81502278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.017628 meters 0.012814403654620088 Centerline is valid? [True, True] Translation: X:100.37, Y:-22.59, Z:-0.18 [[ 9.28651873e-01 3.70924681e-01 -4.53656889e-03 1.00371608e+02] [-3.70920512e-01 9.28662952e-01 1.75928134e-03 -2.25895258e+01] [ 4.86550433e-03 4.89465471e-05 9.99988162e-01 -1.82089397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.077628 meters 0.013087566509389924 Centerline is valid? [True, True] Translation: X:100.43, Y:-22.61, Z:-0.18 [[ 9.27965572e-01 3.72651781e-01 -3.24761815e-03 1.00431025e+02] [-3.72649650e-01 9.27971254e-01 1.26067754e-03 -2.26109696e+01] [ 3.48349002e-03 4.03584112e-05 9.99993932e-01 -1.80458131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.13762799999999 meters 0.013172998102987951 Centerline is valid? [True, True] Translation: X:100.49, Y:-22.63, Z:-0.18 [[ 9.27988654e-01 3.72607067e-01 -1.01557278e-03 1.00489883e+02] [-3.72606858e-01 9.27989210e-01 3.94795758e-04 -2.26312144e+01] [ 1.08954427e-03 1.20433996e-05 9.99999406e-01 -1.79619331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.197628 meters 0.012937277281249798 Centerline is valid? [True, True] Translation: X:100.55, Y:-22.66, Z:-0.18 [[ 9.28077701e-01 3.72384539e-01 -1.23954380e-03 1.00548591e+02] [-3.72384227e-01 9.28078529e-01 4.82244021e-04 -2.26551122e+01] [ 1.32997420e-03 1.40266363e-05 9.99999115e-01 -1.79968661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.257628 meters 0.01285117667522987 Centerline is valid? [True, True] Translation: X:100.61, Y:-22.68, Z:-0.18 [[ 9.28198401e-01 3.72064603e-01 -3.95717994e-03 1.00606598e+02] [-3.72061420e-01 9.28206835e-01 1.53974917e-03 -2.26804014e+01] [ 4.24596764e-03 4.31212728e-05 9.99990985e-01 -1.81445544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.317628 meters 0.012726655887904646 Centerline is valid? [True, True] Translation: X:100.66, Y:-22.70, Z:-0.18 [[ 9.29107421e-01 3.69757925e-01 -6.20300642e-03 1.00663367e+02] [-3.69750040e-01 9.29128126e-01 2.41517593e-03 -2.27043344e+01] [ 6.65641817e-03 4.96039922e-05 9.99977845e-01 -1.84143670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.377628 meters 0.012414402159653105 Centerline is valid? [True, True] Translation: X:100.72, Y:-22.73, Z:-0.19 [[ 9.30901705e-01 3.65210873e-01 -6.56001720e-03 1.00719464e+02] [-3.65201929e-01 9.30924819e-01 2.55594352e-03 -2.27301803e+01] [ 7.04034119e-03 1.63987582e-05 9.99975216e-01 -1.85234861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.437628 meters 0.013279427769038406 Centerline is valid? [True, True] Translation: X:100.77, Y:-22.76, Z:-0.18 [[ 9.35387133e-01 3.53551768e-01 -7.21514670e-03 1.00772757e+02] [-3.53540584e-01 9.35414957e-01 2.81323584e-03 -2.27637093e+01] [ 7.74378064e-03 -8.06174267e-05 9.99970013e-01 -1.84719840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.49762799999999 meters 0.015397463567657177 Centerline is valid? [True, True] Translation: X:100.83, Y:-22.79, Z:-0.18 [[ 9.39025882e-01 3.43751157e-01 -8.09536947e-03 1.00826550e+02] [-3.43736705e-01 9.39060759e-01 3.15739571e-03 -2.27943930e+01] [ 8.68740223e-03 -1.82200668e-04 9.99962247e-01 -1.84494624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.557628 meters 0.018577131814254723 Centerline is valid? [True, True] Translation: X:100.88, Y:-22.83, Z:-0.18 [[ 9.43557426e-01 3.31117046e-01 -7.80298120e-03 1.00880488e+02] [-3.31103183e-01 9.43589645e-01 3.04350594e-03 -2.28251360e+01] [ 8.37056896e-03 -2.88130718e-04 9.99964925e-01 -1.83433926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.617628 meters 0.01987905128419392 Centerline is valid? [True, True] Translation: X:100.94, Y:-22.85, Z:-0.18 [[ 9.45645893e-01 3.25146321e-01 -5.80643555e-03 1.00936313e+02] [-3.25138531e-01 9.45663685e-01 2.26492856e-03 -2.28499171e+01] [ 6.22736843e-03 -2.53924469e-04 9.99980578e-01 -1.81475611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.677628 meters 0.02001041305914527 Centerline is valid? [True, True] Translation: X:101.00, Y:-22.87, Z:-0.18 [[ 9.45493915e-01 3.25589527e-01 -5.71978150e-03 1.00995256e+02] [-3.25581962e-01 9.45511183e-01 2.23346142e-03 -2.28725083e+01] [ 6.13530902e-03 -2.49466495e-04 9.99981148e-01 -1.80942837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.737628 meters 0.0177044878729664 Centerline is valid? [True, True] Translation: X:101.05, Y:-22.89, Z:-0.18 [[ 9.44100706e-01 3.29614062e-01 -5.33166945e-03 1.01054610e+02] [-3.29607554e-01 9.44115738e-01 2.08170981e-03 -2.28882922e+01] [ 5.71987387e-03 -2.07985175e-04 9.99983620e-01 -1.79770842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.797628 meters 0.018579656083034905 Centerline is valid? [True, True] Translation: X:101.11, Y:-22.91, Z:-0.18 [[ 9.42464410e-01 3.34266224e-01 -5.18915964e-03 1.01111414e+02] [-3.34260129e-01 9.42478679e-01 2.02608944e-03 -2.29077085e+01] [ 5.56792559e-03 -1.74988021e-04 9.99984484e-01 -1.81095720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.85762799999999 meters 0.015496462818266589 Centerline is valid? [True, True] Translation: X:101.17, Y:-22.92, Z:-0.18 [[ 9.39639129e-01 3.42110802e-01 -6.20537239e-03 1.01172564e+02] [-3.42102254e-01 9.39659606e-01 2.42324026e-03 -2.29196936e+01] [ 6.65995444e-03 -1.54099485e-04 9.99977810e-01 -1.82072477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.917628 meters 0.014284743749549541 Centerline is valid? [True, True] Translation: X:101.23, Y:-22.94, Z:-0.18 [[ 9.37468631e-01 3.48004211e-01 -6.75531577e-03 1.01232049e+02] [-3.47994232e-01 9.37492962e-01 2.63824883e-03 -2.29351064e+01] [ 7.25118269e-03 -1.22464599e-04 9.99973702e-01 -1.82629151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.977628 meters 0.01427024773712352 Centerline is valid? [True, True] Translation: X:101.29, Y:-22.95, Z:-0.18 [[ 9.36795231e-01 3.49816220e-01 -6.58090326e-03 1.01290705e+02] [-3.49806778e-01 9.36818339e-01 2.57234146e-03 -2.29542607e+01] [ 7.06495763e-03 -1.07712641e-04 9.99975037e-01 -1.83115991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.037628 meters 0.013595947331292881 Centerline is valid? [True, True] Translation: X:101.35, Y:-22.97, Z:-0.18 [[ 9.36256361e-01 3.51268040e-01 -5.89840835e-03 1.01350737e+02] [-3.51260473e-01 9.36274936e-01 2.30731427e-03 -2.29719765e+01] [ 6.33301766e-03 -8.83599589e-05 9.99979942e-01 -1.81891986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.097628 meters 0.013505019430726411 Centerline is valid? [True, True] Translation: X:101.41, Y:-22.99, Z:-0.18 [[ 9.35504632e-01 3.53261179e-01 -6.13379306e-03 1.01410243e+02] [-3.53253028e-01 9.35524737e-01 2.40110963e-03 -2.29900775e+01] [ 6.58653396e-03 -7.94682094e-05 9.99978305e-01 -1.82762373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.157628 meters 0.013167509226713604 Centerline is valid? [True, True] Translation: X:101.47, Y:-23.01, Z:-0.18 [[ 9.34583913e-01 3.55682453e-01 -6.55001810e-03 1.01469410e+02] [-3.55673205e-01 9.34606863e-01 2.56584508e-03 -2.30102783e+01] [ 7.03431794e-03 -6.83316081e-05 9.99975257e-01 -1.83408718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.217628 meters 0.01282956442754263 Centerline is valid? [True, True] Translation: X:101.53, Y:-23.03, Z:-0.18 [[ 9.33082009e-01 3.59583687e-01 -7.58527828e-03 1.01528868e+02] [-3.59571396e-01 9.33112839e-01 2.97343377e-03 -2.30296812e+01] [ 8.14711882e-03 -4.70084604e-05 9.99966811e-01 -1.84212862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.27762799999999 meters 0.012504211398464131 Centerline is valid? [True, True] Translation: X:101.59, Y:-23.05, Z:-0.18 [[ 9.31691779e-01 3.63171268e-01 -7.55371429e-03 1.01587711e+02] [-3.63159180e-01 9.31722399e-01 2.96319929e-03 -2.30503339e+01] [ 8.11411364e-03 -1.75877382e-05 9.99967080e-01 -1.83813752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.337628 meters 0.012450603337077489 Centerline is valid? [True, True] Translation: X:101.65, Y:-23.07, Z:-0.19 [[ 9.29283334e-01 3.69284673e-01 -7.83039215e-03 1.01647301e+02] [-3.69271877e-01 9.29316323e-01 3.07437295e-03 -2.30694442e+01] [ 8.41223005e-03 3.45800626e-05 9.99964616e-01 -1.85282422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.397628 meters 0.01271070506187229 Centerline is valid? [True, True] Translation: X:101.71, Y:-23.09, Z:-0.19 [[ 9.27837519e-01 3.72892626e-01 -8.28420393e-03 1.01705348e+02] [-3.72878427e-01 9.27874498e-01 3.25483387e-03 -2.30921723e+01] [ 8.90040512e-03 6.90439521e-05 9.99960388e-01 -1.85665581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.457628 meters 0.013362728569838387 Centerline is valid? [True, True] Translation: X:101.76, Y:-23.12, Z:-0.19 [[ 9.26227017e-01 3.76893729e-01 -7.39119976e-03 1.01761837e+02] [-3.76882546e-01 9.26256502e-01 2.90494702e-03 -2.31155024e+01] [ 7.94100316e-03 9.49737754e-05 9.99968465e-01 -1.85912150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.517628 meters 0.013483059349532872 Centerline is valid? [True, True] Translation: X:101.82, Y:-23.14, Z:-0.19 [[ 9.25507393e-01 3.78657580e-01 -7.38252377e-03 1.01818292e+02] [-3.78646460e-01 9.25536831e-01 2.90387835e-03 -2.31419063e+01] [ 7.93237320e-03 1.07805616e-04 9.99968532e-01 -1.85825990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.577628 meters 0.013113918897118333 Centerline is valid? [True, True] Translation: X:101.87, Y:-23.17, Z:-0.19 [[ 9.26315385e-01 3.76685878e-01 -6.89611603e-03 1.01874256e+02] [-3.76676106e-01 9.26341051e-01 2.71456362e-03 -2.31697084e+01] [ 7.41069315e-03 8.30600850e-05 9.99972537e-01 -1.85673563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.63762799999999 meters 0.012293865829220445 Centerline is valid? [True, True] Translation: X:101.93, Y:-23.20, Z:-0.18 [[ 9.29434488e-01 3.68944453e-01 -5.61460501e-03 1.01926056e+02] [-3.68937824e-01 9.29451446e-01 2.21163295e-03 -2.32041437e+01] [ 6.03447245e-03 1.58722199e-05 9.99981792e-01 -1.83805993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.697628 meters 0.012562778245769004 Centerline is valid? [True, True] Translation: X:101.98, Y:-23.24, Z:-0.18 [[ 9.32393236e-01 3.61411550e-01 -4.95434019e-03 1.01981618e+02] [-3.61406273e-01 9.32406398e-01 1.95332137e-03 -2.32360149e+01] [ 5.32541139e-03 -3.07340098e-05 9.99985819e-01 -1.83351927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.757628 meters 0.013489707912555141 Centerline is valid? [True, True] Translation: X:102.04, Y:-23.27, Z:-0.18 [[ 9.34925135e-01 3.54816064e-01 -4.53351707e-03 1.02035629e+02] [-3.54811561e-01 9.34936125e-01 1.78856049e-03 -2.32668433e+01] [ 4.87315887e-03 -6.36258828e-05 9.99988124e-01 -1.83600996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.817628 meters 0.014815145873266126 Centerline is valid? [True, True] Translation: X:102.09, Y:-23.30, Z:-0.18 [[ 9.36981612e-01 3.49351637e-01 -4.34649926e-03 1.02089791e+02] [-3.49347434e-01 9.36991689e-01 1.71592825e-03 -2.32971147e+01] [ 4.67209603e-03 -8.93548523e-05 9.99989082e-01 -1.83425301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.877628 meters 0.015925137576444478 Centerline is valid? [True, True] Translation: X:102.14, Y:-23.33, Z:-0.18 [[ 9.38623216e-01 3.44918431e-01 -4.21114983e-03 1.02144641e+02] [-3.44914436e-01 9.38632657e-01 1.66362239e-03 -2.33264624e+01] [ 4.52653677e-03 -1.09028234e-04 9.99989749e-01 -1.83854741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.937628 meters 0.01701931021536692 Centerline is valid? [True, True] Translation: X:102.20, Y:-23.35, Z:-0.19 [[ 9.39048877e-01 3.43736940e-01 -5.66770621e-03 1.02199317e+02] [-3.43729674e-01 9.39065968e-01 2.24036031e-03 -2.33536856e+01] [ 6.09244462e-03 -1.55649027e-04 9.99981429e-01 -1.86443582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.99762799999999 meters 0.016293296696188248 Centerline is valid? [True, True] Translation: X:102.26, Y:-23.38, Z:-0.19 [[ 9.38410543e-01 3.45462541e-01 -6.42540808e-03 1.02256500e+02] [-3.45453231e-01 9.38432526e-01 2.54164785e-03 -2.33783319e+01] [ 6.90785606e-03 -1.65431156e-04 9.99976127e-01 -1.87077665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.057628 meters 0.016060066167846693 Centerline is valid? [True, True] Translation: X:102.31, Y:-23.40, Z:-0.19 [[ 9.37376162e-01 3.48256410e-01 -6.58823089e-03 1.02313080e+02] [-3.48246679e-01 9.37399302e-01 2.60769808e-03 -2.34021778e+01] [ 7.08395061e-03 -1.50064486e-04 9.99974897e-01 -1.87881865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.117628 meters 0.013962439812910347 Centerline is valid? [True, True] Translation: X:102.37, Y:-23.42, Z:-0.19 [[ 9.35052505e-01 3.54452684e-01 -6.33312149e-03 1.02371069e+02] [-3.54443833e-01 9.35073946e-01 2.50682218e-03 -2.34238376e+01] [ 6.81048675e-03 -9.92745048e-05 9.99976803e-01 -1.88043192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.177628 meters 0.012825681970354098 Centerline is valid? [True, True] Translation: X:102.43, Y:-23.44, Z:-0.19 [[ 9.32260097e-01 3.61741251e-01 -5.86335660e-03 1.02430365e+02] [-3.61733796e-01 9.32278534e-01 2.32286862e-03 -2.34428895e+01] [ 6.30655890e-03 -4.45434828e-05 9.99980112e-01 -1.89248748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.237628 meters 0.012676370823912328 Centerline is valid? [True, True] Translation: X:102.49, Y:-23.46, Z:-0.19 [[ 9.27641701e-01 3.73438716e-01 -4.93968854e-03 1.02490451e+02] [-3.73433582e-01 9.27654852e-01 1.95838646e-03 -2.34592996e+01] [ 5.31366336e-03 2.79646421e-05 9.99985882e-01 -1.89563610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.297628 meters 0.013301408267371643 Centerline is valid? [True, True] Translation: X:102.55, Y:-23.48, Z:-0.19 [[ 9.25789292e-01 3.78008361e-01 -4.88523311e-03 1.02548895e+02] [-3.78003396e-01 9.25802180e-01 1.93815990e-03 -2.34810776e+01] [ 5.25540011e-03 5.23070209e-05 9.99986189e-01 -1.88851900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.35762799999999 meters 0.013986162208609727 Centerline is valid? [True, True] Translation: X:102.61, Y:-23.50, Z:-0.19 [[ 9.23781806e-01 3.82897904e-01 -4.04603191e-03 1.02606831e+02] [-3.82894540e-01 9.23790664e-01 1.60646665e-03 -2.35027610e+01] [ 4.35279921e-03 6.51788611e-05 9.99990524e-01 -1.88706365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.417628 meters 0.015393459951386782 Centerline is valid? [True, True] Translation: X:102.66, Y:-23.52, Z:-0.19 [[ 9.22800459e-01 3.85236194e-01 -5.69101072e-03 1.02664810e+02] [-3.85229574e-01 9.22818001e-01 2.26088118e-03 -2.35224994e+01] [ 6.12274040e-03 1.06003441e-04 9.99981250e-01 -1.91840003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.477628 meters 0.01443550103555022 Centerline is valid? [True, True] Translation: X:102.72, Y:-23.55, Z:-0.19 [[ 9.22595803e-01 3.85672879e-01 -8.56825055e-03 1.02721537e+02] [-3.85657871e-01 9.22635575e-01 3.40626507e-03 -2.35488147e+01] [ 9.21907683e-03 1.61807411e-04 9.99957490e-01 -1.94340904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.537628 meters 0.01473625883395813 Centerline is valid? [True, True] Translation: X:102.78, Y:-23.57, Z:-0.20 [[ 9.22658817e-01 3.85480626e-01 -1.02661797e-02 1.02777922e+02] [-3.85459039e-01 9.22715910e-01 4.08387579e-03 -2.35718024e+01] [ 1.10470223e-02 1.89167742e-04 9.99938962e-01 -1.96080528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.597628 meters 0.014585466946078597 Centerline is valid? [True, True] Translation: X:102.84, Y:-23.60, Z:-0.20 [[ 9.22653691e-01 3.85473116e-01 -1.09837313e-02 1.02835842e+02] [-3.85448362e-01 9.22719046e-01 4.37301390e-03 -2.35951459e+01] [ 1.18205773e-02 1.98883805e-04 9.99930115e-01 -1.95458300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.657628 meters 0.014458122025116392 Centerline is valid? [True, True] Translation: X:102.89, Y:-23.62, Z:-0.20 [[ 9.22885495e-01 3.84929199e-01 -1.05770363e-02 1.02893814e+02] [-3.84906175e-01 9.22946086e-01 4.21407764e-03 -2.36163056e+01] [ 1.13841557e-02 1.82055435e-04 9.99935182e-01 -1.95451637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.717628 meters 0.013520435435355431 Centerline is valid? [True, True] Translation: X:102.95, Y:-23.64, Z:-0.19 [[ 9.24835768e-01 3.80240461e-01 -9.79761562e-03 1.02950340e+02] [-3.80220411e-01 9.24887658e-01 3.90637160e-03 -2.36416831e+01] [ 1.05470543e-02 1.12501263e-04 9.99944372e-01 -1.93584615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.77762799999999 meters 0.012830647128828213 Centerline is valid? [True, True] Translation: X:103.01, Y:-23.67, Z:-0.19 [[ 9.27124196e-01 3.74635734e-01 -9.42296935e-03 1.03006538e+02] [-3.74616885e-01 9.27172080e-01 3.75827197e-03 -2.36699235e+01] [ 1.01446971e-02 4.56185431e-05 9.99948540e-01 -1.92991143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.837628 meters 0.012699704106914556 Centerline is valid? [True, True] Translation: X:103.06, Y:-23.70, Z:-0.19 [[ 9.29726254e-01 3.68160413e-01 -8.18556415e-03 1.03062055e+02] [-3.68145915e-01 9.29762287e-01 3.26734215e-03 -2.36984689e+01] [ 8.81353488e-03 -2.42517683e-05 9.99961160e-01 -1.91108966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.897628 meters 0.012721463798122414 Centerline is valid? [True, True] Translation: X:103.12, Y:-23.72, Z:-0.19 [[ 9.30698497e-01 3.65721070e-01 -6.95742795e-03 1.03119774e+02] [-3.65710510e-01 9.30724501e-01 2.77955691e-03 -2.37228566e+01] [ 7.49199119e-03 -4.25249158e-05 9.99971934e-01 -1.89603660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.957628 meters 0.012598187669617008 Centerline is valid? [True, True] Translation: X:103.18, Y:-23.74, Z:-0.19 [[ 9.30394272e-01 3.66514434e-01 -5.80251638e-03 1.03178454e+02] [-3.66507093e-01 9.30412365e-01 2.31985988e-03 -2.37442287e+01] [ 6.24899512e-03 -3.17209356e-05 9.99980474e-01 -1.88474431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.017628 meters 0.012485309071859301 Centerline is valid? [True, True] Translation: X:103.24, Y:-23.77, Z:-0.19 [[ 9.29416506e-01 3.68988187e-01 -5.71622527e-03 1.03236481e+02] [-3.68981100e-01 9.29434084e-01 2.28700838e-03 -2.37652642e+01] [ 6.15673367e-03 -1.64042478e-05 9.99981047e-01 -1.88518144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.077628 meters 0.01243115523060521 Centerline is valid? [True, True] Translation: X:103.30, Y:-23.79, Z:-0.19 [[ 9.27760972e-01 3.73112889e-01 -6.80808478e-03 1.03296014e+02] [-3.73102931e-01 9.27785951e-01 2.72603201e-03 -2.37854241e+01] [ 7.33356309e-03 1.10102756e-05 9.99973109e-01 -1.89696868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.13762799999999 meters 0.01248143055714226 Centerline is valid? [True, True] Translation: X:103.35, Y:-23.81, Z:-0.19 [[ 9.26745371e-01 3.75589575e-01 -8.68844924e-03 1.03353047e+02] [-3.75573456e-01 9.26786097e-01 3.47986183e-03 -2.38064348e+01] [ 9.35933379e-03 3.82050657e-05 9.99956200e-01 -1.91486523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.197628 meters 0.012472123074596969 Centerline is valid? [True, True] Translation: X:103.41, Y:-23.83, Z:-0.19 [[ 9.26008248e-01 3.77402525e-01 -8.72117993e-03 1.03411102e+02] [-3.77386335e-01 9.26049313e-01 3.49615238e-03 -2.38297187e+01] [ 9.39569942e-03 5.37881964e-05 9.99955858e-01 -1.91703983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.257628 meters 0.012301602816497288 Centerline is valid? [True, True] Translation: X:103.47, Y:-23.85, Z:-0.19 [[ 9.26282648e-01 3.76738361e-01 -8.28630009e-03 1.03468079e+02] [-3.76723698e-01 9.26319710e-01 3.32419442e-03 -2.38549027e+01] [ 8.92811466e-03 4.25020028e-05 9.99960143e-01 -1.91461662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.317628 meters 0.012079030587756936 Centerline is valid? [True, True] Translation: X:103.52, Y:-23.88, Z:-0.19 [[ 9.27783504e-01 3.73072541e-01 -5.88628854e-03 1.03522927e+02] [-3.73065057e-01 9.27802177e-01 2.36304288e-03 -2.38818641e+01] [ 6.34289774e-03 3.57637035e-06 9.99979884e-01 -1.89059060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.377628 meters 0.012162771858964232 Centerline is valid? [True, True] Translation: X:103.58, Y:-23.91, Z:-0.19 [[ 9.29465245e-01 3.68892823e-01 -3.52766901e-03 1.03578653e+02] [-3.68890100e-01 9.29471939e-01 1.41736484e-03 -2.39095875e+01] [ 3.80172507e-03 -1.60691809e-05 9.99992773e-01 -1.86227086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.437628 meters 0.012440150502777 Centerline is valid? [True, True] Translation: X:103.64, Y:-23.93, Z:-0.19 [[ 9.30559269e-01 3.66123948e-01 -3.56385925e-03 1.03635532e+02] [-3.66121145e-01 9.30566093e-01 1.43291723e-03 -2.39347226e+01] [ 3.84103189e-03 -2.86101792e-05 9.99992623e-01 -1.86297825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.49762799999999 meters 0.013217450317045014 Centerline is valid? [True, True] Translation: X:103.69, Y:-23.96, Z:-0.19 [[ 9.32595731e-01 3.60893532e-01 -4.58922442e-03 1.03692734e+02] [-3.60888815e-01 9.32607020e-01 1.84637998e-03 -2.39598803e+01] [ 4.94628950e-03 -6.57263229e-05 9.99987765e-01 -1.87749180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.557628 meters 0.013984550872996932 Centerline is valid? [True, True] Translation: X:103.75, Y:-23.98, Z:-0.19 [[ 9.34137172e-01 3.56848328e-01 -6.85678237e-03 1.03750002e+02] [-3.56837688e-01 9.34162327e-01 2.75871929e-03 -2.39841626e+01] [ 7.38979214e-03 -1.30263871e-04 9.99972687e-01 -1.87938582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.617628 meters 0.01530346588277164 Centerline is valid? [True, True] Translation: X:103.81, Y:-24.01, Z:-0.19 [[ 9.34371301e-01 3.56204531e-01 -8.28271295e-03 1.03806446e+02] [-3.56188958e-01 9.34407997e-01 3.33486898e-03 -2.40081253e+01] [ 8.92732866e-03 -1.65794972e-04 9.99960137e-01 -1.90086085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.677628 meters 0.015309321906573808 Centerline is valid? [True, True] Translation: X:103.87, Y:-24.03, Z:-0.19 [[ 9.33933842e-01 3.57328884e-01 -9.14587330e-03 1.03865409e+02] [-3.57309922e-01 9.33978607e-01 3.68525007e-03 -2.40293517e+01] [ 9.85889629e-03 -1.73868480e-04 9.99951385e-01 -1.91140905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.737628 meters 0.013901477348463758 Centerline is valid? [True, True] Translation: X:103.92, Y:-24.05, Z:-0.19 [[ 9.33331923e-01 3.58896632e-01 -9.20490270e-03 1.03924630e+02] [-3.58877475e-01 9.33377299e-01 3.71163771e-03 -2.40476396e+01] [ 9.92374149e-03 -1.60757721e-04 9.99950746e-01 -1.89519977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.797628 meters 0.013507764788895035 Centerline is valid? [True, True] Translation: X:103.98, Y:-24.07, Z:-0.19 [[ 9.32410654e-01 3.61309444e-01 -8.11531319e-03 1.03982740e+02] [-3.61294627e-01 9.32445961e-01 3.27443135e-03 -2.40670565e+01] [ 8.75017398e-03 -1.21095623e-04 9.99961709e-01 -1.88623726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.85762799999999 meters 0.012699971578942232 Centerline is valid? [True, True] Translation: X:104.04, Y:-24.09, Z:-0.19 [[ 9.30655162e-01 3.65825862e-01 -7.23934816e-03 1.04042308e+02] [-3.65814191e-01 9.30683315e-01 2.92310114e-03 -2.40860383e+01] [ 7.80688655e-03 -7.21428787e-05 9.99969523e-01 -1.87971693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.917628 meters 0.012064816305091533 Centerline is valid? [True, True] Translation: X:104.10, Y:-24.11, Z:-0.19 [[ 9.28776531e-01 3.70587058e-01 -6.27593109e-03 1.04100415e+02] [-3.70578383e-01 9.28797735e-01 2.53572956e-03 -2.41051800e+01] [ 6.76877914e-03 -2.94017066e-05 9.99977091e-01 -1.87492770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.977628 meters 0.012044659879420543 Centerline is valid? [True, True] Translation: X:104.16, Y:-24.12, Z:-0.19 [[ 9.24649698e-01 3.80788796e-01 -4.77788081e-03 1.04162437e+02] [-3.80783895e-01 9.24662042e-01 1.93222396e-03 -2.41199582e+01] [ 5.15369426e-03 3.27097613e-05 9.99986719e-01 -1.87117734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.037628 meters 0.013399299489437477 Centerline is valid? [True, True] Translation: X:104.22, Y:-24.14, Z:-0.19 [[ 9.20658816e-01 3.90336305e-01 -4.99132587e-03 1.04221640e+02] [-3.90331094e-01 9.20672342e-01 2.01890446e-03 -2.41374576e+01] [ 5.38342739e-03 8.95474926e-05 9.99985505e-01 -1.86563577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.097628 meters 0.014358600515762123 Centerline is valid? [True, True] Translation: X:104.28, Y:-24.16, Z:-0.19 [[ 9.19132205e-01 3.93926945e-01 -4.18949734e-03 1.04280221e+02] [-3.93923304e-01 9.19141749e-01 1.69607591e-03 -2.41590894e+01] [ 4.51887191e-03 9.14226419e-05 9.99989786e-01 -1.85676588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.157628 meters 0.015067481480737882 Centerline is valid? [True, True] Translation: X:104.34, Y:-24.18, Z:-0.18 [[ 9.18506970e-01 3.95387851e-01 -3.65964905e-03 1.04337896e+02] [-3.95385080e-01 9.18514257e-01 1.48267487e-03 -2.41819635e+01] [ 3.94767146e-03 8.51234281e-05 9.99992204e-01 -1.84794684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.217628 meters 0.014549948256192356 Centerline is valid? [True, True] Translation: X:104.39, Y:-24.21, Z:-0.19 [[ 9.19258016e-01 3.93638334e-01 -3.68266492e-03 1.04394179e+02] [-3.93635510e-01 9.19265389e-01 1.49305421e-03 -2.42084104e+01] [ 3.97306977e-03 7.71256284e-05 9.99992104e-01 -1.85163512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.27762799999999 meters 0.013674937799562628 Centerline is valid? [True, True] Translation: X:104.45, Y:-24.24, Z:-0.19 [[ 9.20668065e-01 3.90328251e-01 -3.76431676e-03 1.04450082e+02] [-3.90325268e-01 9.20675759e-01 1.52722684e-03 -2.42362913e+01] [ 4.06183497e-03 6.32389701e-05 9.99991749e-01 -1.85510521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.337628 meters 0.012051570170982207 Centerline is valid? [True, True] Translation: X:104.50, Y:-24.27, Z:-0.19 [[ 9.24482799e-01 3.81189265e-01 -5.12815534e-03 1.04503459e+02] [-3.81183590e-01 9.24497022e-01 2.08037044e-03 -2.42686392e+01] [ 5.53397922e-03 3.15019710e-05 9.99984687e-01 -1.86145929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.397628 meters 0.012070862606997707 Centerline is valid? [True, True] Translation: X:104.56, Y:-24.30, Z:-0.19 [[ 9.27592728e-01 3.73532116e-01 -6.74452994e-03 1.04558159e+02] [-3.73522084e-01 9.27617247e-01 2.73768656e-03 -2.42996496e+01] [ 7.27895615e-03 -2.02272637e-05 9.99973508e-01 -1.86786942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.457628 meters 0.013894371994289228 Centerline is valid? [True, True] Translation: X:104.61, Y:-24.33, Z:-0.19 [[ 9.32452625e-01 3.61196562e-01 -8.31539686e-03 1.04610110e+02] [-3.61180816e-01 9.32489691e-01 3.37568995e-03 -2.43336407e+01] [ 8.97330945e-03 -1.44309136e-04 9.99959729e-01 -1.86494719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.517628 meters 0.01661735528826261 Centerline is valid? [True, True] Translation: X:104.66, Y:-24.36, Z:-0.19 [[ 9.36784314e-01 3.49808465e-01 -8.31790050e-03 1.04663423e+02] [-3.49792238e-01 9.36821206e-01 3.37903466e-03 -2.43643027e+01] [ 8.97440051e-03 -2.55889634e-04 9.99959697e-01 -1.87023974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.577628 meters 0.018174250403493842 Centerline is valid? [True, True] Translation: X:104.72, Y:-24.39, Z:-0.18 [[ 9.39073732e-01 3.43650111e-01 -6.71761681e-03 1.04718639e+02] [-3.43639368e-01 9.39097724e-01 2.72924498e-03 -2.43912234e+01] [ 7.24640400e-03 -2.54524677e-04 9.99973712e-01 -1.84425478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.63762799999999 meters 0.01925119752787157 Centerline is valid? [True, True] Translation: X:104.77, Y:-24.42, Z:-0.18 [[ 9.39441736e-01 3.42661826e-01 -5.66557320e-03 1.04774824e+02] [-3.42654160e-01 9.39458793e-01 2.30283449e-03 -2.44151417e+01] [ 6.11166603e-03 -2.22046606e-04 9.99981299e-01 -1.82842913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.697628 meters 0.019380116773870047 Centerline is valid? [True, True] Translation: X:104.83, Y:-24.44, Z:-0.18 [[ 9.39385851e-01 3.42832942e-01 -4.44945261e-03 1.04834861e+02] [-3.42828207e-01 9.39396372e-01 1.81029509e-03 -2.44354911e+01] [ 4.80042842e-03 -1.75167730e-04 9.99988463e-01 -1.81657331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.757628 meters 0.019246434108830146 Centerline is valid? [True, True] Translation: X:104.89, Y:-24.46, Z:-0.18 [[ 9.38836043e-01 3.44332675e-01 -4.67900749e-03 1.04893827e+02] [-3.44327451e-01 9.38847686e-01 1.90492114e-03 -2.44551953e+01] [ 5.04880195e-03 -1.77297904e-04 9.99987239e-01 -1.81640427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.817628 meters 0.017857938425594508 Centerline is valid? [True, True] Translation: X:104.95, Y:-24.47, Z:-0.18 [[ 9.37513817e-01 3.47912074e-01 -5.00316765e-03 1.04954693e+02] [-3.47906154e-01 9.37527152e-01 2.03669432e-03 -2.44684529e+01] [ 5.39919606e-03 -1.68796255e-04 9.99985410e-01 -1.82807943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.877628 meters 0.01659629406513147 Centerline is valid? [True, True] Translation: X:105.02, Y:-24.48, Z:-0.18 [[ 9.36169763e-01 3.51507049e-01 -5.38232971e-03 1.05015936e+02] [-3.51500255e-01 9.36185221e-01 2.19140251e-03 -2.44820918e+01] [ 5.80915096e-03 -1.59634502e-04 9.99983114e-01 -1.83100430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.937628 meters 0.016132494521083326 Centerline is valid? [True, True] Translation: X:105.08, Y:-24.50, Z:-0.18 [[ 9.35350345e-01 3.53676330e-01 -5.72592755e-03 1.05075442e+02] [-3.53668669e-01 9.35367857e-01 2.33327658e-03 -2.45003615e+01] [ 6.18107329e-03 -1.57349874e-04 9.99980885e-01 -1.82567192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.99762799999999 meters 0.015875235564063832 Centerline is valid? [True, True] Translation: X:105.14, Y:-24.52, Z:-0.18 [[ 9.34375389e-01 3.56232274e-01 -6.41872578e-03 1.05135629e+02] [-3.56222694e-01 9.34397422e-01 2.61733679e-03 -2.45165457e+01] [ 6.93002066e-03 -1.59079293e-04 9.99975974e-01 -1.82996568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.057628 meters 0.01574377856857258 Centerline is valid? [True, True] Translation: X:105.20, Y:-24.53, Z:-0.18 [[ 9.33461205e-01 3.58614132e-01 -6.78841052e-03 1.05195038e+02] [-3.58603467e-01 9.33485876e-01 2.76976953e-03 -2.45318187e+01] [ 7.33016384e-03 -1.51124850e-04 9.99973123e-01 -1.84331387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.117628 meters 0.01572720533144327 Centerline is valid? [True, True] Translation: X:105.25, Y:-24.55, Z:-0.18 [[ 9.33043469e-01 3.59699099e-01 -6.81500335e-03 1.05254639e+02] [-3.59688376e-01 9.33068346e-01 2.78103699e-03 -2.45514864e+01] [ 7.35920040e-03 -1.43550904e-04 9.99972910e-01 -1.84191793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.177628 meters 0.015357663922484045 Centerline is valid? [True, True] Translation: X:105.32, Y:-24.57, Z:-0.18 [[ 9.32429205e-01 3.61314603e-01 -5.24741419e-03 1.05315473e+02] [-3.61308269e-01 9.32443965e-01 2.14188164e-03 -2.45681922e+01] [ 5.66681281e-03 -1.01218854e-04 9.99983938e-01 -1.83156140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.237628 meters 0.015165070881715082 Centerline is valid? [True, True] Translation: X:105.38, Y:-24.59, Z:-0.18 [[ 9.31884817e-01 3.62718486e-01 -5.09775771e-03 1.05375429e+02] [-3.62712520e-01 9.31898756e-01 2.08242550e-03 -2.45866908e+01] [ 5.50592830e-03 -9.15601596e-05 9.99984838e-01 -1.83918523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.297628 meters 0.014003556052282097 Centerline is valid? [True, True] Translation: X:105.44, Y:-24.60, Z:-0.18 [[ 9.30123712e-01 3.67200421e-01 -5.80785071e-03 1.05435963e+02] [-3.67192755e-01 9.30141841e-01 2.37397607e-03 -2.46027086e+01] [ 6.27384997e-03 -7.54907367e-05 9.99980316e-01 -1.83915692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.35762799999999 meters 0.012673919625392212 Centerline is valid? [True, True] Translation: X:105.50, Y:-24.62, Z:-0.18 [[ 9.27593444e-01 3.73550908e-01 -5.48835382e-03 1.05495919e+02] [-3.73544165e-01 9.27609680e-01 2.24470220e-03 -2.46165282e+01] [ 5.92956067e-03 -3.20285024e-05 9.99982419e-01 -1.84051392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.417628 meters 0.01212676526410633 Centerline is valid? [True, True] Translation: X:105.56, Y:-24.63, Z:-0.18 [[ 9.26079902e-01 3.77272955e-01 -6.41347620e-03 1.05557252e+02] [-3.77263821e-01 9.26102109e-01 2.62528258e-03 -2.46324640e+01] [ 6.92998195e-03 -1.16488964e-05 9.99975987e-01 -1.84240982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.477628 meters 0.012119834221636983 Centerline is valid? [True, True] Translation: X:105.62, Y:-24.65, Z:-0.18 [[ 9.25650855e-01 3.78305577e-01 -7.44207632e-03 1.05616073e+02] [-3.78293291e-01 9.25680771e-01 3.04875979e-03 -2.46538117e+01] [ 8.04234978e-03 -6.79955890e-06 9.99967660e-01 -1.84914409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.537628 meters 0.012184442982511116 Centerline is valid? [True, True] Translation: X:105.67, Y:-24.68, Z:-0.19 [[ 9.25769134e-01 3.78006630e-01 -7.90552796e-03 1.05674807e+02] [-3.77992734e-01 9.25802888e-01 3.24121471e-03 -2.46768742e+01] [ 8.54416127e-03 -1.23844035e-05 9.99963498e-01 -1.85128954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.597628 meters 0.01232232955258388 Centerline is valid? [True, True] Translation: X:105.73, Y:-24.70, Z:-0.18 [[ 9.26439337e-01 3.76346385e-01 -8.57632297e-03 1.05732371e+02] [-3.76329937e-01 9.26479033e-01 3.51859614e-03 -2.47002703e+01] [ 9.26999435e-03 -3.22387923e-05 9.99957032e-01 -1.84724312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.657628 meters 0.012542560516517587 Centerline is valid? [True, True] Translation: X:105.79, Y:-24.72, Z:-0.18 [[ 9.27288670e-01 3.74257227e-01 -8.20060366e-03 1.05791048e+02] [-3.74242083e-01 9.27324930e-01 3.36722327e-03 -2.47225817e+01] [ 8.86483185e-03 -5.33769948e-05 9.99960705e-01 -1.84225259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.717628 meters 0.01251947992834941 Centerline is valid? [True, True] Translation: X:105.85, Y:-24.75, Z:-0.18 [[ 9.27829028e-01 3.72935819e-01 -7.22288642e-03 1.05849738e+02] [-3.72924012e-01 9.27857139e-01 2.96822376e-03 -2.47462044e+01] [ 7.80876369e-03 -6.04163879e-05 9.99969509e-01 -1.83223602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.77762799999999 meters 0.01233845252753373 Centerline is valid? [True, True] Translation: X:105.91, Y:-24.77, Z:-0.18 [[ 9.27729089e-01 3.73205645e-01 -6.02355747e-03 1.05907946e+02] [-3.73197427e-01 9.27748643e-01 2.47711884e-03 -2.47677471e+01] [ 6.51282200e-03 -5.01190559e-05 9.99978790e-01 -1.83292948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.837628 meters 0.0122666830754924 Centerline is valid? [True, True] Translation: X:105.96, Y:-24.79, Z:-0.18 [[ 9.27237505e-01 3.74438420e-01 -5.14580410e-03 1.05964756e+02] [-3.74432434e-01 9.27251783e-01 2.11753821e-03 -2.47895655e+01] [ 5.56434369e-03 -3.67048936e-05 9.99984518e-01 -1.83256036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.897628 meters 0.011892054987166065 Centerline is valid? [True, True] Translation: X:106.02, Y:-24.81, Z:-0.18 [[ 9.26384077e-01 3.76553538e-01 -4.46937471e-03 1.06023372e+02] [-3.76549040e-01 9.26394858e-01 1.84057444e-03 -2.48094757e+01] [ 4.83348056e-03 -2.21400955e-05 9.99988318e-01 -1.82870701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.957628 meters 0.011772238337496476 Centerline is valid? [True, True] Translation: X:106.08, Y:-24.83, Z:-0.18 [[ 9.25714855e-01 3.78187080e-01 -5.15166456e-03 1.06082502e+02] [-3.78181120e-01 9.25729189e-01 2.12324808e-03 -2.48317763e+01] [ 5.57203125e-03 -1.72600159e-05 9.99984476e-01 -1.83874371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.017628 meters 0.011786610283180263 Centerline is valid? [True, True] Translation: X:106.14, Y:-24.86, Z:-0.18 [[ 9.25697852e-01 3.78219947e-01 -5.75827417e-03 1.06140043e+02] [-3.78212492e-01 9.25715761e-01 2.37491778e-03 -2.48557613e+01] [ 6.22876644e-03 -2.06050692e-05 9.99980601e-01 -1.84770672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.077628 meters 0.011813831078960623 Centerline is valid? [True, True] Translation: X:106.20, Y:-24.88, Z:-0.18 [[ 9.26274217e-01 3.76819509e-01 -4.80956710e-03 1.06197614e+02] [-3.76814280e-01 9.26286704e-01 1.98534376e-03 -2.48809807e+01] [ 5.20315431e-03 -2.66591726e-05 9.99986463e-01 -1.84546328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.13762799999999 meters 0.01192566418860942 Centerline is valid? [True, True] Translation: X:106.25, Y:-24.91, Z:-0.18 [[ 9.26230469e-01 3.76945066e-01 -3.08808789e-03 1.06254262e+02] [-3.76942909e-01 9.26235616e-01 1.27515085e-03 -2.49050192e+01] [ 3.34095881e-03 -1.70507326e-05 9.99994419e-01 -1.84102822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.197628 meters 0.011539749910063804 Centerline is valid? [True, True] Translation: X:106.31, Y:-24.93, Z:-0.18 [[ 9.24720023e-01 3.80643079e-01 -1.92993667e-03 1.06312534e+02] [-3.80642243e-01 9.24722037e-01 7.97795692e-04 -2.49269996e+01] [ 2.08833038e-03 -3.12222669e-06 9.99997819e-01 -1.82718395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.257628 meters 0.011826918010174221 Centerline is valid? [True, True] Translation: X:106.37, Y:-24.95, Z:-0.19 [[ 9.21531978e-01 3.88280654e-01 -4.11668343e-03 1.06371390e+02] [-3.88276927e-01 9.21541172e-01 1.70166687e-03 -2.49454837e+01] [ 4.45441760e-03 3.02727483e-05 9.99990079e-01 -1.85516597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.317628 meters 0.012644545928695624 Centerline is valid? [True, True] Translation: X:106.43, Y:-24.97, Z:-0.19 [[ 9.18741236e-01 3.94826034e-01 -5.19077569e-03 1.06429751e+02] [-3.94820203e-01 9.18755896e-01 2.14721574e-03 -2.49655682e+01] [ 5.61683244e-03 7.66874613e-05 9.99984223e-01 -1.86699753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.377628 meters 0.014108751705362571 Centerline is valid? [True, True] Translation: X:106.49, Y:-24.99, Z:-0.19 [[ 9.16052267e-01 4.01026582e-01 -5.09169516e-03 1.06488123e+02] [-4.01021066e-01 9.16066410e-01 2.10637519e-03 -2.49873194e+01] [ 5.50904335e-03 1.12327248e-04 9.99984819e-01 -1.86581370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.437628 meters 0.014233790442722102 Centerline is valid? [True, True] Translation: X:106.54, Y:-25.01, Z:-0.19 [[ 9.15960409e-01 4.01251018e-01 -3.76157442e-03 1.06544378e+02] [-4.01248003e-01 9.15968129e-01 1.55758490e-03 -2.50131344e+01] [ 4.07046481e-03 8.26381237e-05 9.99991712e-01 -1.86313449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.49762799999999 meters 0.01328523624128006 Centerline is valid? [True, True] Translation: X:106.60, Y:-25.04, Z:-0.19 [[ 9.17181980e-01 3.98460837e-01 -2.48526631e-03 1.06599873e+02] [-3.98459508e-01 9.17185346e-01 1.02999348e-03 -2.50418287e+01] [ 2.68986191e-03 4.55865289e-05 9.99996381e-01 -1.85929155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.557628 meters 0.012506752030591846 Centerline is valid? [True, True] Translation: X:106.65, Y:-25.07, Z:-0.18 [[ 9.19174196e-01 3.93849470e-01 -1.18030248e-03 1.06652987e+02] [-3.93849166e-01 9.19174953e-01 4.89687294e-04 -2.50736516e+01] [ 1.27776756e-03 1.47532245e-05 9.99999184e-01 -1.83643147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.617628 meters 0.011953662600137329 Centerline is valid? [True, True] Translation: X:106.71, Y:-25.10, Z:-0.18 [[ 9.20292635e-01 3.91222831e-01 -2.48250062e-03 1.06707482e+02] [-3.91221475e-01 9.20295983e-01 1.03023192e-03 -2.51039016e+01] [ 2.68768560e-03 2.30927039e-05 9.99996388e-01 -1.84298335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.677628 meters 0.012040618395924902 Centerline is valid? [True, True] Translation: X:106.76, Y:-25.13, Z:-0.19 [[ 9.20121093e-01 3.91608734e-01 -4.44668196e-03 1.06763074e+02] [-3.91604384e-01 9.20131837e-01 1.84628333e-03 -2.51307451e+01] [ 4.81455432e-03 4.25359138e-05 9.99988409e-01 -1.86242551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.737628 meters 0.012399929398921776 Centerline is valid? [True, True] Translation: X:106.82, Y:-25.16, Z:-0.19 [[ 9.19343577e-01 3.93386380e-01 -7.38535105e-03 1.06818145e+02] [-3.93374423e-01 9.19373237e-01 3.06824744e-03 -2.51597545e+01] [ 7.99690085e-03 8.44346290e-05 9.99968021e-01 -1.88072163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.797628 meters 0.012674781039461309 Centerline is valid? [True, True] Translation: X:106.87, Y:-25.19, Z:-0.19 [[ 9.19249920e-01 3.93574308e-01 -8.87963856e-03 1.06871799e+02] [-3.93557011e-01 9.19292801e-01 3.69124406e-03 -2.51891386e+01] [ 9.61576663e-03 1.01468198e-04 9.99953762e-01 -1.90317314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.85762799999999 meters 0.012516821447966769 Centerline is valid? [True, True] Translation: X:106.92, Y:-25.22, Z:-0.19 [[ 9.19992238e-01 3.91830059e-01 -9.13712333e-03 1.06924738e+02] [-3.91811633e-01 9.20037607e-01 3.80081735e-03 -2.52245443e+01] [ 9.89577157e-03 8.33087519e-05 9.99951032e-01 -1.89168564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.917628 meters 0.012170303151544232 Centerline is valid? [True, True] Translation: X:106.98, Y:-25.26, Z:-0.19 [[ 9.20861535e-01 3.89793550e-01 -8.66147015e-03 1.06978535e+02] [-3.89776880e-01 9.20902267e-01 3.60535536e-03 -2.52572535e+01] [ 9.38171176e-03 5.60077350e-05 9.99955989e-01 -1.87142941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.977628 meters 0.011823138735024559 Centerline is valid? [True, True] Translation: X:107.03, Y:-25.29, Z:-0.19 [[ 9.22076467e-01 3.86942041e-01 -7.13056071e-03 1.07031140e+02] [-3.86930641e-01 9.22104038e-01 2.97024603e-03 -2.52933894e+01] [ 7.72443188e-03 2.02384660e-05 9.99970166e-01 -1.85565726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.037628 meters 0.011863214560028063 Centerline is valid? [True, True] Translation: X:107.08, Y:-25.33, Z:-0.18 [[ 9.22616625e-01 3.85673759e-01 -5.85785098e-03 1.07082294e+02] [-3.85666029e-01 9.22635221e-01 2.44184889e-03 -2.53313219e+01] [ 6.34641668e-03 6.28374880e-06 9.99979861e-01 -1.82895448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.097628 meters 0.011917426895158682 Centerline is valid? [True, True] Translation: X:107.14, Y:-25.36, Z:-0.18 [[ 9.22379781e-01 3.86232138e-01 -6.34632658e-03 1.07136462e+02] [-3.86223065e-01 9.22401613e-01 2.64737494e-03 -2.53615833e+01] [ 6.87636316e-03 9.21259219e-06 9.99976357e-01 -1.83989097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.157628 meters 0.012265900135792682 Centerline is valid? [True, True] Translation: X:107.19, Y:-25.39, Z:-0.19 [[ 9.20886271e-01 3.89740837e-01 -8.39969236e-03 1.07190207e+02] [-3.89725071e-01 9.20924578e-01 3.50593275e-03 -2.53926814e+01] [ 9.10188831e-03 4.50053627e-05 9.99958576e-01 -1.86299205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.217628 meters 0.013386713246714841 Centerline is valid? [True, True] Translation: X:107.25, Y:-25.42, Z:-0.19 [[ 9.17640104e-01 3.97294096e-01 -9.69746123e-03 1.07247364e+02] [-3.97273496e-01 9.17691333e-01 4.04807044e-03 -2.54177553e+01] [ 1.05075506e-02 1.37872548e-04 9.99944785e-01 -1.85103476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.27762799999999 meters 0.013994781725997095 Centerline is valid? [True, True] Translation: X:107.31, Y:-25.44, Z:-0.19 [[ 9.16388949e-01 4.00145137e-01 -1.07313845e-02 1.07305909e+02] [-4.00120066e-01 9.16451763e-01 4.48309421e-03 -2.54379431e+01] [ 1.16286846e-02 1.85584281e-04 9.99932367e-01 -1.85930066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.337628 meters 0.013231647211483764 Centerline is valid? [True, True] Translation: X:107.36, Y:-25.46, Z:-0.19 [[ 9.17848160e-01 3.96818151e-01 -9.49263876e-03 1.07363868e+02] [-3.96798348e-01 9.17897238e-01 3.96634229e-03 -2.54614944e+01] [ 1.02871835e-02 1.26163401e-04 9.99947078e-01 -1.85340742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.397628 meters 0.012212350989070713 Centerline is valid? [True, True] Translation: X:107.42, Y:-25.49, Z:-0.18 [[ 9.21645583e-01 3.87955990e-01 -7.71806880e-03 1.07416457e+02] [-3.87942572e-01 9.21677899e-01 3.22668658e-03 -2.54937596e+01] [ 8.36538582e-03 2.03060269e-05 9.99965009e-01 -1.82512099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.457628 meters 0.012109362158817562 Centerline is valid? [True, True] Translation: X:107.47, Y:-25.52, Z:-0.18 [[ 9.22755710e-01 3.85311527e-01 -7.54498012e-03 1.07473175e+02] [-3.85298593e-01 9.22786556e-01 3.15703639e-03 -2.55208553e+01] [ 8.17884873e-03 -6.10313378e-06 9.99966553e-01 -1.81977845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.517628 meters 0.012387306055488337 Centerline is valid? [True, True] Translation: X:107.53, Y:-25.55, Z:-0.18 [[ 9.24480864e-01 3.81151077e-01 -7.68043149e-03 1.07530439e+02] [-3.81137513e-01 9.24512766e-01 3.21588037e-03 -2.55457230e+01] [ 8.32639323e-03 -4.57193081e-05 9.99965334e-01 -1.81956428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.577628 meters 0.012785533372967799 Centerline is valid? [True, True] Translation: X:107.59, Y:-25.57, Z:-0.18 [[ 9.25422274e-01 3.78800440e-01 -1.01902605e-02 1.07587732e+02] [-3.78776389e-01 9.25478373e-01 4.26957853e-03 -2.55702319e+01] [ 1.10481840e-02 -9.13329798e-05 9.99938963e-01 -1.83997686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.63762799999999 meters 0.014105640610324686 Centerline is valid? [True, True] Translation: X:107.64, Y:-25.60, Z:-0.19 [[ 9.27149861e-01 3.74528856e-01 -1.10123190e-02 1.07642901e+02] [-3.74500431e-01 9.27215246e-01 4.61685489e-03 -2.55963289e+01] [ 1.19399355e-02 -1.56398139e-04 9.99928704e-01 -1.85590482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.697628 meters 0.015346721487582695 Centerline is valid? [True, True] Translation: X:107.70, Y:-25.62, Z:-0.19 [[ 9.28706375e-01 3.70677147e-01 -1.01450459e-02 1.07698968e+02] [-3.70652762e-01 9.28761765e-01 4.25609566e-03 -2.56221959e+01] [ 1.09999682e-02 -1.92373873e-04 9.99939480e-01 -1.86032168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.757628 meters 0.015473197511575157 Centerline is valid? [True, True] Translation: X:107.76, Y:-25.65, Z:-0.19 [[ 9.29015714e-01 3.69923905e-01 -9.27940013e-03 1.07757067e+02] [-3.69903436e-01 9.29062037e-01 3.89598552e-03 -2.56463123e+01] [ 1.00623566e-02 -1.86949773e-04 9.99949356e-01 -1.85219489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.817628 meters 0.014307691804490222 Centerline is valid? [True, True] Translation: X:107.82, Y:-25.67, Z:-0.18 [[ 9.28615868e-01 3.70938032e-01 -8.80606232e-03 1.07815476e+02] [-3.70919619e-01 9.28657605e-01 3.69981104e-03 -2.56670513e+01] [ 9.55021737e-03 -1.69361955e-04 9.99954381e-01 -1.83863581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.877628 meters 0.014216210307194147 Centerline is valid? [True, True] Translation: X:107.87, Y:-25.69, Z:-0.18 [[ 9.28338884e-01 3.71639260e-01 -8.43657132e-03 1.07873108e+02] [-3.71622366e-01 9.28377205e-01 3.54706420e-03 -2.56905384e+01] [ 9.15054882e-03 -1.57659025e-04 9.99958120e-01 -1.83867130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.937628 meters 0.014425641646824205 Centerline is valid? [True, True] Translation: X:107.93, Y:-25.72, Z:-0.18 [[ 9.28300981e-01 3.71736212e-01 -8.33528234e-03 1.07929567e+02] [-3.71719702e-01 9.28338389e-01 3.50708708e-03 -2.57162948e+01] [ 9.04167384e-03 -1.57243715e-04 9.99959111e-01 -1.83172931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.99762799999999 meters 0.014490583219922987 Centerline is valid? [True, True] Translation: X:107.99, Y:-25.74, Z:-0.18 [[ 9.28741859e-01 3.70642435e-01 -7.92118985e-03 1.07986760e+02] [-3.70627465e-01 9.28775624e-01 3.33516961e-03 -2.57404082e+01] [ 8.59316343e-03 -1.61701106e-04 9.99963065e-01 -1.83363000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.057628 meters 0.017872408614155157 Centerline is valid? [True, True] Translation: X:108.04, Y:-25.77, Z:-0.19 [[ 9.29760854e-01 3.68066278e-01 -8.48351641e-03 1.08043362e+02] [-3.68048976e-01 9.29799535e-01 3.57439353e-03 -2.57664746e+01] [ 9.20358333e-03 -2.00981654e-04 9.99957626e-01 -1.86135766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.117628 meters 0.01567251433782023 Centerline is valid? [True, True] Translation: X:108.10, Y:-25.79, Z:-0.18 [[ 9.29872313e-01 3.67807611e-01 -7.41904342e-03 1.08099521e+02] [-3.67794352e-01 9.29901892e-01 3.12827429e-03 -2.57922468e+01] [ 8.04958560e-03 -1.80213389e-04 9.99967585e-01 -1.83575923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.177628 meters 0.015455388836435907 Centerline is valid? [True, True] Translation: X:108.16, Y:-25.82, Z:-0.18 [[ 9.29641173e-01 3.68426192e-01 -5.42501059e-03 1.08156475e+02] [-3.68419103e-01 9.29656993e-01 2.28913358e-03 -2.58163026e+01] [ 5.88677580e-03 -1.29395285e-04 9.99982664e-01 -1.82110767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.237628 meters 0.01578599381982542 Centerline is valid? [True, True] Translation: X:108.21, Y:-25.84, Z:-0.18 [[ 9.29527678e-01 3.68718554e-01 -4.99238177e-03 1.08213169e+02] [-3.68712546e-01 9.29541077e-01 2.10815864e-03 -2.58415383e+01] [ 5.41794113e-03 -1.18838015e-04 9.99985316e-01 -1.82150736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.297628 meters 0.016346816089258122 Centerline is valid? [True, True] Translation: X:108.27, Y:-25.87, Z:-0.18 [[ 9.29826107e-01 3.67963427e-01 -5.13108731e-03 1.08269438e+02] [-3.67957061e-01 9.29840255e-01 2.16811707e-03 -2.58679044e+01] [ 5.56887932e-03 -1.27952048e-04 9.99984485e-01 -1.82940851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.35762799999999 meters 0.015829585438150145 Centerline is valid? [True, True] Translation: X:108.33, Y:-25.89, Z:-0.18 [[ 9.29702409e-01 3.68260471e-01 -6.13639048e-03 1.08327227e+02] [-3.68251361e-01 9.29722648e-01 2.59490584e-03 -2.58918037e+01] [ 6.66074245e-03 -1.52756071e-04 9.99977805e-01 -1.83458169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.417628 meters 0.014951158733483058 Centerline is valid? [True, True] Translation: X:108.38, Y:-25.91, Z:-0.18 [[ 9.29482009e-01 3.68822673e-01 -5.74718171e-03 1.08384747e+02] [-3.68814682e-01 9.29499766e-01 2.43201236e-03 -2.59139179e+01] [ 6.23898535e-03 -1.40866740e-04 9.99980527e-01 -1.82648270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.477628 meters 0.015618398139153495 Centerline is valid? [True, True] Translation: X:108.44, Y:-25.94, Z:-0.18 [[ 9.29846974e-01 3.67922010e-01 -4.24246262e-03 1.08440545e+02] [-3.67917640e-01 9.29856646e-01 1.79649987e-03 -2.59380322e+01] [ 4.60585391e-03 -1.09593134e-04 9.99989387e-01 -1.82579264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.537628 meters 0.0162990791005558 Centerline is valid? [True, True] Translation: X:108.50, Y:-25.96, Z:-0.18 [[ 9.31076361e-01 3.64812607e-01 -2.92778393e-03 1.08497802e+02] [-3.64810511e-01 9.31080960e-01 1.23987650e-03 -2.59629414e+01] [ 3.17832645e-03 -8.63333464e-05 9.99994945e-01 -1.81580179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.597628 meters 0.017414135762606055 Centerline is valid? [True, True] Translation: X:108.55, Y:-25.99, Z:-0.18 [[ 9.31931220e-01 3.62627585e-01 -2.33153282e-03 1.08553302e+02] [-3.62626248e-01 9.31934133e-01 9.87588183e-04 -2.59872905e+01] [ 2.53096173e-03 -7.48892627e-05 9.99996794e-01 -1.81065605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.657628 meters 0.017960181730716104 Centerline is valid? [True, True] Translation: X:108.61, Y:-26.01, Z:-0.18 [[ 9.33256603e-01 3.59210096e-01 -4.67927577e-04 1.08611075e+02] [-3.59210042e-01 9.33256720e-01 1.98345691e-04 -2.60108886e+01] [ 5.07944331e-04 -1.70231408e-05 9.99999871e-01 -1.79841190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.717628 meters 0.0180157819378023 Centerline is valid? [True, True] Translation: X:108.67, Y:-26.03, Z:-0.18 [[ 9.33562212e-01 3.58415356e-01 -1.68474045e-04 1.08669457e+02] [-3.58415349e-01 9.33562227e-01 7.18659277e-05 -2.60327805e+01] [ 1.83038857e-04 -6.70763075e-06 9.99999983e-01 -1.80264296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.77762799999999 meters 0.017196350432592464 Centerline is valid? [True, True] Translation: X:108.73, Y:-26.05, Z:-0.18 [[ 9.33003819e-01 3.59865395e-01 -8.78430423e-04 1.08727982e+02] [-3.59865203e-01 9.33004232e-01 3.73084177e-04 -2.60547052e+01] [ 9.53839387e-04 -3.19724186e-05 9.99999545e-01 -1.81255635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.837628 meters 0.016790482148146994 Centerline is valid? [True, True] Translation: X:108.79, Y:-26.08, Z:-0.18 [[ 9.31907501e-01 3.62689602e-01 -2.15939959e-03 1.08786749e+02] [-3.62688449e-01 9.31910000e-01 9.17103666e-04 -2.60756921e+01] [ 2.34499004e-03 -7.14664966e-05 9.99997248e-01 -1.83644476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.897628 meters 0.016703928255307778 Centerline is valid? [True, True] Translation: X:108.84, Y:-26.10, Z:-0.18 [[ 9.31304114e-01 3.64225187e-01 -3.55807845e-03 1.08844496e+02] [-3.64222066e-01 9.31310904e-01 1.51187078e-03 -2.60995491e+01] [ 3.86433867e-03 -1.12080789e-04 9.99992527e-01 -1.84799057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.957628 meters 0.01725969896667362 Centerline is valid? [True, True] Translation: X:108.90, Y:-26.12, Z:-0.19 [[ 9.31248975e-01 3.64362425e-01 -3.92034026e-03 1.08901798e+02] [-3.64358633e-01 9.31257219e-01 1.66710331e-03 -2.61246865e+01] [ 4.25827497e-03 -1.24078433e-04 9.99990926e-01 -1.85127805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.017628 meters 0.01704218001820254 Centerline is valid? [True, True] Translation: X:108.96, Y:-26.15, Z:-0.18 [[ 9.31139043e-01 3.64655142e-01 -2.59043220e-03 1.08960121e+02] [-3.64653485e-01 9.31142642e-01 1.10259963e-03 -2.61491452e+01] [ 2.81413051e-03 -8.20634303e-05 9.99996037e-01 -1.84946544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.077628 meters 0.01762485176373498 Centerline is valid? [True, True] Translation: X:109.02, Y:-26.17, Z:-0.19 [[ 9.30559906e-01 3.66131920e-01 -2.38290790e-03 1.09016175e+02] [-3.66130521e-01 9.30562954e-01 1.01491533e-03 -2.61744779e+01] [ 2.58903871e-03 -7.19842041e-05 9.99996646e-01 -1.85327910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.13762799999999 meters 0.016091945787530225 Centerline is valid? [True, True] Translation: X:109.07, Y:-26.20, Z:-0.19 [[ 9.28613170e-01 3.71040151e-01 -2.60495317e-03 1.09074090e+02] [-3.71038499e-01 9.28616822e-01 1.10925926e-03 -2.61965960e+01] [ 2.83058306e-03 -6.35348478e-05 9.99995992e-01 -1.85239371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.197628 meters 0.013041038901580145 Centerline is valid? [True, True] Translation: X:109.13, Y:-26.21, Z:-0.18 [[ 9.24786255e-01 3.80481687e-01 -2.01680958e-03 1.09132702e+02] [-3.80480719e-01 9.24788454e-01 8.58853714e-04 -2.62144256e+01] [ 2.19190033e-03 -2.68989501e-05 9.99997597e-01 -1.83948902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.257628 meters 0.01205305207768165 Centerline is valid? [True, True] Translation: X:109.19, Y:-26.23, Z:-0.18 [[ 9.19918504e-01 3.92107252e-01 -1.35978488e-03 1.09191956e+02] [-3.92106823e-01 9.19919509e-01 5.79862331e-04 -2.62328087e+01] [ 1.47826086e-03 -2.45160444e-07 9.99998907e-01 -1.83918745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.317628 meters 0.012635129026017745 Centerline is valid? [True, True] Translation: X:109.25, Y:-26.25, Z:-0.18 [[ 9.16339054e-01 4.00398822e-01 -1.87645378e-03 1.09250406e+02] [-4.00398022e-01 9.16340975e-01 8.00549821e-04 -2.62541909e+01] [ 2.04001069e-03 1.77533154e-05 9.99997919e-01 -1.84830949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.377628 meters 0.013080406626309982 Centerline is valid? [True, True] Translation: X:109.31, Y:-26.28, Z:-0.19 [[ 9.15465585e-01 4.02387827e-01 -2.60747373e-03 1.09308176e+02] [-4.02386289e-01 9.15469298e-01 1.11298649e-03 -2.62780957e+01] [ 2.83491436e-03 3.03108547e-05 9.99995981e-01 -1.86059908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.437628 meters 0.013313128749429536 Centerline is valid? [True, True] Translation: X:109.36, Y:-26.30, Z:-0.19 [[ 9.14296730e-01 4.05018946e-01 -4.59812463e-03 1.09364392e+02] [-4.05014191e-01 9.14308290e-01 1.96371541e-03 -2.63045889e+01] [ 4.99944541e-03 6.68871469e-05 9.99987500e-01 -1.87889861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.49762799999999 meters 0.013308462237453633 Centerline is valid? [True, True] Translation: X:109.42, Y:-26.33, Z:-0.19 [[ 9.14638604e-01 4.04213329e-01 -6.91445408e-03 1.09420293e+02] [-4.04202537e-01 9.14664734e-01 2.95507577e-03 -2.63349454e+01] [ 7.51888832e-03 9.20135033e-05 9.99971729e-01 -1.91005589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.557628 meters 0.01279223441003031 Centerline is valid? [True, True] Translation: X:109.47, Y:-26.37, Z:-0.19 [[ 9.15681388e-01 4.01827822e-01 -7.87376076e-03 1.09474860e+02] [-4.01813722e-01 9.15715237e-01 3.36723117e-03 -2.63660824e+01] [ 8.56316987e-03 8.04742055e-05 9.99963332e-01 -1.90564814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.617628 meters 0.012489254658784248 Centerline is valid? [True, True] Translation: X:109.53, Y:-26.39, Z:-0.19 [[ 9.16054774e-01 4.01014740e-01 -5.55241548e-03 1.09531547e+02] [-4.01007702e-01 9.16071600e-01 2.37628004e-03 -2.63914234e+01] [ 6.03933346e-03 4.97586987e-05 9.99981762e-01 -1.87240396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.677628 meters 0.012040522370360157 Centerline is valid? [True, True] Translation: X:109.59, Y:-26.41, Z:-0.19 [[ 9.17241581e-01 3.98320148e-01 -2.99034069e-03 1.09589903e+02] [-3.98318089e-01 9.17246455e-01 1.28087460e-03 -2.64128113e+01] [ 3.25307755e-03 1.62353420e-05 9.99994709e-01 -1.85615301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.737628 meters 0.011896523867973458 Centerline is valid? [True, True] Translation: X:109.64, Y:-26.44, Z:-0.18 [[ 9.20499728e-01 3.90742612e-01 6.78927771e-04 1.09644861e+02] [-3.90742504e-01 9.20499979e-01 -2.90457378e-04 -2.64412882e+01] [-7.38447074e-04 2.08000037e-06 9.99999727e-01 -1.82444792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.797628 meters 0.012834290232441066 Centerline is valid? [True, True] Translation: X:109.70, Y:-26.47, Z:-0.18 [[ 9.23461171e-01 3.83690693e-01 9.58615739e-04 1.09698814e+02] [-3.83690473e-01 9.23461668e-01 -4.10578790e-04 -2.64724515e+01] [-1.04278015e-03 1.13418434e-05 9.99999456e-01 -1.81410767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.85762799999999 meters 0.014285137704847283 Centerline is valid? [True, True] Translation: X:109.75, Y:-26.50, Z:-0.19 [[ 9.26539241e-01 3.76192797e-01 -2.00356922e-03 1.09753859e+02] [-3.76191817e-01 9.26541406e-01 8.59974450e-04 -2.64992491e+01] [ 2.17990604e-03 -4.30737292e-05 9.99997623e-01 -1.85251754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.917628 meters 0.018387420124601712 Centerline is valid? [True, True] Translation: X:109.81, Y:-26.52, Z:-0.19 [[ 9.28114957e-01 3.72217547e-01 -7.53150551e-03 1.09811060e+02] [-3.72203569e-01 9.28145495e-01 3.23168420e-03 -2.65217446e+01] [ 8.19322247e-03 -1.96121209e-04 9.99966416e-01 -1.92979549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.977628 meters 0.016189435781217235 Centerline is valid? [True, True] Translation: X:109.87, Y:-26.55, Z:-0.19 [[ 9.29046188e-01 3.69896191e-01 -7.07028870e-03 1.09868214e+02] [-3.69883786e-01 9.29073068e-01 3.03626985e-03 -2.65468189e+01] [ 7.69191946e-03 -2.05649774e-04 9.99970396e-01 -1.88237306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.037628 meters 0.015649431808305816 Centerline is valid? [True, True] Translation: X:109.93, Y:-26.57, Z:-0.19 [[ 9.28955695e-01 3.70146469e-01 -5.73648134e-03 1.09925802e+02] [-3.70138297e-01 9.28973392e-01 2.46525236e-03 -2.65699944e+01] [ 6.24154299e-03 -1.66818787e-04 9.99980507e-01 -1.86400653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.097628 meters 0.014222573335957481 Centerline is valid? [True, True] Translation: X:109.99, Y:-26.59, Z:-0.19 [[ 9.27035238e-01 3.74956394e-01 -3.65638957e-03 1.09985581e+02] [-3.74953112e-01 9.27042445e-01 1.57137620e-03 -2.65869663e+01] [ 3.97882588e-03 -8.57464643e-05 9.99992081e-01 -1.86495256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.157628 meters 0.013327283355111318 Centerline is valid? [True, True] Translation: X:110.04, Y:-26.61, Z:-0.19 [[ 9.25124397e-01 3.79656077e-01 -2.47253727e-03 1.10043912e+02] [-3.79654592e-01 9.25127700e-01 1.06278853e-03 -2.66074237e+01] [ 2.69090684e-03 -4.45014667e-05 9.99996379e-01 -1.85685107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.217628 meters 0.012103053216762662 Centerline is valid? [True, True] Translation: X:110.10, Y:-26.63, Z:-0.18 [[ 9.22119181e-01 3.86904673e-01 -9.95081438e-04 1.10102202e+02] [-3.86904437e-01 9.22119718e-01 4.27789964e-04 -2.66266029e+01] [ 1.08309815e-03 -9.47190795e-06 9.99999413e-01 -1.83927777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.27762799999999 meters 0.011406706884397497 Centerline is valid? [True, True] Translation: X:110.16, Y:-26.64, Z:-0.18 [[ 9.19158194e-01 3.93888497e-01 2.58542603e-04 1.10162172e+02] [-3.93888481e-01 9.19158230e-01 -1.10765827e-04 -2.66440449e+01] [-2.81270947e-04 -2.56353319e-08 9.99999960e-01 -1.84673321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.337628 meters 0.011492887029987147 Centerline is valid? [True, True] Translation: X:110.22, Y:-26.67, Z:-0.19 [[ 9.17739608e-01 3.97175224e-01 -2.41944384e-03 1.10220462e+02] [-3.97173858e-01 9.17742797e-01 1.04186994e-03 -2.66654984e+01] [ 2.63423208e-03 4.77453613e-06 9.99996530e-01 -1.89875871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.397628 meters 0.011461226721361463 Centerline is valid? [True, True] Translation: X:110.28, Y:-26.69, Z:-0.19 [[ 9.18353518e-01 3.95741319e-01 -3.95271609e-03 1.10277236e+02] [-3.95737654e-01 9.18362025e-01 1.70316052e-03 -2.66923033e+01] [ 4.30403535e-03 1.35139967e-07 9.99990738e-01 -1.91760941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.457628 meters 0.011717604289580314 Centerline is valid? [True, True] Translation: X:110.33, Y:-26.72, Z:-0.19 [[ 9.20149944e-01 3.91548852e-01 -3.68476810e-03 1.10332408e+02] [-3.91545628e-01 9.20157321e-01 1.58893018e-03 -2.67223495e+01] [ 4.01271013e-03 -1.92991791e-05 9.99991949e-01 -1.92829705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.517628 meters 0.011875752535993638 Centerline is valid? [True, True] Translation: X:110.39, Y:-26.75, Z:-0.19 [[ 9.21247136e-01 3.88965515e-01 -3.08913399e-03 1.10387575e+02] [-3.88963232e-01 9.21252315e-01 1.33304535e-03 -2.67505530e+01] [ 3.36438051e-03 -2.65046743e-05 9.99994340e-01 -1.92135567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.577628 meters 0.012390437145532195 Centerline is valid? [True, True] Translation: X:110.44, Y:-26.78, Z:-0.19 [[ 9.22182273e-01 3.86741222e-01 -3.32893057e-03 1.10440930e+02] [-3.86738553e-01 9.22188281e-01 1.43735660e-03 -2.67821194e+01] [ 3.62578581e-03 -3.80789865e-05 9.99993426e-01 -1.92499947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.63762799999999 meters 0.012119863998055124 Centerline is valid? [True, True] Translation: X:110.50, Y:-26.81, Z:-0.19 [[ 9.21488221e-01 3.88381984e-01 -4.34655166e-03 1.10497132e+02] [-3.88377445e-01 9.21498471e-01 1.87817456e-03 -2.68108151e+01] [ 4.73478988e-03 -4.26131025e-05 9.99988790e-01 -1.93553186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.697628 meters 0.011574201689416995 Centerline is valid? [True, True] Translation: X:110.55, Y:-26.83, Z:-0.20 [[ 9.18504107e-01 3.95373398e-01 -5.48473822e-03 1.10554609e+02] [-3.95366287e-01 9.18520482e-01 2.37123014e-03 -2.68326945e+01] [ 5.97536572e-03 -9.50403466e-06 9.99982147e-01 -1.95710910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.757628 meters 0.011647488364189286 Centerline is valid? [True, True] Translation: X:110.61, Y:-26.86, Z:-0.20 [[ 9.16539119e-01 3.99893816e-01 -6.40146026e-03 1.10611954e+02] [-3.99884229e-01 9.16561474e-01 2.76921871e-03 -2.68552499e+01] [ 6.97472528e-03 2.17457238e-05 9.99975676e-01 -1.95985794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.817628 meters 0.012206276525301252 Centerline is valid? [True, True] Translation: X:110.67, Y:-26.88, Z:-0.20 [[ 9.14667691e-01 4.04152539e-01 -6.61372676e-03 1.10669503e+02] [-4.04142403e-01 9.14691600e-01 2.86278028e-03 -2.68770710e+01] [ 7.20652023e-03 5.43947969e-05 9.99974031e-01 -1.96343122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.877628 meters 0.01203747876470471 Centerline is valid? [True, True] Translation: X:110.73, Y:-26.90, Z:-0.19 [[ 9.14511795e-01 4.04522965e-01 -5.41730609e-03 1.10726033e+02] [-4.04516162e-01 9.14527839e-01 2.34657749e-03 -2.69024858e+01] [ 5.90352172e-03 4.54150762e-05 9.99982573e-01 -1.94758844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.937628 meters 0.011791556921595146 Centerline is valid? [True, True] Translation: X:110.78, Y:-26.93, Z:-0.19 [[ 9.15545961e-01 4.02202021e-01 -3.02110619e-03 1.10781648e+02] [-4.02199889e-01 9.15550946e-01 1.30959074e-03 -2.69283161e+01] [ 3.29269667e-03 1.60980573e-05 9.99994579e-01 -1.93527627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.99762799999999 meters 0.011622772387548948 Centerline is valid? [True, True] Translation: X:110.84, Y:-26.96, Z:-0.19 [[ 9.17675415e-01 3.97328028e-01 -1.50675461e-03 1.10836479e+02] [-3.97327490e-01 9.17676652e-01 6.53839108e-04 -2.69569562e+01] [ 1.64250213e-03 -1.33704563e-06 9.99998651e-01 -1.91925354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.057628 meters 0.011664888036907677 Centerline is valid? [True, True] Translation: X:110.89, Y:-26.98, Z:-0.19 [[ 9.18652874e-01 3.95064390e-01 -1.01231420e-03 1.10893837e+02] [-3.95064145e-01 9.18653432e-01 4.39827281e-04 -2.69834777e+01] [ 1.10372601e-03 -4.11955361e-06 9.99999391e-01 -1.91843100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.117628 meters 0.0119845550558711 Centerline is valid? [True, True] Translation: X:110.95, Y:-27.01, Z:-0.19 [[ 9.19408167e-01 3.93301533e-01 -1.58941641e-03 1.10950403e+02] [-3.93300927e-01 9.19409541e-01 6.90806824e-04 -2.70099289e+01] [ 1.73302000e-03 -1.00144879e-05 9.99998498e-01 -1.92523043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.177628 meters 0.012025418049842395 Centerline is valid? [True, True] Translation: X:111.01, Y:-27.03, Z:-0.19 [[ 9.19570894e-01 3.92913404e-01 -2.90314594e-03 1.11008824e+02] [-3.92911377e-01 9.19575476e-01 1.26234939e-03 -2.70341498e+01] [ 3.16565581e-03 -2.01406846e-05 9.99994989e-01 -1.93882577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.237628 meters 0.012119550328083623 Centerline is valid? [True, True] Translation: X:111.07, Y:-27.06, Z:-0.20 [[ 9.19439052e-01 3.93216583e-01 -3.54226221e-03 1.11066600e+02] [-3.93213563e-01 9.19445876e-01 1.54130439e-03 -2.70582000e+01] [ 3.86298482e-03 -2.42699040e-05 9.99992538e-01 -1.95170821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.297628 meters 0.012247797750612768 Centerline is valid? [True, True] Translation: X:111.12, Y:-27.08, Z:-0.20 [[ 9.19409746e-01 3.93284774e-01 -3.57858567e-03 1.11123448e+02] [-3.93281688e-01 9.19416710e-01 1.55815993e-03 -2.70834223e+01] [ 3.90301203e-03 -2.51952181e-05 9.99992383e-01 -1.95714200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.35762799999999 meters 0.012332058578105492 Centerline is valid? [True, True] Translation: X:111.18, Y:-27.11, Z:-0.19 [[ 9.20377270e-01 3.91028812e-01 -1.46584045e-03 1.11180204e+02] [-3.91028291e-01 9.20378437e-01 6.39052740e-04 -2.71099568e+01] [ 1.59901597e-03 -1.49845319e-05 9.99998721e-01 -1.94051213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.417628 meters 0.012945008539541643 Centerline is valid? [True, True] Translation: X:111.24, Y:-27.14, Z:-0.19 [[ 9.21684398e-01 3.87939854e-01 7.34505272e-04 1.11236441e+02] [-3.87939723e-01 9.21684691e-01 -3.19727786e-04 -2.71368203e+01] [-8.01017416e-04 9.74434022e-06 9.99999679e-01 -1.93152115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.477628 meters 0.013812526727813183 Centerline is valid? [True, True] Translation: X:111.29, Y:-27.16, Z:-0.19 [[ 9.23464645e-01 3.83674696e-01 2.60313720e-03 1.11291791e+02] [-3.83673020e-01 9.23468313e-01 -1.13502423e-03 -2.71642014e+01] [-2.83939479e-03 4.94012351e-05 9.99995968e-01 -1.91977757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.537628 meters 0.014101543448654993 Centerline is valid? [True, True] Translation: X:111.35, Y:-27.19, Z:-0.19 [[ 9.23786092e-01 3.82906646e-01 1.32509893e-03 1.11347907e+02] [-3.82906211e-01 9.23787042e-01 -5.77929186e-04 -2.71895531e+01] [-1.44540215e-03 2.64943332e-05 9.99998955e-01 -1.92796475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.597628 meters 0.013512402923792579 Centerline is valid? [True, True] Translation: X:111.41, Y:-27.21, Z:-0.19 [[ 9.22527859e-01 3.85930499e-01 1.02310981e-05 1.11405951e+02] [-3.85930499e-01 9.22527859e-01 -4.02585539e-06 -2.72116105e+01] [-1.09921734e-05 -2.34529043e-07 1.00000000e+00 -1.94290584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.657628 meters 0.013129338920005191 Centerline is valid? [True, True] Translation: X:111.46, Y:-27.23, Z:-0.19 [[ 9.21164109e-01 3.89173873e-01 6.16186011e-04 1.11462640e+02] [-3.89173781e-01 9.21164316e-01 -2.68873389e-04 -2.72344885e+01] [-6.72247064e-04 7.87307674e-06 9.99999774e-01 -1.93710238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.717628 meters 0.012347404341791317 Centerline is valid? [True, True] Translation: X:111.52, Y:-27.26, Z:-0.19 [[ 9.19447425e-01 3.93212617e-01 5.19023327e-04 1.11520652e+02] [-3.93212552e-01 9.19447572e-01 -2.26534944e-04 -2.72563928e+01] [-5.66291136e-04 4.20048352e-06 9.99999840e-01 -1.93699063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.77762799999999 meters 0.011961271826317997 Centerline is valid? [True, True] Translation: X:111.58, Y:-27.28, Z:-0.20 [[ 9.18215385e-01 3.96077933e-01 -1.66672320e-03 1.11577647e+02] [-3.96077261e-01 9.18216898e-01 7.29744059e-04 -2.72802187e+01] [ 1.81944892e-03 -9.91106297e-06 9.99998345e-01 -1.95664077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.837628 meters 0.011790710488267745 Centerline is valid? [True, True] Translation: X:111.63, Y:-27.30, Z:-0.20 [[ 9.16992653e-01 3.98885387e-01 -3.86304055e-03 1.11634103e+02] [-3.98881799e-01 9.17000789e-01 1.69197490e-03 -2.73048008e+01] [ 4.21731529e-03 -1.06319899e-05 9.99991107e-01 -1.98284905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.897628 meters 0.011757166146861057 Centerline is valid? [True, True] Translation: X:111.69, Y:-27.33, Z:-0.20 [[ 9.15923405e-01 4.01330797e-01 -4.23177888e-03 1.11692124e+02] [-4.01326511e-01 9.15933181e-01 1.85482016e-03 -2.73297219e+01] [ 4.62042314e-03 -5.48146476e-07 9.99989326e-01 -1.99249407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.957628 meters 0.011993524457649951 Centerline is valid? [True, True] Translation: X:111.75, Y:-27.36, Z:-0.20 [[ 9.14158509e-01 4.05339522e-01 -3.75402580e-03 1.11749837e+02] [-4.05336178e-01 9.14166217e-01 1.64665005e-03 -2.73552129e+01] [ 4.09925591e-03 1.63433165e-05 9.99991598e-01 -1.98512618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.017628 meters 0.012241394134964946 Centerline is valid? [True, True] Translation: X:111.81, Y:-27.38, Z:-0.20 [[ 9.12391362e-01 4.09310709e-01 -2.59718613e-03 1.11806423e+02] [-4.09309122e-01 9.12395058e-01 1.14011363e-03 -2.73815205e+01] [ 2.83632051e-03 2.28221500e-05 9.99995977e-01 -1.96291051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.077628 meters 0.012450994354184714 Centerline is valid? [True, True] Translation: X:111.86, Y:-27.41, Z:-0.20 [[ 9.11695581e-01 4.10858427e-01 -2.55370137e-03 1.11862907e+02] [-4.10856896e-01 9.11699157e-01 1.12196313e-03 -2.74081513e+01] [ 2.78917539e-03 2.63169930e-05 9.99996110e-01 -1.95730534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.13762799999999 meters 0.013058923486980095 Centerline is valid? [True, True] Translation: X:111.92, Y:-27.43, Z:-0.20 [[ 9.10537098e-01 4.13416061e-01 -3.05838988e-03 1.11920092e+02] [-4.13413877e-01 9.10542233e-01 1.34441274e-03 -2.74316538e+01] [ 3.34059497e-03 4.02431427e-05 9.99994419e-01 -1.96598782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.197628 meters 0.01315786385394914 Centerline is valid? [True, True] Translation: X:111.98, Y:-27.45, Z:-0.20 [[ 9.09928170e-01 4.14739850e-01 -4.64573420e-03 1.11977729e+02] [-4.14734822e-01 9.09940027e-01 2.04333265e-03 -2.74542504e+01] [ 5.07479098e-03 6.74618155e-05 9.99987121e-01 -1.97450861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.257628 meters 0.013152499205823632 Centerline is valid? [True, True] Translation: X:112.04, Y:-27.48, Z:-0.20 [[ 9.10053582e-01 4.14458436e-01 -5.16555118e-03 1.12036167e+02] [-4.14452206e-01 9.10068239e-01 2.27371127e-03 -2.74772149e+01] [ 5.64336289e-03 7.16749932e-05 9.99984074e-01 -1.98527254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.317628 meters 0.013000883874351037 Centerline is valid? [True, True] Translation: X:112.09, Y:-27.50, Z:-0.20 [[ 9.10639007e-01 4.13154085e-01 -6.34832596e-03 1.12092077e+02] [-4.13144632e-01 9.10661131e-01 2.79582040e-03 -2.75006330e+01] [ 6.93627831e-03 7.67936833e-05 9.99975941e-01 -1.99293896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.377628 meters 0.012735671443549534 Centerline is valid? [True, True] Translation: X:112.15, Y:-27.53, Z:-0.20 [[ 9.11101528e-01 4.12120613e-01 -7.11382070e-03 1.12149250e+02] [-4.12108694e-01 9.11129296e-01 3.13531148e-03 -2.75274246e+01] [ 7.77373693e-03 7.50802767e-05 9.99969781e-01 -2.00073811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.437628 meters 0.012239589698320678 Centerline is valid? [True, True] Translation: X:112.20, Y:-27.56, Z:-0.20 [[ 9.12888315e-01 4.08126334e-01 -8.23525002e-03 1.12204135e+02] [-4.08110177e-01 9.12925459e-01 3.63183499e-03 -2.75575012e+01] [ 9.00041690e-03 4.54296092e-05 9.99959494e-01 -1.99861733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.49762799999999 meters 0.012084472714307218 Centerline is valid? [True, True] Translation: X:112.26, Y:-27.59, Z:-0.20 [[ 9.15136585e-01 4.03050053e-01 -8.69974561e-03 1.12259798e+02] [-4.03031764e-01 9.15177936e-01 3.83958723e-03 -2.75877090e+01] [ 9.50936107e-03 -7.47292046e-06 9.99954785e-01 -1.99629387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.557628 meters 0.01226113516029449 Centerline is valid? [True, True] Translation: X:112.32, Y:-27.61, Z:-0.20 [[ 9.16010031e-01 4.01064021e-01 -8.56006001e-03 1.12315987e+02] [-4.01046214e-01 9.16050026e-01 3.77949400e-03 -2.76145302e+01] [ 9.35726225e-03 -2.90747633e-05 9.99956219e-01 -1.99268866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.617628 meters 0.01231421582285951 Centerline is valid? [True, True] Translation: X:112.37, Y:-27.64, Z:-0.20 [[ 9.16774266e-01 3.99350081e-01 -6.66772640e-03 1.12372058e+02] [-3.99339217e-01 9.16798512e-01 2.94586074e-03 -2.76397584e+01] [ 7.28939136e-03 -3.80046831e-05 9.99973431e-01 -1.98204201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.677628 meters 0.012437766197485116 Centerline is valid? [True, True] Translation: X:112.43, Y:-27.67, Z:-0.20 [[ 9.16965592e-01 3.98909985e-01 -6.70280664e-03 1.12429485e+02] [-3.98898979e-01 9.16990088e-01 2.96357375e-03 -2.76657591e+01] [ 7.32860641e-03 -4.37524319e-05 9.99973144e-01 -1.97480134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.737628 meters 0.012420787128804579 Centerline is valid? [True, True] Translation: X:112.49, Y:-27.69, Z:-0.20 [[ 9.16794943e-01 3.99306450e-01 -6.43364703e-03 1.12486448e+02] [-3.99296306e-01 9.16817516e-01 2.84643485e-03 -2.76905293e+01] [ 7.03508009e-03 -4.06655777e-05 9.99975253e-01 -1.97535098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.797628 meters 0.012307192424150536 Centerline is valid? [True, True] Translation: X:112.54, Y:-27.71, Z:-0.20 [[ 9.16067298e-01 4.00955503e-01 -7.44245188e-03 1.12544034e+02] [-4.00941967e-01 9.16097529e-01 3.29481356e-03 -2.77132803e+01] [ 8.13908541e-03 -3.42796608e-05 9.99966877e-01 -1.98370664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.85762799999999 meters 0.012045902016719522 Centerline is valid? [True, True] Translation: X:112.60, Y:-27.74, Z:-0.20 [[ 9.15588304e-01 4.02048406e-01 -7.42544819e-03 1.12602542e+02] [-4.02034948e-01 9.15618413e-01 3.28969755e-03 -2.77356462e+01] [ 8.12149474e-03 -2.67189230e-05 9.99967020e-01 -1.99012640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.917628 meters 0.01195967809810554 Centerline is valid? [True, True] Translation: X:112.66, Y:-27.76, Z:-0.20 [[ 9.15670118e-01 4.01860848e-01 -7.48963872e-03 1.12660109e+02] [-4.01847128e-01 9.15700747e-01 3.32071827e-03 -2.77612053e+01] [ 8.19273443e-03 -3.09926744e-05 9.99966439e-01 -1.97674798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.977628 meters 0.011977899177705479 Centerline is valid? [True, True] Translation: X:112.72, Y:-27.79, Z:-0.20 [[ 9.16176222e-01 4.00725725e-01 -6.32646036e-03 1.12716258e+02] [-4.00715893e-01 9.16198064e-01 2.80722928e-03 -2.77889619e+01] [ 6.92121972e-03 -3.68034977e-05 9.99976047e-01 -1.96959221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.037628 meters 0.012108538346667854 Centerline is valid? [True, True] Translation: X:112.77, Y:-27.82, Z:-0.20 [[ 9.16469797e-01 4.00065820e-01 -5.51828039e-03 1.12773235e+02] [-4.00058317e-01 9.16486409e-01 2.45052977e-03 -2.78159775e+01] [ 6.03780218e-03 -3.82025581e-05 9.99981772e-01 -1.96065431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.097628 meters 0.012093699832854495 Centerline is valid? [True, True] Translation: X:112.83, Y:-27.84, Z:-0.20 [[ 9.16248146e-01 4.00580523e-01 -4.95777563e-03 1.12830398e+02] [-4.00574464e-01 9.16261559e-01 2.20335114e-03 -2.78420884e+01] [ 5.42523878e-03 -3.28580773e-05 9.99985283e-01 -1.95652363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.157628 meters 0.011863138725128843 Centerline is valid? [True, True] Translation: X:112.89, Y:-27.87, Z:-0.20 [[ 9.15555915e-01 4.02162286e-01 -4.78144715e-03 1.12886222e+02] [-4.02156666e-01 9.15568400e-01 2.12619404e-03 -2.78669372e+01] [ 5.23281697e-03 -2.37586871e-05 9.99986308e-01 -1.95652689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.21762799999999 meters 0.011766037348172283 Centerline is valid? [True, True] Translation: X:112.94, Y:-27.89, Z:-0.20 [[ 9.14528648e-01 4.04488418e-01 -5.14503694e-03 1.12944094e+02] [-4.04481938e-01 9.14543121e-01 2.28962815e-03 -2.78911352e+01] [ 5.63148621e-03 -1.28560225e-05 9.99984143e-01 -1.96922302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.27762799999999 meters 0.011636730358168274 Centerline is valid? [True, True] Translation: X:113.00, Y:-27.91, Z:-0.20 [[ 9.12782305e-01 4.08412305e-01 -5.27760011e-03 1.13002820e+02] [-4.08405541e-01 9.12797562e-01 2.35039573e-03 -2.79148572e+01] [ 5.77731105e-03 1.00014926e-05 9.99983311e-01 -1.97112385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.337628 meters 0.01195213378605014 Centerline is valid? [True, True] Translation: X:113.06, Y:-27.94, Z:-0.20 [[ 9.11407600e-01 4.11470199e-01 -5.33500288e-03 1.13060016e+02] [-4.11463330e-01 9.11423214e-01 2.37757477e-03 -2.79387990e+01] [ 5.84074664e-03 2.82183388e-05 9.99982942e-01 -1.97054595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.397628 meters 0.012437322984524848 Centerline is valid? [True, True] Translation: X:113.12, Y:-27.96, Z:-0.20 [[ 9.09729156e-01 4.15155781e-01 -6.20811265e-03 1.13117493e+02] [-4.15146555e-01 9.09750336e-01 2.76833774e-03 -2.79626162e+01] [ 6.79712399e-03 5.88390280e-05 9.99976898e-01 -1.97429987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.457628 meters 0.012625512988777045 Centerline is valid? [True, True] Translation: X:113.17, Y:-27.99, Z:-0.20 [[ 9.09011099e-01 4.16713650e-01 -6.96823386e-03 1.13174646e+02] [-4.16702057e-01 9.09037803e-01 3.10928229e-03 -2.79871224e+01] [ 7.63006838e-03 7.73052719e-05 9.99970888e-01 -1.98863912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.517628 meters 0.012540714120659 Centerline is valid? [True, True] Translation: X:113.23, Y:-28.01, Z:-0.20 [[ 9.09012969e-01 4.16706812e-01 -7.13129553e-03 1.13231484e+02] [-4.16694650e-01 9.09040938e-01 3.18453492e-03 -2.80136718e+01] [ 7.80965697e-03 7.67891539e-05 9.99969501e-01 -1.98488237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.577628 meters 0.012084796656952959 Centerline is valid? [True, True] Translation: X:113.29, Y:-28.04, Z:-0.20 [[ 9.10836271e-01 4.12733298e-01 -5.33963668e-03 1.13286078e+02] [-4.12726402e-01 9.10851922e-01 2.38608236e-03 -2.80424217e+01] [ 5.84843397e-03 3.04786753e-05 9.99982897e-01 -1.95751507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.63762799999999 meters 0.01186419354127884 Centerline is valid? [True, True] Translation: X:113.34, Y:-28.07, Z:-0.19 [[ 9.12957101e-01 4.08033928e-01 -4.20059094e-03 1.13341297e+02] [-4.08029605e-01 9.12966765e-01 1.87841711e-03 -2.80716726e+01] [ 4.60145783e-03 -9.48781184e-07 9.99989413e-01 -1.94280120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.697628 meters 0.012672088762669235 Centerline is valid? [True, True] Translation: X:113.39, Y:-28.10, Z:-0.19 [[ 9.16105847e-01 4.00919622e-01 -3.67884550e-03 1.13394788e+02] [-4.00916244e-01 9.16113233e-01 1.64611106e-03 -2.81019605e+01] [ 4.03019727e-03 -3.31030484e-05 9.99991878e-01 -1.93543809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.757628 meters 0.01343016932917848 Centerline is valid? [True, True] Translation: X:113.45, Y:-28.13, Z:-0.19 [[ 9.17447452e-01 3.97845020e-01 -3.08428976e-03 1.13450845e+02] [-3.97842625e-01 9.17452635e-01 1.38103275e-03 -2.81285048e+01] [ 3.37912677e-03 -3.99630384e-05 9.99994290e-01 -1.93053680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.817628 meters 0.01464340339281012 Centerline is valid? [True, True] Translation: X:113.51, Y:-28.16, Z:-0.19 [[ 9.20422929e-01 3.90906671e-01 -3.68865774e-03 1.13506291e+02] [-3.90903190e-01 9.20430317e-01 1.65153860e-03 -2.81560680e+01] [ 4.04074987e-03 -7.82059181e-05 9.99991833e-01 -1.93073833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.877628 meters 0.017267968822117327 Centerline is valid? [True, True] Translation: X:113.56, Y:-28.18, Z:-0.19 [[ 9.22102188e-01 3.86933772e-01 -3.13226865e-03 1.13560006e+02] [-3.86931237e-01 9.22107504e-01 1.40308599e-03 -2.81845740e+01] [ 3.43118978e-03 -8.18160777e-05 9.99994110e-01 -1.92822070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.937628 meters 0.019541862966618345 Centerline is valid? [True, True] Translation: X:113.61, Y:-28.21, Z:-0.19 [[ 9.23732479e-01 3.83028526e-01 -2.73042399e-03 1.13614851e+02] [-3.83026582e-01 9.23736511e-01 1.22321314e-03 -2.82107858e+01] [ 2.99071786e-03 -8.40967387e-05 9.99995524e-01 -1.91521366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.99762799999999 meters 0.01737027899186267 Centerline is valid? [True, True] Translation: X:113.67, Y:-28.23, Z:-0.19 [[ 9.23019403e-01 3.84727310e-01 -4.48097951e-03 1.13674504e+02] [-3.84722087e-01 9.23030270e-01 2.00894970e-03 -2.82286936e+01] [ 4.90897755e-03 -1.30367766e-04 9.99987942e-01 -1.92593539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.057628 meters 0.015024054794633946 Centerline is valid? [True, True] Translation: X:113.73, Y:-28.25, Z:-0.19 [[ 9.21327837e-01 3.88742584e-01 -5.84985874e-03 1.13734104e+02] [-3.88733756e-01 9.21346397e-01 2.62373636e-03 -2.82455514e+01] [ 6.40970432e-03 -1.43283783e-04 9.99979447e-01 -1.93465759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.117628 meters 0.014014090354673655 Centerline is valid? [True, True] Translation: X:113.79, Y:-28.26, Z:-0.19 [[ 9.18280282e-01 3.95903567e-01 -4.65715974e-03 1.13793360e+02] [-3.95898063e-01 9.18292089e-01 2.08878598e-03 -2.82621270e+01] [ 5.10359076e-03 -7.43304599e-05 9.99986974e-01 -1.93206247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.177628 meters 0.012554888057038627 Centerline is valid? [True, True] Translation: X:113.85, Y:-28.28, Z:-0.19 [[ 9.16362076e-01 4.00335983e-01 -3.41265838e-03 1.13852753e+02] [-4.00333054e-01 9.16368430e-01 1.53204466e-03 -2.82806590e+01] [ 3.74058501e-03 -3.77076731e-05 9.99993003e-01 -1.91350619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.237628 meters 0.012211051893597735 Centerline is valid? [True, True] Translation: X:113.91, Y:-28.30, Z:-0.19 [[ 9.14353362e-01 4.04910064e-01 -2.40192232e-03 1.13911475e+02] [-4.04908626e-01 9.14356517e-01 1.07913007e-03 -2.83001225e+01] [ 2.63316395e-03 -1.41471360e-05 9.99996533e-01 -1.90596134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.297628 meters 0.012126332074682262 Centerline is valid? [True, True] Translation: X:113.97, Y:-28.32, Z:-0.19 [[ 9.13797231e-01 4.06169686e-01 -8.97984348e-04 1.13969361e+02] [-4.06169485e-01 9.13797672e-01 4.03996355e-04 -2.83225615e+01] [ 9.84667080e-04 -4.43691033e-06 9.99999515e-01 -1.90200602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.35762799999999 meters 0.012172301397924088 Centerline is valid? [True, True] Translation: X:114.03, Y:-28.35, Z:-0.19 [[ 9.13729576e-01 4.06322080e-01 -7.93429345e-04 1.14027156e+02] [-4.06321923e-01 9.13729920e-01 3.57348371e-04 -2.83462315e+01] [ 8.70178666e-04 -4.13203871e-06 9.99999621e-01 -1.90713616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.417628 meters 0.012205744814598792 Centerline is valid? [True, True] Translation: X:114.08, Y:-28.37, Z:-0.19 [[ 9.13851904e-01 4.06042816e-01 -1.98208948e-03 1.14084805e+02] [-4.06041835e-01 9.13854054e-01 8.92594256e-04 -2.83722318e+01] [ 2.17377199e-03 -1.08877115e-05 9.99997637e-01 -1.92405673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.477628 meters 0.012503499390393566 Centerline is valid? [True, True] Translation: X:114.14, Y:-28.40, Z:-0.20 [[ 9.14509846e-01 4.04542979e-01 -4.08895689e-03 1.14141056e+02] [-4.04538786e-01 9.14518987e-01 1.84195415e-03 -2.83979656e+01] [ 4.48457833e-03 -3.03435517e-05 9.99989944e-01 -1.95215891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.537628 meters 0.0129286352589419 Centerline is valid? [True, True] Translation: X:114.20, Y:-28.43, Z:-0.20 [[ 9.14899930e-01 4.03641814e-01 -5.60404988e-03 1.14196113e+02] [-4.03633914e-01 9.14917091e-01 2.52575494e-03 -2.84251254e+01] [ 6.14674132e-03 -4.88284302e-05 9.99981107e-01 -1.97273901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.597628 meters 0.013144715741945699 Centerline is valid? [True, True] Translation: X:114.25, Y:-28.45, Z:-0.20 [[ 9.14969721e-01 4.03467973e-01 -6.63361669e-03 1.14251815e+02] [-4.03456886e-01 9.14993766e-01 2.99162143e-03 -2.84521339e+01] [ 7.27674135e-03 -6.08646892e-05 9.99973522e-01 -1.97707736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.657628 meters 0.012842395245600694 Centerline is valid? [True, True] Translation: X:114.31, Y:-28.48, Z:-0.20 [[ 9.14377678e-01 4.04822073e-01 -5.70547086e-03 1.14308076e+02] [-4.04813887e-01 9.14395477e-01 2.57478028e-03 -2.84783666e+01] [ 6.25938463e-03 -4.46677813e-05 9.99980409e-01 -1.95985240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.71762799999999 meters 0.012841839063681169 Centerline is valid? [True, True] Translation: X:114.37, Y:-28.50, Z:-0.20 [[ 9.13657941e-01 4.06444781e-01 -5.63981156e-03 1.14365126e+02] [-4.06436804e-01 9.13675346e-01 2.54678159e-03 -2.85035252e+01] [ 6.18808287e-03 -3.46602433e-05 9.99980853e-01 -1.96365022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.77762799999999 meters 0.012728978763010917 Centerline is valid? [True, True] Translation: X:114.42, Y:-28.53, Z:-0.20 [[ 9.12884575e-01 4.08176171e-01 -5.82803332e-03 1.14422029e+02] [-4.08167673e-01 9.12903178e-01 2.63385211e-03 -2.85298670e+01] [ 6.39550581e-03 -2.55881675e-05 9.99979548e-01 -1.95995641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.837628 meters 0.012793219487353794 Centerline is valid? [True, True] Translation: X:114.48, Y:-28.56, Z:-0.20 [[ 9.12944045e-01 4.08043862e-01 -5.77735345e-03 1.14478564e+02] [-4.08035497e-01 9.12962324e-01 2.61294603e-03 -2.85582137e+01] [ 6.34070262e-03 -2.81082320e-05 9.99979897e-01 -1.95402753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.897628 meters 0.013235110577684802 Centerline is valid? [True, True] Translation: X:114.53, Y:-28.59, Z:-0.20 [[ 9.13881236e-01 4.05945490e-01 -5.41727768e-03 1.14532727e+02] [-4.05938087e-01 9.13897291e-01 2.45180877e-03 -2.85890669e+01] [ 5.94613610e-03 -4.15826872e-05 9.99982321e-01 -1.95058470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.957628 meters 0.013576734672478056 Centerline is valid? [True, True] Translation: X:114.59, Y:-28.62, Z:-0.19 [[ 9.14873908e-01 4.03705053e-01 -5.28787485e-03 1.14587780e+02] [-4.03697954e-01 9.14889188e-01 2.39478031e-03 -2.86181737e+01] [ 5.80460444e-03 -5.62177578e-05 9.99983152e-01 -1.94699992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.017628 meters 0.014235500412076836 Centerline is valid? [True, True] Translation: X:114.64, Y:-28.65, Z:-0.19 [[ 9.16750328e-01 3.99427673e-01 -5.13523181e-03 1.14641260e+02] [-3.99420902e-01 9.16764707e-01 2.32722599e-03 -2.86497111e+01] [ 5.63735774e-03 -8.23662674e-05 9.99984107e-01 -1.94576705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.077628 meters 0.016130700134266207 Centerline is valid? [True, True] Translation: X:114.69, Y:-28.68, Z:-0.19 [[ 9.19471452e-01 3.93134561e-01 -4.17916452e-03 1.14692929e+02] [-3.93130006e-01 9.19480944e-01 1.89514559e-03 -2.86833224e+01] [ 4.58770936e-03 -9.95772941e-05 9.99989471e-01 -1.94564464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.13762799999999 meters 0.016451678727882214 Centerline is valid? [True, True] Translation: X:114.75, Y:-28.71, Z:-0.19 [[ 9.20360212e-01 3.91054796e-01 -3.63692386e-03 1.14748876e+02] [-3.91051325e-01 9.20367393e-01 1.65042395e-03 -2.87110563e+01] [ 3.99271233e-03 -9.67606412e-05 9.99992024e-01 -1.94069000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.197628 meters 0.017232052284449458 Centerline is valid? [True, True] Translation: X:114.80, Y:-28.74, Z:-0.19 [[ 9.21884759e-01 3.87453410e-01 -2.88886140e-03 1.14803187e+02] [-3.87451202e-01 9.21889281e-01 1.31097375e-03 -2.87411112e+01] [ 3.17115161e-03 -8.92738935e-05 9.99994968e-01 -1.93091647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.257628 meters 0.01733453534563948 Centerline is valid? [True, True] Translation: X:114.86, Y:-28.77, Z:-0.19 [[ 9.21457445e-01 3.88471016e-01 -2.53894067e-03 1.14860074e+02] [-3.88469312e-01 9.21460940e-01 1.15326035e-03 -2.87666860e+01] [ 2.78754287e-03 -7.63798001e-05 9.99996112e-01 -1.93090640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.317628 meters 0.016982972127720215 Centerline is valid? [True, True] Translation: X:114.92, Y:-28.79, Z:-0.20 [[ 9.19623129e-01 3.92778317e-01 -4.30043993e-03 1.14915848e+02] [-3.92773475e-01 9.19633178e-01 1.95334940e-03 -2.87897900e+01] [ 4.72206053e-03 -1.07246551e-04 9.99988845e-01 -1.95745234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.377628 meters 0.01650042811968997 Centerline is valid? [True, True] Translation: X:114.97, Y:-28.81, Z:-0.20 [[ 9.18436250e-01 3.95532577e-01 -5.36988556e-03 1.14971973e+02] [-3.95525064e-01 9.18451940e-01 2.44067404e-03 -2.88130185e+01] [ 5.89734791e-03 -1.17679180e-04 9.99982604e-01 -1.97428428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.437628 meters 0.014988394226150732 Centerline is valid? [True, True] Translation: X:115.03, Y:-28.83, Z:-0.20 [[ 9.17566003e-01 3.97542364e-01 -5.71835033e-03 1.15030843e+02] [-3.97533873e-01 9.17583814e-01 2.60078555e-03 -2.88336997e+01] [ 6.28098814e-03 -1.13154445e-04 9.99980268e-01 -1.97400868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.49762799999999 meters 0.016891794760211316 Centerline is valid? [True, True] Translation: X:115.09, Y:-28.86, Z:-0.20 [[ 9.17546335e-01 3.97590357e-01 -5.53452647e-03 1.15088523e+02] [-3.97582392e-01 9.17563020e-01 2.51918744e-03 -2.88580508e+01] [ 6.07988145e-03 -1.11040929e-04 9.99981511e-01 -1.99794399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.557628 meters 0.01552380795400137 Centerline is valid? [True, True] Translation: X:115.14, Y:-28.88, Z:-0.20 [[ 9.17570851e-01 3.97559378e-01 -3.20525961e-03 1.15143245e+02] [-3.97556703e-01 9.17576447e-01 1.45996291e-03 -2.88844796e+01] [ 3.52149267e-03 -6.53469715e-05 9.99993797e-01 -1.96482625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.617628 meters 0.01486840697362143 Centerline is valid? [True, True] Translation: X:115.20, Y:-28.91, Z:-0.20 [[ 9.17366047e-01 3.98035321e-01 -2.72384432e-03 1.15200765e+02] [-3.98033387e-01 9.17370089e-01 1.24176422e-03 -2.89094217e+01] [ 2.99303933e-03 -5.49713545e-05 9.99995519e-01 -1.95753161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.677628 meters 0.014690078055647291 Centerline is valid? [True, True] Translation: X:115.26, Y:-28.93, Z:-0.20 [[ 9.16797205e-01 3.99350663e-01 -1.38994525e-03 1.15257949e+02] [-3.99350160e-01 9.16798259e-01 6.34245677e-04 -2.89346289e+01] [ 1.52758582e-03 -2.63998042e-05 9.99998833e-01 -1.95293109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.737628 meters 0.013850425854965103 Centerline is valid? [True, True] Translation: X:115.32, Y:-28.96, Z:-0.20 [[ 9.15611126e-01 4.02064283e-01 -7.60115023e-04 1.15315608e+02] [-4.02064133e-01 9.15611442e-01 3.47282991e-04 -2.89579289e+01] [ 8.35600099e-04 -1.23611832e-05 9.99999651e-01 -1.95991030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.797628 meters 0.013835963085735984 Centerline is valid? [True, True] Translation: X:115.37, Y:-28.98, Z:-0.20 [[ 9.14754738e-01 4.04007398e-01 -1.33843471e-03 1.15371278e+02] [-4.04006935e-01 9.14755717e-01 6.11488876e-04 -2.89841006e+01] [ 1.47138683e-03 -1.86254415e-05 9.99998917e-01 -1.96810447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.85762799999999 meters 0.01352521691196392 Centerline is valid? [True, True] Translation: X:115.43, Y:-29.01, Z:-0.20 [[ 9.14173066e-01 4.05318310e-01 -2.16144497e-03 1.15427335e+02] [-4.05317107e-01 9.14175621e-01 9.87887753e-04 -2.90110995e+01] [ 2.37634929e-03 -2.70297538e-05 9.99997176e-01 -1.96815178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.917628 meters 0.01332591136982311 Centerline is valid? [True, True] Translation: X:115.48, Y:-29.04, Z:-0.20 [[ 9.13783681e-01 4.06195117e-01 -2.21618111e-03 1.15484942e+02] [-4.06193853e-01 9.13786368e-01 1.01371374e-03 -2.90372662e+01] [ 2.43688166e-03 -2.61159234e-05 9.99997030e-01 -1.97377339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.977628 meters 0.013222999331160773 Centerline is valid? [True, True] Translation: X:115.54, Y:-29.07, Z:-0.20 [[ 9.13306444e-01 4.07261467e-01 -3.07199218e-03 1.15541426e+02] [-4.07259041e-01 9.13311610e-01 1.40601867e-03 -2.90652968e+01] [ 3.37830335e-03 -3.30293212e-05 9.99994293e-01 -1.98977910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.037628 meters 0.013410652367396237 Centerline is valid? [True, True] Translation: X:115.60, Y:-29.09, Z:-0.20 [[ 9.13397636e-01 4.07048394e-01 -4.04508257e-03 1.15596105e+02] [-4.07044182e-01 9.13406592e-01 1.85245587e-03 -2.90943972e+01] [ 4.44884427e-03 -4.55014924e-05 9.99990103e-01 -1.99382769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.097628 meters 0.013614234099649732 Centerline is valid? [True, True] Translation: X:115.65, Y:-29.12, Z:-0.20 [[ 9.13591271e-01 4.06615384e-01 -3.86252756e-03 1.15650032e+02] [-4.06611534e-01 9.13599435e-01 1.77005170e-03 -2.91242861e+01] [ 4.24853325e-03 -4.65555247e-05 9.99990974e-01 -1.99267572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.157628 meters 0.012744606864331145 Centerline is valid? [True, True] Translation: X:115.71, Y:-29.15, Z:-0.20 [[ 9.11878200e-01 4.10458009e-01 -1.53966994e-03 1.15708065e+02] [-4.10457402e-01 9.11879500e-01 7.06307043e-04 -2.91467415e+01] [ 1.69390284e-03 -1.20970716e-05 9.99998565e-01 -1.97657139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.21762799999999 meters 0.012535481702444347 Centerline is valid? [True, True] Translation: X:115.76, Y:-29.17, Z:-0.20 [[ 9.10828142e-01 4.12782952e-01 -1.52661109e-03 1.15764688e+02] [-4.12782357e-01 9.10829421e-01 7.00777218e-04 -2.91722473e+01] [ 1.67975119e-03 -8.12948592e-06 9.99998589e-01 -1.97543674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.27762799999999 meters 0.012533698174948395 Centerline is valid? [True, True] Translation: X:115.82, Y:-29.20, Z:-0.20 [[ 9.11054477e-01 4.12284266e-01 -1.19295386e-03 1.15821064e+02] [-4.12283902e-01 9.11055258e-01 5.48195804e-04 -2.92001419e+01] [ 1.31285939e-03 -7.60057159e-06 9.99999138e-01 -1.96797569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.337628 meters 0.012566330094910089 Centerline is valid? [True, True] Translation: X:115.88, Y:-29.23, Z:-0.20 [[ 9.11130128e-01 4.12118704e-01 -2.53039429e-04 1.15878214e+02] [-4.12118688e-01 9.11130163e-01 1.16774273e-04 -2.92261995e+01] [ 2.78676718e-04 -2.11428037e-06 9.99999961e-01 -1.96490194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.397628 meters 0.012624781670087298 Centerline is valid? [True, True] Translation: X:115.93, Y:-29.25, Z:-0.20 [[ 9.11670042e-01 4.10922502e-01 -6.56979396e-04 1.15934844e+02] [-4.10922390e-01 9.11670279e-01 3.02574692e-04 -2.92527546e+01] [ 7.23283338e-04 -5.88073797e-06 9.99999738e-01 -1.96510599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.457628 meters 0.013022229331496299 Centerline is valid? [True, True] Translation: X:115.99, Y:-29.28, Z:-0.20 [[ 9.12720201e-01 4.08583145e-01 -1.28407053e-03 1.15990045e+02] [-4.08582717e-01 9.12721104e-01 5.91206467e-04 -2.92802395e+01] [ 1.41355527e-03 -1.49570585e-05 9.99999001e-01 -1.96919221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.517628 meters 0.013223620248576075 Centerline is valid? [True, True] Translation: X:116.05, Y:-29.31, Z:-0.20 [[ 9.12962221e-01 4.08040453e-01 -1.72421370e-03 1.16045957e+02] [-4.08039680e-01 9.12963848e-01 7.94266039e-04 -2.93070823e+01] [ 1.89823745e-03 -2.15872805e-05 9.99998198e-01 -1.97315994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.577628 meters 0.012872943515329376 Centerline is valid? [True, True] Translation: X:116.10, Y:-29.33, Z:-0.20 [[ 9.12318995e-01 4.09474118e-01 -2.23581293e-03 1.16102887e+02] [-4.09472822e-01 9.12321734e-01 1.03041712e-03 -2.93308655e+01] [ 2.46170987e-03 -2.45644822e-05 9.99996970e-01 -1.97934725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.63762799999999 meters 0.012598712721524772 Centerline is valid? [True, True] Translation: X:116.16, Y:-29.35, Z:-0.20 [[ 9.11533626e-01 4.11218040e-01 -2.48431407e-03 1.16160085e+02] [-4.11216445e-01 9.11537011e-01 1.14563999e-03 -2.93546981e+01] [ 2.73565206e-03 -2.26985775e-05 9.99996258e-01 -1.98129612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.697628 meters 0.012389366968517595 Centerline is valid? [True, True] Translation: X:116.22, Y:-29.38, Z:-0.20 [[ 9.10738067e-01 4.12973406e-01 -3.02320585e-03 1.16215975e+02] [-4.12971051e-01 9.10743084e-01 1.39483824e-03 -2.93792249e+01] [ 3.32939492e-03 -2.18357862e-05 9.99994457e-01 -1.99391742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.757628 meters 0.012193610781834998 Centerline is valid? [True, True] Translation: X:116.27, Y:-29.41, Z:-0.20 [[ 9.10610014e-01 4.13259359e-01 -2.47065327e-03 1.16272786e+02] [-4.13257784e-01 9.10613366e-01 1.14091665e-03 -2.94058640e+01] [ 2.72130437e-03 -1.79134341e-05 9.99996297e-01 -1.99415831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.817628 meters 0.012492514575154321 Centerline is valid? [True, True] Translation: X:116.33, Y:-29.43, Z:-0.20 [[ 9.11142942e-01 4.12087370e-01 -1.59322869e-03 1.16327957e+02] [-4.12086712e-01 9.11144335e-01 7.36374316e-04 -2.94347943e+01] [ 1.75511185e-03 -1.43938883e-05 9.99998460e-01 -1.98542862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.877628 meters 0.012270357087776318 Centerline is valid? [True, True] Translation: X:116.39, Y:-29.46, Z:-0.20 [[ 9.11365913e-01 4.11594707e-01 -1.40335564e-03 1.16385121e+02] [-4.11594195e-01 9.11366993e-01 6.49209787e-04 -2.94610117e+01] [ 1.54618332e-03 -1.40546352e-05 9.99998805e-01 -1.98218436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.937628 meters 0.012929016154127006 Centerline is valid? [True, True] Translation: X:116.44, Y:-29.49, Z:-0.20 [[ 9.11882028e-01 4.10445514e-01 -2.37650176e-03 1.16439498e+02] [-4.10444042e-01 9.11885124e-01 1.09958755e-03 -2.94897004e+01] [ 2.61841738e-03 -2.72731316e-05 9.99996572e-01 -1.99919211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.99762799999999 meters 0.01304176948745001 Centerline is valid? [True, True] Translation: X:116.50, Y:-29.52, Z:-0.20 [[ 9.11911223e-01 4.10379179e-01 -2.61743567e-03 1.16496760e+02] [-4.10377391e-01 9.11914979e-01 1.21193353e-03 -2.95162420e+01] [ 2.88423108e-03 -3.10393625e-05 9.99995840e-01 -1.99994819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.057628 meters 0.012667148116145862 Centerline is valid? [True, True] Translation: X:116.56, Y:-29.54, Z:-0.20 [[ 9.11606255e-01 4.11059175e-01 -2.09515643e-03 1.16555234e+02] [-4.11058029e-01 9.11608663e-01 9.70944946e-04 -2.95407460e+01] [ 2.30907858e-03 -2.38886124e-05 9.99997334e-01 -1.98903173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.117628 meters 0.012585995010107808 Centerline is valid? [True, True] Translation: X:116.61, Y:-29.57, Z:-0.20 [[ 9.11602122e-01 4.11066092e-01 -2.49777442e-03 1.16612546e+02] [-4.11064461e-01 9.11605543e-01 1.15830531e-03 -2.95656698e+01] [ 2.75312504e-03 -2.91672833e-05 9.99996210e-01 -1.98613698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.177628 meters 0.013056940061077212 Centerline is valid? [True, True] Translation: X:116.67, Y:-29.59, Z:-0.20 [[ 9.12025788e-01 4.10105815e-01 -4.70976026e-03 1.16667190e+02] [-4.10100000e-01 9.12037947e-01 2.18481308e-03 -2.95922489e+01] [ 5.19148463e-03 -6.11331912e-05 9.99986522e-01 -2.00962390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.237628 meters 0.013304977512758576 Centerline is valid? [True, True] Translation: X:116.72, Y:-29.62, Z:-0.20 [[ 9.12580645e-01 4.08840450e-01 -6.78629353e-03 1.16723651e+02] [-4.08828336e-01 9.12605872e-01 3.14881407e-03 -2.96171417e+01] [ 7.48057388e-03 -9.91176810e-05 9.99972015e-01 -2.02674610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.297628 meters 0.01350612729579077 Centerline is valid? [True, True] Translation: X:116.78, Y:-29.64, Z:-0.20 [[ 9.13227939e-01 4.07392844e-01 -6.76772270e-03 1.16779625e+02] [-4.07380741e-01 9.13253009e-01 3.14226706e-03 -2.96427693e+01] [ 7.46078023e-03 -1.12566180e-04 9.99972162e-01 -2.01794608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.35762799999999 meters 0.01490850784152526 Centerline is valid? [True, True] Translation: X:116.83, Y:-29.67, Z:-0.20 [[ 9.14442834e-01 4.04682125e-01 -5.16544860e-03 1.16833038e+02] [-4.04675022e-01 9.14457417e-01 2.39983916e-03 -2.96723142e+01] [ 5.69475480e-03 -1.04187695e-04 9.99983779e-01 -1.99692566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.417628 meters 0.014957119283108136 Centerline is valid? [True, True] Translation: X:116.89, Y:-29.70, Z:-0.20 [[ 9.16914953e-01 3.99066914e-01 -3.54508174e-03 1.16888798e+02] [-3.99063522e-01 9.16921801e-01 1.64817990e-03 -2.96990048e+01] [ 3.90829680e-03 -9.65279896e-05 9.99992358e-01 -1.96138340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.477628 meters 0.01975201994455199 Centerline is valid? [True, True] Translation: X:116.94, Y:-29.73, Z:-0.20 [[ 9.18798905e-01 3.94713209e-01 -3.17091658e-03 1.16940629e+02] [-3.94710468e-01 9.18804371e-01 1.47451145e-03 -2.97305394e+01] [ 3.49546117e-03 -1.03185539e-04 9.99993886e-01 -1.97841290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.537628 meters 0.01783385917372174 Centerline is valid? [True, True] Translation: X:117.00, Y:-29.75, Z:-0.20 [[ 9.21353009e-01 3.88714462e-01 -3.11455491e-03 1.16998052e+02] [-3.88711780e-01 9.21358264e-01 1.44932285e-03 -2.97519758e+01] [ 3.43299366e-03 -1.24673788e-04 9.99994099e-01 -1.97430121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.597628 meters 0.020306114777966604 Centerline is valid? [True, True] Translation: X:117.05, Y:-29.78, Z:-0.20 [[ 9.22272197e-01 3.86526772e-01 -3.32396268e-03 1.17052158e+02] [-3.86523700e-01 9.22278176e-01 1.54768803e-03 -2.97803608e+01] [ 3.66384109e-03 -1.42599289e-04 9.99993278e-01 -1.97672351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.657628 meters 0.01901779515056942 Centerline is valid? [True, True] Translation: X:117.11, Y:-29.80, Z:-0.20 [[ 9.21678319e-01 3.87939470e-01 -3.47030914e-03 1.17110432e+02] [-3.87936127e-01 9.21684841e-01 1.61688383e-03 -2.98017477e+01] [ 3.82578438e-03 -1.43988481e-04 9.99992671e-01 -1.96774481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.71762799999999 meters 0.018558414343577266 Centerline is valid? [True, True] Translation: X:117.17, Y:-29.82, Z:-0.20 [[ 9.20423303e-01 3.90893399e-01 -4.82629536e-03 1.17168034e+02] [-3.90886971e-01 9.20435938e-01 2.24931781e-03 -2.98238215e+01] [ 5.32153918e-03 -1.83788554e-04 9.99985824e-01 -1.98723373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.77762799999999 meters 0.01763116920168444 Centerline is valid? [True, True] Translation: X:117.23, Y:-29.85, Z:-0.20 [[ 9.18398679e-01 3.95608935e-01 -6.11864312e-03 1.17225663e+02] [-3.95598704e-01 9.18419039e-01 2.85208136e-03 -2.98452541e+01] [ 6.74778721e-03 -1.98820459e-04 9.99977214e-01 -2.00402526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.837628 meters 0.016360075881762068 Centerline is valid? [True, True] Translation: X:117.28, Y:-29.87, Z:-0.20 [[ 9.16772502e-01 3.99344564e-01 -7.21794499e-03 1.17283264e+02] [-3.99330439e-01 9.16800893e-01 3.36485455e-03 -2.98676328e+01] [ 7.96115479e-03 -2.02460981e-04 9.99968289e-01 -2.00521542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.897628 meters 0.017619306981165643 Centerline is valid? [True, True] Translation: X:117.34, Y:-29.90, Z:-0.20 [[ 9.16298649e-01 4.00444545e-01 -6.39942168e-03 1.17338058e+02] [-4.00433454e-01 9.16320979e-01 2.98532449e-03 -2.98950644e+01] [ 7.05938124e-03 -1.72906265e-04 9.99975067e-01 -2.00441764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.957628 meters 0.01569706668880144 Centerline is valid? [True, True] Translation: X:117.40, Y:-29.92, Z:-0.20 [[ 9.16605220e-01 3.99755875e-01 -5.48738679e-03 1.17395807e+02] [-3.99747698e-01 9.16621632e-01 2.56161507e-03 -2.99177768e+01] [ 6.05387811e-03 -1.54419506e-04 9.99981663e-01 -1.98880233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.017628 meters 0.01655012555955313 Centerline is valid? [True, True] Translation: X:117.45, Y:-29.95, Z:-0.20 [[ 9.17193863e-01 3.98411555e-01 -4.86323563e-03 1.17451348e+02] [-3.98405105e-01 9.17206744e-01 2.27173661e-03 -2.99461688e+01] [ 5.36567864e-03 -1.46084972e-04 9.99985594e-01 -1.98814372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.077628 meters 0.016410547054191416 Centerline is valid? [True, True] Translation: X:117.51, Y:-29.97, Z:-0.20 [[ 9.17661226e-01 3.97343043e-01 -4.04738769e-03 1.17507290e+02] [-3.97338559e-01 9.17670142e-01 1.89193789e-03 -2.99738531e+01] [ 4.46591519e-03 -1.27974853e-04 9.99990020e-01 -1.97211521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.13762799999999 meters 0.016485865544556822 Centerline is valid? [True, True] Translation: X:117.56, Y:-30.00, Z:-0.20 [[ 9.17331404e-01 3.98104605e-01 -3.97726665e-03 1.17562941e+02] [-3.98100277e-01 9.17340018e-01 1.86035318e-03 -3.00011007e+01] [ 4.38912102e-03 -1.23209437e-04 9.99990360e-01 -1.96391857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.197628 meters 0.016566292533112013 Centerline is valid? [True, True] Translation: X:117.62, Y:-30.03, Z:-0.20 [[ 9.16501032e-01 3.99998052e-01 -5.23612914e-03 1.17618277e+02] [-3.99990579e-01 9.16515977e-01 2.44972611e-03 -3.00266152e+01] [ 5.77888169e-03 -1.50774182e-04 9.99983291e-01 -1.99254620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.257628 meters 0.016699762149630995 Centerline is valid? [True, True] Translation: X:117.67, Y:-30.05, Z:-0.20 [[ 9.15920777e-01 4.01318450e-01 -5.71249457e-03 1.17673223e+02] [-4.01309570e-01 9.15938577e-01 2.67425291e-03 -3.00530592e+01] [ 6.30552118e-03 -1.56925060e-04 9.99980108e-01 -2.00642293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.317628 meters 0.017657341207479405 Centerline is valid? [True, True] Translation: X:117.73, Y:-30.08, Z:-0.20 [[ 9.16177717e-01 4.00694655e-01 -7.88573270e-03 1.17726814e+02] [-4.00677707e-01 9.16211626e-01 3.69199982e-03 -3.00816217e+01] [ 8.70436457e-03 -2.22890670e-04 9.99962091e-01 -2.02859450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.377628 meters 0.019135886710716435 Centerline is valid? [True, True] Translation: X:117.78, Y:-30.11, Z:-0.20 [[ 9.17383135e-01 3.97915211e-01 -8.46575697e-03 1.17781408e+02] [-3.97895554e-01 9.17422156e-01 3.96420339e-03 -3.01113683e+01] [ 9.34408984e-03 -2.68206273e-04 9.99956307e-01 -2.03256739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.437628 meters 0.019040302517126947 Centerline is valid? [True, True] Translation: X:117.84, Y:-30.14, Z:-0.20 [[ 9.19912873e-01 3.92061854e-01 -6.91437339e-03 1.17836034e+02] [-3.92048560e-01 9.19938819e-01 3.23983992e-03 -3.01394981e+01] [ 7.63101813e-03 -2.69600322e-04 9.99970847e-01 -1.98955611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.49762799999999 meters 0.027427181647116588 Centerline is valid? [True, True] Translation: X:117.88, Y:-30.18, Z:-0.20 [[ 9.23074126e-01 3.84595735e-01 -4.50323505e-03 1.17884784e+02] [-3.84590005e-01 9.23085085e-01 2.11040167e-03 -3.01779417e+01] [ 4.96852059e-03 -2.16157980e-04 9.99987633e-01 -1.97912046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.557628 meters 0.022941409254541807 Centerline is valid? [True, True] Translation: X:117.94, Y:-30.20, Z:-0.20 [[ 9.25019997e-01 3.79907613e-01 -2.86560535e-03 1.17942280e+02] [-3.79905267e-01 9.25024422e-01 1.34397809e-03 -3.01987362e+01] [ 3.16134244e-03 -1.54548042e-04 9.99994991e-01 -1.95284648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.617628 meters 0.023054029404126403 Centerline is valid? [True, True] Translation: X:118.00, Y:-30.22, Z:-0.19 [[ 9.26706336e-01 3.75785516e-01 -7.83413809e-04 1.17998767e+02] [-3.75785339e-01 9.26706666e-01 3.67473046e-04 -3.02239385e+01] [ 8.64085847e-04 -4.61441762e-05 9.99999626e-01 -1.93440084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.677628 meters 0.023461042922513574 Centerline is valid? [True, True] Translation: X:118.06, Y:-30.25, Z:-0.19 [[ 9.26274207e-01 3.76848631e-01 -1.09696652e-03 1.18055443e+02] [-3.76848284e-01 9.26274854e-01 5.15186645e-04 -3.02486253e+01] [ 1.21023988e-03 -6.38141513e-05 9.99999266e-01 -1.93914765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.737628 meters 0.022182963221120656 Centerline is valid? [True, True] Translation: X:118.11, Y:-30.27, Z:-0.20 [[ 9.24696214e-01 3.80688204e-01 -3.66093064e-03 1.18113715e+02] [-3.80684376e-01 9.24703441e-01 1.71850517e-03 -3.02680413e+01] [ 4.03948981e-03 -1.95436126e-04 9.99991822e-01 -1.97064900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.797628 meters 0.020628290039966996 Centerline is valid? [True, True] Translation: X:118.17, Y:-30.29, Z:-0.20 [[ 9.23782264e-01 3.82885011e-01 -5.03951605e-03 1.18172356e+02] [-3.82877787e-01 9.23795975e-01 2.36579689e-03 -3.02884500e+01] [ 5.56131281e-03 -2.55962456e-04 9.99984503e-01 -1.99126238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.85762799999999 meters 0.023398488010376944 Centerline is valid? [True, True] Translation: X:118.23, Y:-30.31, Z:-0.20 [[ 9.22905770e-01 3.85003649e-01 -4.13894301e-03 1.18226802e+02] [-3.84998796e-01 9.22915029e-01 1.94326444e-03 -3.03136284e+01] [ 4.56805661e-03 -1.99961889e-04 9.99989546e-01 -1.98398895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.917628 meters 0.020711128166043404 Centerline is valid? [True, True] Translation: X:118.29, Y:-30.34, Z:-0.20 [[ 9.22582297e-01 3.85785006e-01 -3.44007189e-03 1.18285774e+02] [-3.85781657e-01 9.22588696e-01 1.61587102e-03 -3.03352366e+01] [ 3.79715025e-03 -1.63657364e-04 9.99992777e-01 -1.97391026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.977628 meters 0.020856317168696355 Centerline is valid? [True, True] Translation: X:118.34, Y:-30.36, Z:-0.20 [[ 9.21286416e-01 3.88879366e-01 -2.04391516e-03 1.18342513e+02] [-3.88878191e-01 9.21288679e-01 9.60073230e-04 -3.03570703e+01] [ 2.25638857e-03 -8.96683953e-05 9.99997450e-01 -1.96178353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.037628 meters 0.01809409866700857 Centerline is valid? [True, True] Translation: X:118.40, Y:-30.38, Z:-0.20 [[ 9.19154131e-01 3.93895852e-01 -1.31948369e-03 1.18402161e+02] [-3.93895367e-01 9.19155077e-01 6.19884409e-04 -3.03750618e+01] [ 1.45698003e-03 -5.00308011e-05 9.99998937e-01 -1.95340303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.097628 meters 0.016499150112834964 Centerline is valid? [True, True] Translation: X:118.46, Y:-30.40, Z:-0.20 [[ 9.16921962e-01 3.99063330e-01 -1.60418125e-03 1.18460560e+02] [-3.99062622e-01 9.16923364e-01 7.53713309e-04 -3.03957634e+01] [ 1.77169062e-03 -5.09275090e-05 9.99998429e-01 -1.96645372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.157628 meters 0.013624857869213287 Centerline is valid? [True, True] Translation: X:118.52, Y:-30.41, Z:-0.20 [[ 9.12544922e-01 4.08966785e-01 -2.81689817e-03 1.18519385e+02] [-4.08964647e-01 9.12549268e-01 1.32345082e-03 -3.04135423e+01] [ 3.11180579e-03 -5.56965543e-05 9.99995157e-01 -1.97226452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.21762799999999 meters 0.012361388615106605 Centerline is valid? [True, True] Translation: X:118.58, Y:-30.43, Z:-0.20 [[ 9.09202998e-01 4.16335774e-01 -3.79888349e-03 1.18577606e+02] [-4.16331950e-01 9.09210933e-01 1.78499588e-03 -3.04337121e+01] [ 4.19714405e-03 -4.13270359e-05 9.99991191e-01 -1.99440301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.27762799999999 meters 0.011604918071789113 Centerline is valid? [True, True] Translation: X:118.64, Y:-30.45, Z:-0.20 [[ 9.04976771e-01 4.25427057e-01 -5.37235293e-03 1.18636070e+02] [-4.25419556e-01 9.04992718e-01 2.52629582e-03 -3.04549363e+01] [ 5.93669488e-03 -7.35036738e-07 9.99982378e-01 -2.01013454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.337628 meters 0.011705341758493198 Centerline is valid? [True, True] Translation: X:118.69, Y:-30.48, Z:-0.20 [[ 9.03418035e-01 4.28719250e-01 -5.97152242e-03 1.18692995e+02] [-4.28710041e-01 9.03437770e-01 2.81013696e-03 -3.04815303e+01] [ 6.59965871e-03 2.13232088e-05 9.99978222e-01 -2.01644640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.397628 meters 0.011898530569216493 Centerline is valid? [True, True] Translation: X:118.75, Y:-30.51, Z:-0.20 [[ 9.02738139e-01 4.30137007e-01 -6.78286448e-03 1.18746926e+02] [-4.30125151e-01 9.02763620e-01 3.19388673e-03 -3.05132888e+01] [ 7.49713217e-03 3.42372469e-05 9.99971896e-01 -2.01270114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.457628 meters 0.011899367732546798 Centerline is valid? [True, True] Translation: X:118.80, Y:-30.55, Z:-0.20 [[ 9.02983922e-01 4.29641132e-01 -5.34170310e-03 1.18799645e+02] [-4.29633759e-01 9.02999722e-01 2.51699970e-03 -3.05463758e+01] [ 5.90496301e-03 2.21657176e-05 9.99982565e-01 -2.00520205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.517628 meters 0.011786103195195534 Centerline is valid? [True, True] Translation: X:118.85, Y:-30.58, Z:-0.20 [[ 9.03361303e-01 4.28852299e-01 -4.90533502e-03 1.18854019e+02] [-4.28846061e-01 9.03374621e-01 2.31319348e-03 -3.05786733e+01] [ 5.42337351e-03 1.39841240e-05 9.99985293e-01 -2.00550958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.577628 meters 0.011816228619503558 Centerline is valid? [True, True] Translation: X:118.91, Y:-30.61, Z:-0.20 [[ 9.03764927e-01 4.27993820e-01 -5.49974807e-03 1.18906428e+02] [-4.27985951e-01 9.03781661e-01 2.59536225e-03 -3.06147111e+01] [ 6.08137045e-03 8.21752996e-06 9.99981508e-01 -2.01126507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.63762799999999 meters 0.011934964559587728 Centerline is valid? [True, True] Translation: X:118.96, Y:-30.65, Z:-0.20 [[ 9.03921878e-01 4.27660436e-01 -5.63826955e-03 1.18960661e+02] [-4.27652147e-01 9.03939462e-01 2.66264920e-03 -3.06480783e+01] [ 6.23536406e-03 4.39121100e-06 9.99980560e-01 -2.01216832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.697628 meters 0.011964560580891393 Centerline is valid? [True, True] Translation: X:119.01, Y:-30.68, Z:-0.20 [[ 9.04354091e-01 4.26744091e-01 -5.75840741e-03 1.19013731e+02] [-4.26735413e-01 9.04372424e-01 2.72137370e-03 -3.06837007e+01] [ 6.36907501e-03 -3.76907064e-06 9.99979717e-01 -2.00562636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.757628 meters 0.012129813369962262 Centerline is valid? [True, True] Translation: X:119.07, Y:-30.72, Z:-0.20 [[ 9.04893904e-01 4.25591202e-01 -6.25701831e-03 1.19066736e+02] [-4.25580916e-01 9.04915537e-01 2.95892702e-03 -3.07166152e+01] [ 6.92136638e-03 -1.46474395e-05 9.99976047e-01 -2.01048261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.817628 meters 0.01195915963784194 Centerline is valid? [True, True] Translation: X:119.12, Y:-30.74, Z:-0.20 [[ 9.03928114e-01 4.27643382e-01 -5.92481185e-03 1.19124269e+02] [-4.27634190e-01 9.03947531e-01 2.80389305e-03 -3.07426550e+01] [ 6.55478535e-03 -8.65643237e-07 9.99978517e-01 -2.00461216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.877628 meters 0.011996171240363443 Centerline is valid? [True, True] Translation: X:119.18, Y:-30.77, Z:-0.20 [[ 9.04468520e-01 4.26496979e-01 -6.08469751e-03 1.19180335e+02] [-4.26487245e-01 9.04488986e-01 2.88160170e-03 -3.07702236e+01] [ 6.73253631e-03 -1.12721443e-05 9.99977336e-01 -2.00448222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.937628 meters 0.013018287761260733 Centerline is valid? [True, True] Translation: X:119.23, Y:-30.80, Z:-0.20 [[ 9.07853114e-01 4.19256652e-01 -5.15583061e-03 1.19233481e+02] [-4.19249538e-01 9.07867753e-01 2.44307727e-03 -3.08017054e+01] [ 5.70508874e-03 -5.63757064e-05 9.99983724e-01 -1.98709348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.99762799999999 meters 0.01614106074480153 Centerline is valid? [True, True] Translation: X:119.29, Y:-30.83, Z:-0.20 [[ 9.12460202e-01 4.09144089e-01 -4.18269279e-03 1.19285547e+02] [-4.09139298e-01 9.12469783e-01 1.98234396e-03 -3.08323542e+01] [ 4.62764509e-03 -9.75059789e-05 9.99989288e-01 -1.98700356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.057628 meters 0.019943834549587317 Centerline is valid? [True, True] Translation: X:119.34, Y:-30.86, Z:-0.20 [[ 9.16868038e-01 3.99166395e-01 -4.38065890e-03 1.19339070e+02] [-3.99161025e-01 9.16878490e-01 2.07639476e-03 -3.08627948e+01] [ 4.84535893e-03 -1.55191692e-04 9.99988249e-01 -1.99767142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.117628 meters 0.02187824257580825 Centerline is valid? [True, True] Translation: X:119.39, Y:-30.89, Z:-0.20 [[ 9.23299049e-01 3.84064182e-01 -3.68381675e-03 1.19394921e+02] [-3.84060263e-01 9.23306376e-01 1.74632251e-03 -3.08896271e+01] [ 4.07199142e-03 -1.97570284e-04 9.99991690e-01 -1.97948723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.177628 meters 0.02344433192167556 Centerline is valid? [True, True] Translation: X:119.45, Y:-30.92, Z:-0.20 [[ 9.26492445e-01 3.76293293e-01 -3.88680603e-03 1.19449839e+02] [-3.76288855e-01 9.26500565e-01 1.84387549e-03 -3.09163197e+01] [ 4.29496596e-03 -2.45774922e-04 9.99990746e-01 -1.97319694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.237628 meters 0.02548449705180912 Centerline is valid? [True, True] Translation: X:119.51, Y:-30.94, Z:-0.20 [[ 9.28437956e-01 3.71460736e-01 -4.45905051e-03 1.19506690e+02] [-3.71454840e-01 9.28448613e-01 2.11540916e-03 -3.09400065e+01] [ 4.92579070e-03 -3.07690267e-04 9.99987821e-01 -1.99418896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.297628 meters 0.02483706380958377 Centerline is valid? [True, True] Translation: X:119.56, Y:-30.96, Z:-0.20 [[ 9.27615629e-01 3.73511598e-01 -4.28135353e-03 1.19564676e+02] [-3.73506183e-01 9.27625466e-01 2.03136063e-03 -3.09616099e+01] [ 4.73022932e-03 -2.85209855e-04 9.99988772e-01 -2.00438034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.35762799999999 meters 0.02260275893912074 Centerline is valid? [True, True] Translation: X:119.62, Y:-30.98, Z:-0.20 [[ 9.23260333e-01 3.84151897e-01 -4.20460130e-03 1.19624383e+02] [-3.84146778e-01 9.23269878e-01 1.99605803e-03 -3.09780830e+01] [ 4.64877120e-03 -2.27697156e-04 9.99989168e-01 -2.00610163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.417628 meters 0.018342996388907483 Centerline is valid? [True, True] Translation: X:119.69, Y:-30.99, Z:-0.20 [[ 9.17084150e-01 3.98680382e-01 -3.25800678e-03 1.19685663e+02] [-3.98677399e-01 9.17089930e-01 1.54680214e-03 -3.09914029e+01] [ 3.60456488e-03 -1.19654051e-04 9.99993496e-01 -1.99952637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.477628 meters 0.01566211973362142 Centerline is valid? [True, True] Translation: X:119.75, Y:-31.01, Z:-0.20 [[ 9.13037934e-01 4.07869007e-01 -2.14571745e-03 1.19745258e+02] [-4.07867738e-01 9.13040454e-01 1.01887676e-03 -3.10078693e+01] [ 2.37469508e-03 -5.51042134e-05 9.99997179e-01 -2.00434684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.537628 meters 0.013332091407610021 Centerline is valid? [True, True] Translation: X:119.81, Y:-31.02, Z:-0.20 [[ 9.08671903e-01 4.17507803e-01 -1.61497778e-03 1.19805057e+02] [-4.17507099e-01 9.08673338e-01 7.66864980e-04 -3.10236143e+01] [ 1.78765936e-03 -2.25639725e-05 9.99998402e-01 -2.01823471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.597628 meters 0.01247597801750073 Centerline is valid? [True, True] Translation: X:119.86, Y:-31.05, Z:-0.20 [[ 9.07328548e-01 4.20418686e-01 -1.74210009e-03 1.19863747e+02] [-4.20417871e-01 9.07330220e-01 8.28145657e-04 -3.10457083e+01] [ 1.92882797e-03 -1.89901860e-05 9.99998140e-01 -2.02907946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.657628 meters 0.012504744688357603 Centerline is valid? [True, True] Translation: X:119.92, Y:-31.07, Z:-0.20 [[ 9.07563707e-01 4.19907349e-01 -2.43641873e-03 1.19920317e+02] [-4.19905751e-01 9.07566977e-01 1.15894969e-03 -3.10721499e+01] [ 2.69786468e-03 -2.87544382e-05 9.99996360e-01 -2.03437218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.71762799999999 meters 0.014027802124930546 Centerline is valid? [True, True] Translation: X:119.97, Y:-31.10, Z:-0.20 [[ 9.10287682e-01 4.13964703e-01 -3.09208837e-03 1.19973543e+02] [-4.13962092e-01 9.10292932e-01 1.47145162e-03 -3.11035461e+01] [ 3.42383522e-03 -5.94369124e-05 9.99994137e-01 -2.04772454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.77762799999999 meters 0.014495141504270385 Centerline is valid? [True, True] Translation: X:120.03, Y:-31.13, Z:-0.20 [[ 9.11426426e-01 4.11452366e-01 -2.97002190e-03 1.20028103e+02] [-4.11449941e-01 9.11431263e-01 1.41421571e-03 -3.11323566e+01] [ 3.28885321e-03 -6.69382325e-05 9.99994589e-01 -2.04761314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.837628 meters 0.015619111980247556 Centerline is valid? [True, True] Translation: X:120.08, Y:-31.16, Z:-0.20 [[ 9.13641381e-01 4.06510516e-01 -2.93734063e-03 1.20081040e+02] [-4.06508116e-01 9.13646099e-01 1.39941394e-03 -3.11635482e+01] [ 3.25256629e-03 -8.45096779e-05 9.99994707e-01 -2.04549780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.897628 meters 0.019651408629864624 Centerline is valid? [True, True] Translation: X:120.13, Y:-31.20, Z:-0.20 [[ 9.17842642e-01 3.96933070e-01 -3.00385043e-03 1.20131003e+02] [-3.96930507e-01 9.17847549e-01 1.43149495e-03 -3.12000647e+01] [ 3.32528443e-03 -1.21567230e-04 9.99994464e-01 -2.04758727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.957628 meters 0.02202069953743293 Centerline is valid? [True, True] Translation: X:120.18, Y:-31.23, Z:-0.21 [[ 9.21133038e-01 3.89230202e-01 -3.71165824e-03 1.20183908e+02] [-3.89226227e-01 9.21140497e-01 1.76873586e-03 -3.12321012e+01] [ 4.10740414e-03 -1.84566304e-04 9.99991548e-01 -2.05634572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.017628 meters 0.024568174062299716 Centerline is valid? [True, True] Translation: X:120.24, Y:-31.27, Z:-0.20 [[ 9.24905663e-01 3.80176720e-01 -3.89570834e-03 1.20235572e+02] [-3.80172260e-01 9.24913837e-01 1.85680052e-03 -3.12666398e+01] [ 4.30910688e-03 -2.36325073e-04 9.99990688e-01 -2.03738176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.077628 meters 0.025625633991651624 Centerline is valid? [True, True] Translation: X:120.29, Y:-31.30, Z:-0.20 [[ 9.26777296e-01 3.75589075e-01 -4.08540075e-03 1.20289591e+02] [-3.75584120e-01 9.26786261e-01 1.94818379e-03 -3.12962396e+01] [ 4.51800983e-03 -2.71120858e-04 9.99989757e-01 -2.02861472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.13762799999999 meters 0.024882927402975995 Centerline is valid? [True, True] Translation: X:120.35, Y:-31.32, Z:-0.20 [[ 9.26683634e-01 3.75815361e-01 -4.50077211e-03 1.20347196e+02] [-3.75809341e-01 9.26694516e-01 2.14803750e-03 -3.13218005e+01] [ 4.97810632e-03 -2.99118993e-04 9.99987564e-01 -2.03150342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.197628 meters 0.025737569838765732 Centerline is valid? [True, True] Translation: X:120.40, Y:-31.35, Z:-0.20 [[ 9.25576759e-01 3.78518281e-01 -5.61916922e-03 1.20403079e+02] [-3.78508946e-01 9.25593747e-01 2.68199211e-03 -3.13470137e+01] [ 6.21625094e-03 -3.55483744e-04 9.99980616e-01 -2.03345090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.257628 meters 0.02275999267363163 Centerline is valid? [True, True] Translation: X:120.46, Y:-31.37, Z:-0.20 [[ 9.24215026e-01 3.81848861e-01 -4.24661396e-03 1.20460399e+02] [-3.81843563e-01 9.24224748e-01 2.02721542e-03 -3.13689658e+01] [ 4.69891561e-03 -2.52040747e-04 9.99988928e-01 -2.00042530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.317628 meters 0.02188137171702049 Centerline is valid? [True, True] Translation: X:120.52, Y:-31.39, Z:-0.20 [[ 9.21576330e-01 3.88181491e-01 -3.49261320e-03 1.20517234e+02] [-3.88177952e-01 9.21582930e-01 1.66737668e-03 -3.13895663e+01] [ 3.86597747e-03 -1.80859441e-04 9.99992511e-01 -1.98900188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.377628 meters 0.020851457644914674 Centerline is valid? [True, True] Translation: X:120.57, Y:-31.41, Z:-0.20 [[ 9.19102565e-01 3.94010348e-01 -2.51417554e-03 1.20573944e+02] [-3.94008535e-01 9.19105997e-01 1.20043902e-03 -3.14114304e+01] [ 2.78377921e-03 -1.12719965e-04 9.99996119e-01 -1.98375757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.437628 meters 0.01756562033316409 Centerline is valid? [True, True] Translation: X:120.63, Y:-31.43, Z:-0.20 [[ 9.15204480e-01 4.02981536e-01 -2.57712050e-03 1.20633494e+02] [-4.02979666e-01 9.15208104e-01 1.23085777e-03 -3.14288195e+01] [ 2.85461452e-03 -8.79593839e-05 9.99995922e-01 -1.97819931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.49762799999999 meters 0.014948719454438306 Centerline is valid? [True, True] Translation: X:120.69, Y:-31.45, Z:-0.20 [[ 9.11362229e-01 4.11590822e-01 -3.44719613e-03 1.20692434e+02] [-4.11587537e-01 9.11368745e-01 1.64630870e-03 -3.14465366e+01] [ 3.81927236e-03 -8.15606040e-05 9.99992703e-01 -1.99291295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.557628 meters 0.01379990916795329 Centerline is valid? [True, True] Translation: X:120.75, Y:-31.47, Z:-0.20 [[ 9.08981827e-01 4.16816902e-01 -3.96342685e-03 1.20750234e+02] [-4.16812608e-01 9.08990465e-01 1.89316535e-03 -3.14690675e+01] [ 4.39182053e-03 -6.88466157e-05 9.99990354e-01 -2.00073255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.617628 meters 0.012723520601698207 Centerline is valid? [True, True] Translation: X:120.81, Y:-31.49, Z:-0.20 [[ 9.06410718e-01 4.22372262e-01 -4.61341679e-03 1.20808269e+02] [-4.22366507e-01 9.06422457e-01 2.20539324e-03 -3.14912690e+01] [ 5.11320151e-03 -5.04393365e-05 9.99986926e-01 -1.99982258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.677628 meters 0.01226215738341332 Centerline is valid? [True, True] Translation: X:120.87, Y:-31.52, Z:-0.20 [[ 9.04524113e-01 4.26391742e-01 -5.11976842e-03 1.20865270e+02] [-4.26384710e-01 9.04538601e-01 2.44897157e-03 -3.15155262e+01] [ 5.67524942e-03 -3.21628616e-05 9.99983895e-01 -2.00240548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.737628 meters 0.012196127148144666 Centerline is valid? [True, True] Translation: X:120.92, Y:-31.54, Z:-0.20 [[ 9.04072534e-01 4.27339440e-01 -5.81865136e-03 1.20921998e+02] [-4.27330364e-01 9.04091257e-01 2.78529743e-03 -3.15438184e+01] [ 6.45085927e-03 -3.16244990e-05 9.99979192e-01 -2.00213875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.797628 meters 0.012620950287718796 Centerline is valid? [True, True] Translation: X:120.98, Y:-31.58, Z:-0.20 [[ 9.05827629e-01 4.23600708e-01 -6.22476466e-03 1.20975383e+02] [-4.23590220e-01 9.05849014e-01 2.98149901e-03 -3.15761858e+01] [ 6.90166202e-03 -6.39747443e-05 9.99976181e-01 -1.99883096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.85762799999999 meters 0.013544430557626108 Centerline is valid? [True, True] Translation: X:121.03, Y:-31.61, Z:-0.20 [[ 9.08469892e-01 4.17897718e-01 -6.62963462e-03 1.21027918e+02] [-4.17885656e-01 9.08494075e-01 3.17724852e-03 -3.16090565e+01] [ 7.35074868e-03 -1.16005410e-04 9.99972976e-01 -1.99577758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.917628 meters 0.016820568876614924 Centerline is valid? [True, True] Translation: X:121.08, Y:-31.65, Z:-0.20 [[ 9.13542169e-01 4.06659746e-01 -8.27982466e-03 1.21077745e+02] [-4.06640466e-01 9.13579654e-01 3.96830144e-03 -3.16480332e+01] [ 9.17802781e-03 -2.58298946e-04 9.99957848e-01 -2.00481869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.977628 meters 0.020344079310219695 Centerline is valid? [True, True] Translation: X:121.13, Y:-31.69, Z:-0.20 [[ 9.18728796e-01 3.94761181e-01 -1.00503328e-02 1.21127974e+02] [-3.94732050e-01 9.18783652e-01 4.81759307e-03 -3.16862643e+01] [ 1.11358802e-02 -4.58873012e-04 9.99937889e-01 -2.00564782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.037628 meters 0.024438840992561023 Centerline is valid? [True, True] Translation: X:121.18, Y:-31.72, Z:-0.20 [[ 9.21511252e-01 3.88224377e-01 -9.94205151e-03 1.21178191e+02] [-3.88195480e-01 9.21564728e-01 4.76665453e-03 -3.17217414e+01] [ 1.10127755e-02 -5.33066336e-04 9.99939215e-01 -2.00689858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.097628 meters 0.024630059589840526 Centerline is valid? [True, True] Translation: X:121.23, Y:-31.75, Z:-0.20 [[ 9.23521644e-01 3.83437328e-01 -9.14268304e-03 1.21231335e+02] [-3.83412629e-01 9.23566737e-01 4.38604847e-03 -3.17525170e+01] [ 1.01256526e-02 -5.45190552e-04 9.99948586e-01 -1.99088974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.157628 meters 0.024790252183583092 Centerline is valid? [True, True] Translation: X:121.29, Y:-31.78, Z:-0.20 [[ 9.23518737e-01 3.83463467e-01 -8.30133008e-03 1.21286893e+02] [-3.83443078e-01 9.23555912e-01 3.98543471e-03 -3.17817253e+01] [ 9.19501108e-03 -4.97536068e-04 9.99957601e-01 -1.98163772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.21762799999999 meters 0.02264156646764734 Centerline is valid? [True, True] Translation: X:121.34, Y:-31.81, Z:-0.20 [[ 9.22537386e-01 3.85840121e-01 -7.22309895e-03 1.21344123e+02] [-3.85824757e-01 9.22565570e-01 3.46790496e-03 -3.18055561e+01] [ 8.00183927e-03 -4.12421578e-04 9.99967900e-01 -1.97663156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.27762799999999 meters 0.021826684868552812 Centerline is valid? [True, True] Translation: X:121.40, Y:-31.83, Z:-0.20 [[ 9.19927308e-01 3.92013595e-01 -7.68694520e-03 1.21400775e+02] [-3.91996404e-01 9.19959344e-01 3.69113899e-03 -3.18287834e+01] [ 8.51865373e-03 -3.82324679e-04 9.99963643e-01 -1.98513923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.337628 meters 0.020800971637352766 Centerline is valid? [True, True] Translation: X:121.46, Y:-31.85, Z:-0.20 [[ 9.17928776e-01 3.96659636e-01 -8.23983673e-03 1.21457430e+02] [-3.96640061e-01 9.17965686e-01 3.95748337e-03 -3.18519431e+01] [ 9.13366128e-03 -3.64438516e-04 9.99958221e-01 -1.99234336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.397628 meters 0.018244696951925207 Centerline is valid? [True, True] Translation: X:121.52, Y:-31.87, Z:-0.20 [[ 9.15124904e-01 4.03084882e-01 -8.30591514e-03 1.21515957e+02] [-4.03065239e-01 9.15162546e-01 3.99095358e-03 -3.18721510e+01] [ 9.20995550e-03 -3.04395337e-04 9.99957541e-01 -2.00210199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.457628 meters 0.01746165663286253 Centerline is valid? [True, True] Translation: X:121.57, Y:-31.90, Z:-0.20 [[ 9.14002185e-01 4.05632673e-01 -7.88293326e-03 1.21572723e+02] [-4.05615071e-01 9.14036140e-01 3.78804936e-03 -3.18964227e+01] [ 8.74184247e-03 -2.64848856e-04 9.99961754e-01 -2.00136197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.517628 meters 0.016596518211595343 Centerline is valid? [True, True] Translation: X:121.63, Y:-31.92, Z:-0.20 [[ 9.12831732e-01 4.08271665e-01 -7.24406014e-03 1.21630201e+02] [-4.08256863e-01 9.12860448e-01 3.48361645e-03 -3.19202069e+01] [ 8.03507787e-03 -2.22518368e-04 9.99967693e-01 -1.99892578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.577628 meters 0.01620513565705674 Centerline is valid? [True, True] Translation: X:121.69, Y:-31.95, Z:-0.20 [[ 9.11777563e-01 4.10631207e-01 -6.60959202e-03 1.21687344e+02] [-4.10618943e-01 9.11801501e-01 3.17896335e-03 -3.19460612e+01] [ 7.33201748e-03 -1.84483765e-04 9.99973103e-01 -1.99126605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.63762799999999 meters 0.014739117899845628 Centerline is valid? [True, True] Translation: X:121.75, Y:-31.97, Z:-0.20 [[ 9.09526841e-01 4.15612298e-01 -5.22911082e-03 1.21745429e+02] [-4.15604702e-01 9.09541865e-01 2.51531452e-03 -3.19681970e+01] [ 5.80149086e-03 -1.14503021e-04 9.99983165e-01 -1.99168236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.697628 meters 0.014130762938536157 Centerline is valid? [True, True] Translation: X:121.80, Y:-31.99, Z:-0.20 [[ 9.08411726e-01 4.18046302e-01 -5.04232168e-03 1.21802616e+02] [-4.18039266e-01 9.08425715e-01 2.42735975e-03 -3.19933931e+01] [ 5.59532345e-03 -9.71536093e-05 9.99984341e-01 -1.99658030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.757628 meters 0.01283772054728804 Centerline is valid? [True, True] Translation: X:121.86, Y:-32.02, Z:-0.20 [[ 9.04717872e-01 4.25975050e-01 -5.55244025e-03 1.21859285e+02] [-4.25966668e-01 9.04734908e-01 2.67272958e-03 -3.20159460e+01] [ 6.16200264e-03 -5.29117489e-05 9.99981013e-01 -2.01240383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.817628 meters 0.015493207816294423 Centerline is valid? [True, True] Translation: X:121.92, Y:-32.04, Z:-0.21 [[ 9.02253993e-01 4.31150645e-01 -6.84493677e-03 1.21916259e+02] [-4.31138038e-01 9.02279957e-01 3.29731495e-03 -3.20402981e+01] [ 7.59768872e-03 -2.39029743e-05 9.99971137e-01 -2.05115869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.877628 meters 0.01243905134807822 Centerline is valid? [True, True] Translation: X:121.97, Y:-32.06, Z:-0.20 [[ 8.98902449e-01 4.38071931e-01 -8.20794223e-03 1.21972975e+02] [-4.38054067e-01 8.98939921e-01 3.95631818e-03 -3.20648555e+01] [ 9.11159888e-03 3.91783740e-05 9.99958488e-01 -2.04447587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.937628 meters 0.012629408660887794 Centerline is valid? [True, True] Translation: X:122.03, Y:-32.09, Z:-0.20 [[ 8.97749492e-01 4.40427151e-01 -8.35309599e-03 1.22028055e+02] [-4.40408728e-01 8.97788350e-01 4.02884233e-03 -3.20926637e+01] [ 9.27372382e-03 6.18852291e-05 9.99956996e-01 -2.04862432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.99762799999999 meters 0.012635967709493188 Centerline is valid? [True, True] Translation: X:122.08, Y:-32.13, Z:-0.20 [[ 8.98153278e-01 4.39620821e-01 -7.36363491e-03 1.22081250e+02] [-4.39606458e-01 8.98183462e-01 3.55388954e-03 -3.21253422e+01] [ 8.17625893e-03 4.51639255e-05 9.99966573e-01 -2.03493270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.057628 meters 0.012334434387630483 Centerline is valid? [True, True] Translation: X:122.13, Y:-32.16, Z:-0.20 [[ 8.99983458e-01 4.35883561e-01 -5.94111047e-03 1.22133054e+02] [-4.35874118e-01 9.00003067e-01 2.86924055e-03 -3.21612280e+01] [ 6.59767243e-03 7.30725311e-06 9.99978235e-01 -2.01380338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.117628 meters 0.012495175079745024 Centerline is valid? [True, True] Translation: X:122.19, Y:-32.20, Z:-0.20 [[ 9.01979159e-01 4.31739227e-01 -5.90222805e-03 1.22186117e+02] [-4.31729803e-01 9.01998470e-01 2.85264276e-03 -3.21960103e+01] [ 6.55539845e-03 -2.48565681e-05 9.99978513e-01 -2.00537058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.177628 meters 0.014008542588491452 Centerline is valid? [True, True] Translation: X:122.23, Y:-32.24, Z:-0.20 [[ 9.06273072e-01 4.22641258e-01 -6.59436708e-03 1.22234560e+02] [-4.22629240e-01 9.06297058e-01 3.18886652e-03 -3.22360638e+01] [ 7.32420203e-03 -1.03011508e-04 9.99973172e-01 -2.02204094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.237628 meters 0.014367805737156411 Centerline is valid? [True, True] Translation: X:122.29, Y:-32.27, Z:-0.20 [[ 9.07558277e-01 4.19882237e-01 -6.07296907e-03 1.22288212e+02] [-4.19871970e-01 9.07578588e-01 2.93848623e-03 -3.22666988e+01] [ 6.74551487e-03 -1.16978006e-04 9.99977242e-01 -2.00955563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.297628 meters 0.014361237126787023 Centerline is valid? [True, True] Translation: X:122.34, Y:-32.30, Z:-0.20 [[ 9.07363362e-01 4.20289517e-01 -6.96066443e-03 1.22344569e+02] [-4.20276023e-01 9.07390051e-01 3.37048018e-03 -3.22956177e+01] [ 7.73261513e-03 -1.32849870e-04 9.99970094e-01 -2.01389708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.35762799999999 meters 0.014846452485846177 Centerline is valid? [True, True] Translation: X:122.40, Y:-32.32, Z:-0.20 [[ 9.08215767e-01 4.18454374e-01 -6.32907040e-03 1.22399811e+02] [-4.18443160e-01 9.08237809e-01 3.06657838e-03 -3.23243436e+01] [ 7.03152417e-03 -1.36758613e-04 9.99975269e-01 -2.01080488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.417628 meters 0.016954262475009505 Centerline is valid? [True, True] Translation: X:122.45, Y:-32.35, Z:-0.20 [[ 9.10565481e-01 4.13337712e-01 -4.73725469e-03 1.22454077e+02] [-4.13331357e-01 9.10577794e-01 2.29583575e-03 -3.23531743e+01] [ 5.26259442e-03 -1.32452870e-04 9.99986144e-01 -2.01371950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.477628 meters 0.019564038657714486 Centerline is valid? [True, True] Translation: X:122.51, Y:-32.38, Z:-0.20 [[ 9.13082798e-01 4.07750102e-01 -4.43381323e-03 1.22509132e+02] [-4.07744462e-01 9.13093550e-01 2.15020084e-03 -3.23797263e+01] [ 4.92523087e-03 -1.55448606e-04 9.99987859e-01 -2.02835864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.537628 meters 0.020139992726507575 Centerline is valid? [True, True] Translation: X:122.56, Y:-32.41, Z:-0.20 [[ 9.16208812e-01 4.00695743e-01 -2.08196317e-03 1.22561879e+02] [-4.00694480e-01 9.16211173e-01 1.01015803e-03 -3.24103276e+01] [ 2.31228394e-03 -9.12845359e-05 9.99997322e-01 -1.97510620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.597628 meters 0.021929044078932182 Centerline is valid? [True, True] Translation: X:122.62, Y:-32.44, Z:-0.20 [[ 9.17649061e-01 3.97389876e-01 -1.21977355e-03 1.22616872e+02] [-3.97389439e-01 9.17649870e-01 5.92377260e-04 -3.24381027e+01] [ 1.35472977e-03 -5.88693094e-05 9.99999081e-01 -1.96808271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.657628 meters 0.022694760970327587 Centerline is valid? [True, True] Translation: X:122.67, Y:-32.46, Z:-0.20 [[ 9.17333281e-01 3.98115041e-01 -2.01626674e-03 1.22674485e+02] [-3.98113847e-01 9.17335492e-01 9.79567739e-04 -3.24619835e+01] [ 2.23957369e-03 -9.58863800e-05 9.99997488e-01 -1.98920194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.71762799999999 meters 0.022469663987254366 Centerline is valid? [True, True] Translation: X:122.73, Y:-32.49, Z:-0.20 [[ 9.15863102e-01 4.01479092e-01 -3.05241475e-03 1.22730134e+02] [-4.01476377e-01 9.15868179e-01 1.48248739e-03 -3.24854869e+01] [ 3.39079723e-03 -1.32283084e-04 9.99994242e-01 -2.01102883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.77762799999999 meters 0.019017588712712717 Centerline is valid? [True, True] Translation: X:122.79, Y:-32.50, Z:-0.20 [[ 9.12232997e-01 4.09645285e-01 -4.65825228e-03 1.22789606e+02] [-4.09639061e-01 9.12244877e-01 2.26369973e-03 -3.25028581e+01] [ 5.17678070e-03 -1.56819505e-04 9.99986588e-01 -2.03379025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.837628 meters 0.016599529244013193 Centerline is valid? [True, True] Translation: X:122.85, Y:-32.52, Z:-0.20 [[ 9.08824592e-01 4.17146461e-01 -5.16639594e-03 1.22848377e+02] [-4.17138925e-01 9.08839268e-01 2.51057933e-03 -3.25220503e+01] [ 5.74270279e-03 -1.26571383e-04 9.99983503e-01 -2.04500136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.897628 meters 0.015858754350568494 Centerline is valid? [True, True] Translation: X:122.91, Y:-32.55, Z:-0.20 [[ 9.07633732e-01 4.19739683e-01 -4.42795358e-03 1.22905399e+02] [-4.19734170e-01 9.07644528e-01 2.15337000e-03 -3.25467835e+01] [ 4.92286268e-03 -9.59078259e-05 9.99987878e-01 -2.04898230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.957628 meters 0.01620243679008521 Centerline is valid? [True, True] Translation: X:122.96, Y:-32.58, Z:-0.20 [[ 9.07438544e-01 4.20165369e-01 -4.04367605e-03 1.22959901e+02] [-4.20160771e-01 9.07447550e-01 1.96754982e-03 -3.25750105e+01] [ 4.49612022e-03 -8.64364972e-05 9.99989889e-01 -2.04605412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.017628 meters 0.015526960156862694 Centerline is valid? [True, True] Translation: X:123.02, Y:-32.60, Z:-0.20 [[ 9.07591710e-01 4.19835169e-01 -3.96461113e-03 1.23017001e+02] [-4.19830739e-01 9.07600365e-01 1.93052527e-03 -3.26017253e+01] [ 4.40878491e-03 -8.76631080e-05 9.99990277e-01 -2.04680089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.077628 meters 0.017641100171470064 Centerline is valid? [True, True] Translation: X:123.07, Y:-32.63, Z:-0.21 [[ 9.07412627e-01 4.20226064e-01 -3.51852749e-03 1.23070451e+02] [-4.20222573e-01 9.07419445e-01 1.71441725e-03 -3.26336500e+01] [ 3.91322307e-03 -7.71191854e-05 9.99992340e-01 -2.05388790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.13762799999999 meters 0.01449967752501982 Centerline is valid? [True, True] Translation: X:123.13, Y:-32.66, Z:-0.20 [[ 9.06712531e-01 4.21732326e-01 -3.77246086e-03 1.23127744e+02] [-4.21728322e-01 9.06720376e-01 1.83924426e-03 -3.26568036e+01] [ 4.19623588e-03 -7.67122270e-05 9.99991193e-01 -2.03825795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.197628 meters 0.013717752022318343 Centerline is valid? [True, True] Translation: X:123.18, Y:-32.68, Z:-0.20 [[ 9.05113515e-01 4.25150676e-01 -4.05311201e-03 1.23184270e+02] [-4.25146088e-01 9.05122587e-01 1.97618893e-03 -3.26839727e+01] [ 4.50874129e-03 -6.55105920e-05 9.99989833e-01 -2.04192259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.257628 meters 0.013353494364581359 Centerline is valid? [True, True] Translation: X:123.24, Y:-32.71, Z:-0.21 [[ 9.03712204e-01 4.28112013e-01 -4.93529958e-03 1.23240254e+02] [-4.28105245e-01 9.03725678e-01 2.40805672e-03 -3.27105332e+01] [ 5.49107497e-03 -6.33626095e-05 9.99984922e-01 -2.06038398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.317628 meters 0.012952141165758775 Centerline is valid? [True, True] Translation: X:123.30, Y:-32.74, Z:-0.21 [[ 9.02471437e-01 4.30681084e-01 -7.68829333e-03 1.23295863e+02] [-4.30664732e-01 9.02504182e-01 3.75382502e-03 -3.27404030e+01] [ 8.55541831e-03 -7.66430779e-05 9.99963399e-01 -2.07838273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.377628 meters 0.013011780214495757 Centerline is valid? [True, True] Translation: X:123.35, Y:-32.77, Z:-0.21 [[ 9.02034819e-01 4.31580512e-01 -8.45259979e-03 1.23350298e+02] [-4.31560759e-01 9.02074418e-01 4.12985924e-03 -3.27719671e+01] [ 9.40724080e-03 -7.74664589e-05 9.99955748e-01 -2.08310814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.437628 meters 0.012976896800960747 Centerline is valid? [True, True] Translation: X:123.40, Y:-32.80, Z:-0.21 [[ 9.01873511e-01 4.31945589e-01 -6.86872317e-03 1.23404843e+02] [-4.31932539e-01 9.01899664e-01 3.35808882e-03 -3.28025098e+01] [ 7.64541078e-03 -6.17463116e-05 9.99970772e-01 -2.06599660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.49762799999999 meters 0.012681075120722573 Centerline is valid? [True, True] Translation: X:123.46, Y:-32.83, Z:-0.20 [[ 9.01870819e-01 4.31983822e-01 -4.35921461e-03 1.23458437e+02] [-4.31978559e-01 9.01881353e-01 2.13274803e-03 -3.28339328e+01] [ 4.85280701e-03 -4.03759649e-05 9.99988224e-01 -2.02715695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.557628 meters 0.012397456851100306 Centerline is valid? [True, True] Translation: X:123.51, Y:-32.86, Z:-0.20 [[ 8.99768052e-01 4.36357187e-01 -3.13980284e-03 1.23514071e+02] [-4.36354481e-01 8.99773530e-01 1.53663153e-03 -3.28589958e+01] [ 3.49563170e-03 -1.25449145e-05 9.99993890e-01 -2.02373563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.617628 meters 0.012334414957868044 Centerline is valid? [True, True] Translation: X:123.57, Y:-32.89, Z:-0.20 [[ 8.98838549e-01 4.38269017e-01 -3.08746717e-03 1.23570439e+02] [-4.38266408e-01 8.98843851e-01 1.51224393e-03 -3.28852622e+01] [ 3.43792054e-03 -6.12999602e-06 9.99994090e-01 -2.02825910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.677628 meters 0.012259974684537553 Centerline is valid? [True, True] Translation: X:123.63, Y:-32.91, Z:-0.20 [[ 8.98371505e-01 4.39226272e-01 -2.98685096e-03 1.23628273e+02] [-4.39223832e-01 8.98376470e-01 1.46407421e-03 -3.29111481e+01] [ 3.32637647e-03 -3.38642287e-06 9.99994468e-01 -2.02385262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.737628 meters 0.012474666011966916 Centerline is valid? [True, True] Translation: X:123.68, Y:-32.94, Z:-0.20 [[ 9.00065140e-01 4.35748442e-01 -2.45751147e-03 1.23683955e+02] [-4.35746774e-01 9.00068495e-01 1.20555123e-03 -3.29403450e+01] [ 2.73724572e-03 -1.42219430e-05 9.99996254e-01 -2.01820237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.797628 meters 0.014364489210849747 Centerline is valid? [True, True] Translation: X:123.74, Y:-32.97, Z:-0.20 [[ 9.05127887e-01 4.25137688e-01 -1.20632769e-03 1.23737241e+02] [-4.25137277e-01 9.05128690e-01 5.91724930e-04 -3.29727465e+01] [ 1.34344637e-03 -2.27318645e-05 9.99999097e-01 -2.01340083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.85762799999999 meters 0.01630760568018333 Centerline is valid? [True, True] Translation: X:123.79, Y:-33.00, Z:-0.20 [[ 9.09250727e-01 4.16242119e-01 -2.36950300e-03 1.23790776e+02] [-4.16240500e-01 9.09253811e-01 1.16312889e-03 -3.30031998e+01] [ 2.63862287e-03 -7.12926720e-05 9.99996516e-01 -2.01713713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.917628 meters 0.020129717901176902 Centerline is valid? [True, True] Translation: X:123.85, Y:-33.03, Z:-0.20 [[ 9.15246246e-01 4.02882320e-01 -3.18519265e-03 1.23845014e+02] [-4.02879314e-01 9.15251776e-01 1.56337780e-03 -3.30333192e+01] [ 3.54511051e-03 -1.47627431e-04 9.99993705e-01 -2.03288686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.977628 meters 0.02294650381688089 Centerline is valid? [True, True] Translation: X:123.90, Y:-33.06, Z:-0.20 [[ 9.18808131e-01 3.94692524e-01 -3.07077001e-03 1.23899123e+02] [-3.94689681e-01 9.18813246e-01 1.50826556e-03 -3.30625615e+01] [ 3.41676530e-03 -1.73805427e-04 9.99994148e-01 -2.03501881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.037628 meters 0.027678274214912705 Centerline is valid? [True, True] Translation: X:123.95, Y:-33.09, Z:-0.20 [[ 9.22273211e-01 3.86530703e-01 -2.47763920e-03 1.23951457e+02] [-3.86528822e-01 9.22276525e-01 1.21711531e-03 -3.30919392e+01] [ 2.75552091e-03 -1.64833879e-04 9.99996190e-01 -2.03202541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.097628 meters 0.026049159108556392 Centerline is valid? [True, True] Translation: X:124.01, Y:-33.11, Z:-0.20 [[ 9.22930969e-01 3.84954646e-01 -2.88922267e-03 1.24009536e+02] [-3.84952080e-01 9.22935470e-01 1.41947188e-03 -3.31140979e+01] [ 3.21299837e-03 -1.97862282e-04 9.99994819e-01 -2.03704814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.157628 meters 0.024551777856787933 Centerline is valid? [True, True] Translation: X:124.07, Y:-33.13, Z:-0.21 [[ 9.20654662e-01 3.90358832e-01 -3.86983596e-03 1.24068868e+02] [-3.90354271e-01 9.20662764e-01 1.90232956e-03 -3.31322363e+01] [ 4.30540502e-03 -2.40781585e-04 9.99990703e-01 -2.05526212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.21762799999999 meters 0.021956191630236647 Centerline is valid? [True, True] Translation: X:124.13, Y:-33.15, Z:-0.21 [[ 9.17504221e-01 3.97702067e-01 -4.36708897e-03 1.24128307e+02] [-3.97696340e-01 9.17514584e-01 2.14686953e-03 -3.31512758e+01] [ 4.86068227e-03 -2.32986550e-04 9.99988160e-01 -2.06083922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.27762799999999 meters 0.020765818693358584 Centerline is valid? [True, True] Translation: X:124.19, Y:-33.17, Z:-0.21 [[ 9.12228041e-01 4.09658082e-01 -4.50085495e-03 1.24187089e+02] [-4.09652142e-01 9.12239127e-01 2.21283550e-03 -3.31673252e+01] [ 5.01236194e-03 -1.74825718e-04 9.99987423e-01 -2.08905993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.337628 meters 0.016104725520899532 Centerline is valid? [True, True] Translation: X:124.25, Y:-33.18, Z:-0.21 [[ 9.08611565e-01 4.17626675e-01 -3.60347792e-03 1.24247137e+02] [-4.17622925e-01 9.08618704e-01 1.77289960e-03 -3.31833678e+01] [ 4.01459760e-03 -1.05982090e-04 9.99991936e-01 -2.07672716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.397628 meters 0.01371288691411595 Centerline is valid? [True, True] Translation: X:124.31, Y:-33.20, Z:-0.21 [[ 9.03467249e-01 4.28647583e-01 -2.86013072e-03 1.24306228e+02] [-4.28645276e-01 9.03471775e-01 1.40695143e-03 -3.32006399e+01] [ 3.18713370e-03 -4.51530132e-05 9.99994920e-01 -2.07576581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.457628 meters 0.012094346040969333 Centerline is valid? [True, True] Translation: X:124.37, Y:-33.22, Z:-0.21 [[ 8.99174805e-01 4.37583173e-01 -2.37406121e-03 1.24366152e+02] [-4.37581614e-01 8.99177939e-01 1.16806510e-03 -3.32190078e+01] [ 2.64582910e-03 -1.14491759e-05 9.99996500e-01 -2.06177804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.517628 meters 0.011832101274446312 Centerline is valid? [True, True] Translation: X:124.42, Y:-33.24, Z:-0.21 [[ 8.96757050e-01 4.42518486e-01 -2.04491264e-03 1.24423982e+02] [-4.42517340e-01 8.96759382e-01 1.00714800e-03 -3.32411579e+01] [ 2.27947620e-03 1.74223433e-06 9.99997402e-01 -2.06154001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.577628 meters 0.011991120099139465 Centerline is valid? [True, True] Translation: X:124.48, Y:-33.26, Z:-0.21 [[ 8.94619786e-01 4.46823394e-01 -2.07181140e-03 1.24481328e+02] [-4.46822228e-01 8.94622185e-01 1.02102739e-03 -3.32648437e+01] [ 2.30970737e-03 1.23000781e-05 9.99997333e-01 -2.07492482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.63762799999999 meters 0.0121030374843486 Centerline is valid? [True, True] Translation: X:124.54, Y:-33.29, Z:-0.21 [[ 8.93958819e-01 4.48142736e-01 -2.39141514e-03 1.24537535e+02] [-4.48141184e-01 8.93962017e-01 1.17939924e-03 -3.32925081e+01] [ 2.66637351e-03 1.73572606e-05 9.99996445e-01 -2.07952688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.697628 meters 0.011988933034869162 Centerline is valid? [True, True] Translation: X:124.59, Y:-33.32, Z:-0.21 [[ 8.94847822e-01 4.46357928e-01 -3.46067286e-03 1.24590486e+02] [-4.46354665e-01 8.94854513e-01 1.70682104e-03 -3.33227110e+01] [ 3.85865183e-03 1.73423811e-05 9.99992555e-01 -2.09149296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.757628 meters 0.011891943586113875 Centerline is valid? [True, True] Translation: X:124.64, Y:-33.36, Z:-0.21 [[ 8.96241380e-01 4.43546796e-01 -4.19870137e-03 1.24644898e+02] [-4.43541954e-01 8.96251215e-01 2.07246862e-03 -3.33554184e+01] [ 4.68232801e-03 4.86807455e-06 9.99989038e-01 -2.10003737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.817628 meters 0.012522236971487013 Centerline is valid? [True, True] Translation: X:124.70, Y:-33.39, Z:-0.21 [[ 9.00031605e-01 4.35795545e-01 -5.03506730e-03 1.24695772e+02] [-4.35788453e-01 9.00045688e-01 2.48664440e-03 -3.33930026e+01] [ 5.61545916e-03 -4.38343626e-05 9.99984232e-01 -2.11266458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.877628 meters 0.013487024436375733 Centerline is valid? [True, True] Translation: X:124.75, Y:-33.43, Z:-0.21 [[ 9.03066687e-01 4.29471624e-01 -4.96824959e-03 1.24747825e+02] [-4.29464622e-01 9.03080350e-01 2.45377234e-03 -3.34282506e+01] [ 5.54055417e-03 -8.22326266e-05 9.99984648e-01 -2.10904462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.937628 meters 0.015944417053867035 Centerline is valid? [True, True] Translation: X:124.80, Y:-33.47, Z:-0.21 [[ 9.07582350e-01 4.19860059e-01 -3.43627706e-03 1.24796937e+02] [-4.19856636e-01 9.07588850e-01 1.69837793e-03 -3.34672711e+01] [ 3.83180781e-03 -9.86741114e-05 9.99992654e-01 -2.10031103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.99762799999999 meters 0.018434187032333606 Centerline is valid? [True, True] Translation: X:124.85, Y:-33.50, Z:-0.21 [[ 9.10636467e-01 4.13195033e-01 -3.33014681e-03 1.24847662e+02] [-4.13191770e-01 9.10642548e-01 1.64680815e-03 -3.35024876e+01] [ 3.71302632e-03 -1.23654304e-04 9.99993099e-01 -2.09951730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.057628 meters 0.021241324870088698 Centerline is valid? [True, True] Translation: X:124.90, Y:-33.54, Z:-0.21 [[ 9.14420640e-01 4.04758498e-01 -2.33502355e-03 1.24898520e+02] [-4.04756866e-01 9.14423614e-01 1.15463666e-03 -3.35387968e+01] [ 2.60254967e-03 -1.10706780e-04 9.99996607e-01 -2.09487834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.117628 meters 0.020737800479423595 Centerline is valid? [True, True] Translation: X:124.95, Y:-33.57, Z:-0.21 [[ 9.15631233e-01 4.02015137e-01 -1.80983610e-03 1.24952754e+02] [-4.02014151e-01 9.15633017e-01 8.95125836e-04 -3.35685988e+01] [ 2.01699982e-03 -9.20254497e-05 9.99997962e-01 -2.07761049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.177628 meters 0.0205405604505558 Centerline is valid? [True, True] Translation: X:125.01, Y:-33.60, Z:-0.21 [[ 9.15612479e-01 4.02060723e-01 -9.81308871e-04 1.25008841e+02] [-4.02060432e-01 9.15613004e-01 4.86166425e-04 -3.35980563e+01] [ 1.09396759e-03 -5.05945776e-05 9.99999400e-01 -2.07411037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.237628 meters 0.020206735508865592 Centerline is valid? [True, True] Translation: X:125.06, Y:-33.63, Z:-0.21 [[ 9.14608636e-01 4.04338922e-01 -1.03915466e-03 1.25063892e+02] [-4.04338598e-01 9.14609225e-01 5.14522566e-04 -3.36252728e+01] [ 1.15846194e-03 -5.04164432e-05 9.99999328e-01 -2.07901759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.297628 meters 0.018213286680876867 Centerline is valid? [True, True] Translation: X:125.12, Y:-33.65, Z:-0.21 [[ 9.11683272e-01 4.10892309e-01 -1.05930702e-03 1.25120893e+02] [-4.10891976e-01 9.11683886e-01 5.25032174e-04 -3.36487370e+01] [ 1.18148482e-03 -4.34022962e-05 9.99999301e-01 -2.07809852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.357628 meters 0.016826730500707314 Centerline is valid? [True, True] Translation: X:125.18, Y:-33.67, Z:-0.21 [[ 9.09169718e-01 4.16421525e-01 -1.88048061e-03 1.25177593e+02] [-4.16420488e-01 9.09171661e-01 9.31506656e-04 -3.36736443e+01] [ 2.09757910e-03 -6.38269916e-05 9.99997798e-01 -2.07812103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.417628 meters 0.014479332271562935 Centerline is valid? [True, True] Translation: X:125.24, Y:-33.69, Z:-0.21 [[ 9.05329083e-01 4.24700672e-01 -2.93096664e-03 1.25236025e+02] [-4.24698195e-01 9.05333825e-01 1.45197565e-03 -3.36942643e+01] [ 3.27015827e-03 -6.97395460e-05 9.99994651e-01 -2.10189444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.477628 meters 0.013614473125562921 Centerline is valid? [True, True] Translation: X:125.29, Y:-33.72, Z:-0.21 [[ 9.02800944e-01 4.30039228e-01 -4.08882538e-03 1.25291100e+02] [-4.30034462e-01 9.02810200e-01 2.02589148e-03 -3.37181879e+01] [ 4.56264607e-03 -7.06409203e-05 9.99989589e-01 -2.11449600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.53762799999998 meters 0.012463194668995325 Centerline is valid? [True, True] Translation: X:125.35, Y:-33.74, Z:-0.21 [[ 9.00239699e-01 4.35367938e-01 -4.82098535e-03 1.25349082e+02] [-4.35361386e-01 9.00252607e-01 2.38919408e-03 -3.37423434e+01] [ 5.38028312e-03 -5.19764978e-05 9.99985525e-01 -2.12700298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.597628 meters 0.011854923345165833 Centerline is valid? [True, True] Translation: X:125.41, Y:-33.77, Z:-0.21 [[ 8.97914531e-01 4.40140945e-01 -5.04407925e-03 1.25406194e+02] [-4.40133837e-01 8.97928698e-01 2.50152727e-03 -3.37673737e+01] [ 5.63024809e-03 -2.60877322e-05 9.99984150e-01 -2.13127292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.657628 meters 0.011465665652705447 Centerline is valid? [True, True] Translation: X:125.46, Y:-33.79, Z:-0.21 [[ 8.95682391e-01 4.44663499e-01 -5.23712522e-03 1.25463450e+02] [-4.44655902e-01 8.95697702e-01 2.59920213e-03 -3.37933205e+01] [ 5.84665133e-03 6.59058969e-07 9.99982908e-01 -2.12908873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.717628 meters 0.011577984291827112 Centerline is valid? [True, True] Translation: X:125.52, Y:-33.82, Z:-0.21 [[ 8.94586249e-01 4.46869371e-01 -4.81740460e-03 1.25519931e+02] [-4.46862966e-01 8.94599220e-01 2.39263632e-03 -3.38218108e+01] [ 5.37884229e-03 1.23001553e-05 9.99985534e-01 -2.12957008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.777628 meters 0.011743448511674161 Centerline is valid? [True, True] Translation: X:125.58, Y:-33.85, Z:-0.21 [[ 8.93183879e-01 4.49671814e-01 -4.22117132e-03 1.25575253e+02] [-4.49666920e-01 8.93193853e-01 2.09807030e-03 -3.38521290e+01] [ 4.71376735e-03 2.41585382e-05 9.99988890e-01 -2.11840503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.837628 meters 0.011932397894375493 Centerline is valid? [True, True] Translation: X:125.63, Y:-33.88, Z:-0.21 [[ 8.92100033e-01 4.51812216e-01 -4.82205047e-03 1.25629787e+02] [-4.51805854e-01 8.92113065e-01 2.39795799e-03 -3.38807505e+01] [ 5.38524094e-03 3.94122304e-05 9.99985499e-01 -2.12189176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.897628 meters 0.012445715406742278 Centerline is valid? [True, True] Translation: X:125.68, Y:-33.91, Z:-0.22 [[ 8.91070064e-01 4.53792100e-01 -8.17747050e-03 1.25683910e+02] [-4.53773866e-01 8.91107582e-01 4.06882873e-03 -3.39114391e+01] [ 9.13340830e-03 8.51109276e-05 9.99958286e-01 -2.15275181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.957628 meters 0.01389790413581281 Centerline is valid? [True, True] Translation: X:125.74, Y:-33.94, Z:-0.22 [[ 8.91013256e-01 4.53837957e-01 -1.12465859e-02 1.25738041e+02] [-4.53803430e-01 8.91084225e-01 5.59920162e-03 -3.39426301e+01] [ 1.25627855e-02 1.14776376e-04 9.99921079e-01 -2.19405936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.017628 meters 0.012502895596132834 Centerline is valid? [True, True] Translation: X:125.79, Y:-33.97, Z:-0.22 [[ 8.91124180e-01 4.53631111e-01 -1.07940190e-02 1.25793414e+02] [-4.53599252e-01 8.91189544e-01 5.37722358e-03 -3.39717408e+01] [ 1.20587928e-02 1.04385004e-04 9.99927285e-01 -2.17229781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.077628 meters 0.01196295844359198 Centerline is valid? [True, True] Translation: X:125.85, Y:-34.00, Z:-0.21 [[ 8.93772912e-01 4.48419685e-01 -9.47460780e-03 1.25846742e+02] [-4.48394816e-01 8.93823129e-01 4.72261624e-03 -3.40013424e+01] [ 1.05863377e-02 2.74185525e-05 9.99943963e-01 -2.14520552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.137628 meters 0.014037282939672931 Centerline is valid? [True, True] Translation: X:125.90, Y:-34.03, Z:-0.21 [[ 8.97346669e-01 4.41244669e-01 -8.49107230e-03 1.25900679e+02] [-4.41224344e-01 8.97386839e-01 4.23550956e-03 -3.40337039e+01] [ 9.48867255e-03 -5.42525944e-05 9.99954980e-01 -2.13090680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.197628 meters 0.013420189603232427 Centerline is valid? [True, True] Translation: X:125.95, Y:-34.07, Z:-0.21 [[ 9.01190497e-01 4.33384294e-01 -5.80879813e-03 1.25954537e+02] [-4.33374605e-01 9.01209213e-01 2.89941821e-03 -3.40656214e+01] [ 6.49150470e-03 -9.55425389e-05 9.99978925e-01 -2.10152273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.257628 meters 0.017037764657896328 Centerline is valid? [True, True] Translation: X:126.01, Y:-34.10, Z:-0.21 [[ 9.07941222e-01 4.19077961e-01 -4.04975600e-03 1.26006496e+02] [-4.19073104e-01 9.07950243e-01 2.02246057e-03 -3.40983200e+01] [ 4.52454560e-03 -1.39131504e-04 9.99989755e-01 -2.08897743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.31762799999998 meters 0.01863542703267126 Centerline is valid? [True, True] Translation: X:126.06, Y:-34.13, Z:-0.21 [[ 9.12297376e-01 4.09506807e-01 -4.20386853e-03 1.26061378e+02] [-4.09501471e-01 9.12307041e-01 2.09940274e-03 -3.41268911e+01] [ 4.69493857e-03 -1.93789264e-04 9.99988960e-01 -2.08673514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.377628 meters 0.022558979458294357 Centerline is valid? [True, True] Translation: X:126.12, Y:-34.16, Z:-0.21 [[ 9.17575058e-01 3.97509465e-01 -6.49916902e-03 1.26115724e+02] [-3.97496407e-01 9.17597989e-01 3.24602155e-03 -3.41567105e+01] [ 7.25394871e-03 -3.95072075e-04 9.99973612e-01 -2.11409717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.437628 meters 0.024749104809588484 Centerline is valid? [True, True] Translation: X:126.17, Y:-34.18, Z:-0.21 [[ 9.19206068e-01 3.93698573e-01 -7.85104708e-03 1.26170421e+02] [-3.93679374e-01 9.19239452e-01 3.92188582e-03 -3.41846866e+01] [ 8.76103306e-03 -5.14225939e-04 9.99961489e-01 -2.12081013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.497628 meters 0.024598653526503627 Centerline is valid? [True, True] Translation: X:126.23, Y:-34.21, Z:-0.21 [[ 9.18432192e-01 3.95514587e-01 -7.10781473e-03 1.26229137e+02] [-3.95498902e-01 9.18459585e-01 3.55107082e-03 -3.42050851e+01] [ 7.93274087e-03 -4.50284838e-04 9.99968434e-01 -2.12873786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.557628 meters 0.02229858966929209 Centerline is valid? [True, True] Translation: X:126.29, Y:-34.22, Z:-0.21 [[ 9.13973056e-01 4.05740610e-01 -5.27349493e-03 1.26288632e+02] [-4.05732143e-01 9.13988230e-01 2.63497672e-03 -3.42205704e+01] [ 5.88902936e-03 -2.68671328e-04 9.99982623e-01 -2.11603492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.617628 meters 0.01795735350567568 Centerline is valid? [True, True] Translation: X:126.35, Y:-34.24, Z:-0.21 [[ 9.10076566e-01 4.14423980e-01 -3.66194816e-03 1.26348934e+02] [-4.14419962e-01 9.10083921e-01 1.83079031e-03 -3.42362233e+01] [ 4.09140354e-03 -1.48574939e-04 9.99991619e-01 -2.09607663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.677628 meters 0.01594800660182521 Centerline is valid? [True, True] Translation: X:126.41, Y:-34.26, Z:-0.21 [[ 9.06032087e-01 4.23199535e-01 -2.83047875e-03 1.26406652e+02] [-4.23197177e-01 9.06036504e-01 1.41514174e-03 -3.42552843e+01] [ 3.16340440e-03 -8.43132054e-05 9.99994993e-01 -2.08718532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.737628 meters 0.012946679200205813 Centerline is valid? [True, True] Translation: X:126.47, Y:-34.27, Z:-0.21 [[ 9.00418227e-01 4.35020227e-01 -2.10209537e-03 1.26468036e+02] [-4.35018958e-01 9.00420680e-01 1.05104518e-03 -3.42695946e+01] [ 2.34999605e-03 -3.19289029e-05 9.99997238e-01 -2.09137915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.797628 meters 0.01182353169471258 Centerline is valid? [True, True] Translation: X:126.53, Y:-34.29, Z:-0.21 [[ 8.97137620e-01 4.41744422e-01 -2.44062695e-03 1.26527809e+02] [-4.41742734e-01 8.97140939e-01 1.22146667e-03 -3.42892962e+01] [ 2.72916244e-03 -1.76944740e-05 9.99996276e-01 -2.10325799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.857628 meters 0.011393510757718111 Centerline is valid? [True, True] Translation: X:126.59, Y:-34.31, Z:-0.21 [[ 8.93975156e-01 4.48109790e-01 -2.45682701e-03 1.26586789e+02] [-4.48108101e-01 8.93978532e-01 1.23034489e-03 -3.43099172e+01] [ 2.74768019e-03 1.02632229e-06 9.99996225e-01 -2.10465173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.917628 meters 0.011442947982703634 Centerline is valid? [True, True] Translation: X:126.64, Y:-34.34, Z:-0.21 [[ 8.92760331e-01 4.50526539e-01 -2.19740244e-03 1.26642697e+02] [-4.50525193e-01 8.92763035e-01 1.10123272e-03 -3.43354421e+01] [ 2.45789424e-03 6.84827252e-06 9.99996979e-01 -2.11333353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.977628 meters 0.01142745316028136 Centerline is valid? [True, True] Translation: X:126.70, Y:-34.36, Z:-0.21 [[ 8.92653015e-01 4.50737106e-01 -2.57993120e-03 1.26698675e+02] [-4.50735249e-01 8.92656743e-01 1.29378576e-03 -3.43644858e+01] [ 2.88615024e-03 7.96417742e-06 9.99995835e-01 -2.12370515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.03762799999998 meters 0.011460366127509475 Centerline is valid? [True, True] Translation: X:126.75, Y:-34.40, Z:-0.21 [[ 8.94380799e-01 4.47301748e-01 -2.03288193e-03 1.26751948e+02] [-4.47300584e-01 8.94383109e-01 1.02028529e-03 -3.43987553e+01] [ 2.27455066e-03 -3.21429983e-06 9.99997413e-01 -2.11619245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.097628 meters 0.0117358152316917 Centerline is valid? [True, True] Translation: X:126.81, Y:-34.43, Z:-0.21 [[ 8.96113144e-01 4.43823089e-01 -1.51627227e-03 1.26805623e+02] [-4.43822436e-01 8.96114427e-01 7.61667187e-04 -3.44323116e+01] [ 1.69679894e-03 -9.58432729e-06 9.99998560e-01 -2.10526454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.157628 meters 0.012700407100921154 Centerline is valid? [True, True] Translation: X:126.86, Y:-34.47, Z:-0.21 [[ 8.99226725e-01 4.37479972e-01 -1.60356328e-03 1.26856654e+02] [-4.37479231e-01 8.99228154e-01 8.05455105e-04 -3.44678578e+01] [ 1.79433973e-03 -2.27611245e-05 9.99998390e-01 -2.10230501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.217628 meters 0.013310784916404075 Centerline is valid? [True, True] Translation: X:126.91, Y:-34.50, Z:-0.21 [[ 9.00759878e-01 4.34312720e-01 -2.02562566e-03 1.26910478e+02] [-4.34311528e-01 9.00762155e-01 1.01825686e-03 -3.44998418e+01] [ 2.26684884e-03 -3.74523455e-05 9.99997430e-01 -2.11527814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.277628 meters 0.01426051054166757 Centerline is valid? [True, True] Translation: X:126.96, Y:-34.53, Z:-0.21 [[ 9.02941658e-01 4.29753314e-01 -2.90716350e-03 1.26962467e+02] [-4.29750836e-01 9.02946335e-01 1.46112073e-03 -3.45346855e+01] [ 3.25293411e-03 -6.99508275e-05 9.99994707e-01 -2.12090861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.337628 meters 0.015541602866995043 Centerline is valid? [True, True] Translation: X:127.01, Y:-34.57, Z:-0.21 [[ 9.03730643e-01 4.28091008e-01 -3.00238319e-03 1.27014527e+02] [-4.28088352e-01 9.03735627e-01 1.51013337e-03 -3.45667236e+01] [ 3.35983517e-03 -7.94685336e-05 9.99994353e-01 -2.11900367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.397628 meters 0.016059157335083313 Centerline is valid? [True, True] Translation: X:127.07, Y:-34.60, Z:-0.21 [[ 9.04135526e-01 4.27233438e-01 -3.24659119e-03 1.27068342e+02] [-4.27230323e-01 9.04141350e-01 1.63393481e-03 -3.45978119e+01] [ 3.63344893e-03 -9.02562993e-05 9.99993395e-01 -2.11614068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.457628 meters 0.016224743625392987 Centerline is valid? [True, True] Translation: X:127.12, Y:-34.63, Z:-0.21 [[ 9.04427533e-01 4.26615974e-01 -3.10621048e-03 1.27122920e+02] [-4.26613116e-01 9.04432862e-01 1.56425239e-03 -3.46282592e+01] [ 3.47669390e-03 -8.96027994e-05 9.99993952e-01 -2.11095510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.517628 meters 0.015992184748911287 Centerline is valid? [True, True] Translation: X:127.18, Y:-34.66, Z:-0.21 [[ 9.04349489e-01 4.26785682e-01 -2.44596008e-03 1.27178778e+02] [-4.26783907e-01 9.04352794e-01 1.23278415e-03 -3.46582103e+01] [ 2.73814545e-03 -7.09713126e-05 9.99996249e-01 -2.10372398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.577628 meters 0.01483984083075257 Centerline is valid? [True, True] Translation: X:127.23, Y:-34.69, Z:-0.21 [[ 9.02776938e-01 4.30104209e-01 -2.04201792e-03 1.27233773e+02] [-4.30102979e-01 9.02779246e-01 1.02985073e-03 -3.46862111e+01] [ 2.28643453e-03 -5.14475006e-05 9.99997385e-01 -2.10034822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.637628 meters 0.014814649411787307 Centerline is valid? [True, True] Translation: X:127.29, Y:-34.71, Z:-0.21 [[ 9.00863445e-01 4.34096264e-01 -2.34248611e-03 1.27288235e+02] [-4.34094658e-01 9.00866489e-01 1.18194062e-03 -3.47144704e+01] [ 2.62334325e-03 -4.79063928e-05 9.99996558e-01 -2.11376867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.697628 meters 0.012588808190721498 Centerline is valid? [True, True] Translation: X:127.34, Y:-34.74, Z:-0.21 [[ 8.97635667e-01 4.40725089e-01 -3.40658808e-03 1.27344996e+02] [-4.40721740e-01 8.97642130e-01 1.71867503e-03 -3.47387288e+01] [ 3.81536018e-03 -4.13865790e-05 9.99992721e-01 -2.12177213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.757628 meters 0.012188120890410497 Centerline is valid? [True, True] Translation: X:127.40, Y:-34.77, Z:-0.21 [[ 8.95467120e-01 4.45112678e-01 -3.65242627e-03 1.27399240e+02] [-4.45108859e-01 8.95474568e-01 1.84402390e-03 -3.47658952e+01] [ 4.09145326e-03 -2.55354762e-05 9.99991630e-01 -2.12820563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.81762799999998 meters 0.011816712685746017 Centerline is valid? [True, True] Translation: X:127.45, Y:-34.79, Z:-0.21 [[ 8.92962181e-01 4.50117066e-01 -3.62892052e-03 1.27454553e+02] [-4.50113333e-01 8.92969555e-01 1.83332087e-03 -3.47931488e+01] [ 4.06572456e-03 -3.66069565e-06 9.99991735e-01 -2.12329885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.877628 meters 0.011943441555548339 Centerline is valid? [True, True] Translation: X:127.51, Y:-34.82, Z:-0.21 [[ 8.91501850e-01 4.52999183e-01 -4.02396708e-03 1.27510010e+02] [-4.52994615e-01 8.91510931e-01 2.03432340e-03 -3.48221477e+01] [ 4.50895747e-03 9.23234118e-06 9.99989835e-01 -2.13089145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.937628 meters 0.012242379204564576 Centerline is valid? [True, True] Translation: X:127.56, Y:-34.85, Z:-0.21 [[ 8.89914677e-01 4.56104890e-01 -4.49415191e-03 1.27564533e+02] [-4.56099226e-01 8.89926024e-01 2.27329912e-03 -3.48519950e+01] [ 5.03632559e-03 2.67369526e-05 9.99987317e-01 -2.14511682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.997628 meters 0.012431922915029212 Centerline is valid? [True, True] Translation: X:127.62, Y:-34.88, Z:-0.21 [[ 8.88965663e-01 4.57958637e-01 -3.73334951e-03 1.27618442e+02] [-4.57954739e-01 8.88973501e-01 1.88978591e-03 -3.48830770e+01] [ 4.18429257e-03 2.97503181e-05 9.99991245e-01 -2.13999548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.057628 meters 0.01244577726620222 Centerline is valid? [True, True] Translation: X:127.67, Y:-34.92, Z:-0.21 [[ 8.88605038e-01 4.58662338e-01 -3.15381975e-03 1.27672482e+02] [-4.58659556e-01 8.88610634e-01 1.59768996e-03 -3.49151829e+01] [ 3.53531798e-03 2.68142182e-05 9.99993750e-01 -2.13280721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.117628 meters 0.013008232095284747 Centerline is valid? [True, True] Translation: X:127.73, Y:-34.95, Z:-0.21 [[ 8.87806554e-01 4.60203458e-01 -3.50699781e-03 1.27725619e+02] [-4.60200027e-01 8.87813480e-01 1.77744726e-03 -3.49453976e+01] [ 3.93154731e-03 3.58911641e-05 9.99992271e-01 -2.12907264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.177628 meters 0.01274712481755573 Centerline is valid? [True, True] Translation: X:127.78, Y:-34.97, Z:-0.21 [[ 8.87801371e-01 4.60204980e-01 -4.48361295e-03 1.27781900e+02] [-4.60199363e-01 8.87812691e-01 2.27401552e-03 -3.49743043e+01] [ 5.02712175e-03 4.44817247e-05 9.99987363e-01 -2.14029972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.237628 meters 0.012724399623201339 Centerline is valid? [True, True] Translation: X:127.84, Y:-35.00, Z:-0.22 [[ 8.87861249e-01 4.60073277e-01 -5.91459540e-03 1.27838779e+02] [-4.60063488e-01 8.87880947e-01 3.00175051e-03 -3.50014518e+01] [ 6.63248176e-03 5.59514306e-05 9.99978003e-01 -2.16215423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.297628 meters 0.012633911862289102 Centerline is valid? [True, True] Translation: X:127.89, Y:-35.03, Z:-0.22 [[ 8.88258211e-01 4.59288771e-01 -7.15370628e-03 1.27894908e+02] [-4.59274405e-01 8.88287015e-01 3.63304195e-03 -3.50295973e+01] [ 8.02315977e-03 5.84348479e-05 9.99967812e-01 -2.17595034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.357628 meters 0.012586625098248384 Centerline is valid? [True, True] Translation: X:127.95, Y:-35.06, Z:-0.22 [[ 8.88503518e-01 4.58816598e-01 -6.98766741e-03 1.27951187e+02] [-4.58802858e-01 8.88530994e-01 3.55118590e-03 -3.50586919e+01] [ 7.83810210e-03 5.07206068e-05 9.99969280e-01 -2.17166296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.417628 meters 0.012299964408889183 Centerline is valid? [True, True] Translation: X:128.01, Y:-35.09, Z:-0.21 [[ 8.89743824e-01 4.56432346e-01 -5.04394207e-03 1.28006201e+02] [-4.56425139e-01 8.89758120e-01 2.56500406e-03 -3.50881212e+01] [ 5.65863924e-03 1.99854465e-05 9.99983990e-01 -2.14892813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.477628 meters 0.012310448578028006 Centerline is valid? [True, True] Translation: X:128.06, Y:-35.12, Z:-0.21 [[ 8.93075752e-01 4.49894896e-01 -3.20672265e-03 1.28059698e+02] [-4.49891936e-01 8.93081509e-01 1.63188061e-03 -3.51206770e+01] [ 3.59803946e-03 -1.47143388e-05 9.99993527e-01 -2.13025626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.53762799999998 meters 0.013241867093908276 Centerline is valid? [True, True] Translation: X:128.11, Y:-35.15, Z:-0.21 [[ 8.96175993e-01 4.43691968e-01 -2.45510962e-03 1.28112689e+02] [-4.43690208e-01 8.96179355e-01 1.25024712e-03 -3.51539143e+01] [ 2.75494316e-03 -3.11333536e-05 9.99996205e-01 -2.12367053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.597628 meters 0.015788502341806458 Centerline is valid? [True, True] Translation: X:128.16, Y:-35.19, Z:-0.21 [[ 9.01322437e-01 4.33144287e-01 -1.97248066e-03 1.28163923e+02] [-4.33143124e-01 9.01324594e-01 1.00506427e-03 -3.51883715e+01] [ 2.21318318e-03 -5.15205424e-05 9.99997550e-01 -2.11937722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.657628 meters 0.016630858683159253 Centerline is valid? [True, True] Translation: X:128.22, Y:-35.22, Z:-0.21 [[ 9.04267607e-01 4.26962639e-01 -1.73220117e-03 1.28219026e+02] [-4.26961729e-01 9.04269264e-01 8.83192990e-04 -3.52159013e+01] [ 1.94346669e-03 -5.90592025e-05 9.99998110e-01 -2.13273875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.717628 meters 0.019891662089796293 Centerline is valid? [True, True] Translation: X:128.27, Y:-35.25, Z:-0.21 [[ 9.09066373e-01 4.16636960e-01 -3.46008744e-03 1.28272022e+02] [-4.16633259e-01 9.09072944e-01 1.76369628e-03 -3.52481395e+01] [ 3.88029293e-03 -1.61729475e-04 9.99992459e-01 -2.14030057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.777628 meters 0.022902795789030327 Centerline is valid? [True, True] Translation: X:128.32, Y:-35.28, Z:-0.21 [[ 9.11544138e-01 4.11185850e-01 -3.67161490e-03 1.28324543e+02] [-4.11181636e-01 9.11551511e-01 1.87202396e-03 -3.52792445e+01] [ 4.11661587e-03 -1.96731851e-04 9.99991507e-01 -2.13706682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.837628 meters 0.02350191619196097 Centerline is valid? [True, True] Translation: X:128.38, Y:-35.31, Z:-0.21 [[ 9.13052601e-01 4.07827827e-01 -3.37799749e-03 1.28380377e+02] [-4.07824232e-01 9.13058829e-01 1.72347504e-03 -3.53052500e+01] [ 3.78719151e-03 -1.95994141e-04 9.99992809e-01 -2.14008887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.897628 meters 0.022875188205794875 Centerline is valid? [True, True] Translation: X:128.44, Y:-35.33, Z:-0.21 [[ 9.12472057e-01 4.09127086e-01 -3.12619134e-03 1.28439386e+02] [-4.09124011e-01 9.12477395e-01 1.59606394e-03 -3.53268471e+01] [ 3.50557192e-03 -1.77363801e-04 9.99993840e-01 -2.14493167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.957628 meters 0.02092624806218489 Centerline is valid? [True, True] Translation: X:128.50, Y:-35.35, Z:-0.21 [[ 9.10291165e-01 4.13963829e-01 -1.98595207e-03 1.28497571e+02] [-4.13962598e-01 9.10293325e-01 1.01456903e-03 -3.53486537e+01] [ 2.22779379e-03 -1.01443348e-04 9.99997513e-01 -2.13312990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.017628 meters 0.0181780499160228 Centerline is valid? [True, True] Translation: X:128.56, Y:-35.37, Z:-0.21 [[ 9.05423013e-01 4.24507863e-01 -1.49711404e-03 1.28558157e+02] [-4.24507178e-01 9.05424249e-01 7.64781719e-04 -3.53660379e+01] [ 1.68017921e-03 -5.69153122e-05 9.99998587e-01 -2.13375139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.077628 meters 0.01611838801169087 Centerline is valid? [True, True] Translation: X:128.62, Y:-35.39, Z:-0.21 [[ 9.01203357e-01 4.33392675e-01 -1.81600290e-03 1.28616041e+02] [-4.33391685e-01 9.01205186e-01 9.27791607e-04 -3.53860221e+01] [ 2.03868932e-03 -4.90883524e-05 9.99997921e-01 -2.14274993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.137628 meters 0.012872368916586004 Centerline is valid? [True, True] Translation: X:128.68, Y:-35.40, Z:-0.22 [[ 8.94237797e-01 4.47581772e-01 -3.05300100e-03 1.28677852e+02] [-4.47579053e-01 8.94243008e-01 1.56035769e-03 -3.54000700e+01] [ 3.42851246e-03 -2.88715248e-05 9.99994122e-01 -2.15735962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.197628 meters 0.012473106902619437 Centerline is valid? [True, True] Translation: X:128.74, Y:-35.42, Z:-0.22 [[ 8.88520526e-01 4.58818756e-01 -4.07721014e-03 1.28738275e+02] [-4.58814018e-01 8.88529880e-01 2.08522472e-03 -3.54183673e+01] [ 4.57946325e-03 1.79161967e-05 9.99989514e-01 -2.17698565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.257628 meters 0.012868896780388477 Centerline is valid? [True, True] Translation: X:128.80, Y:-35.44, Z:-0.22 [[ 8.86173236e-01 4.63343049e-01 -3.19599412e-03 1.28795026e+02] [-4.63340163e-01 8.86178999e-01 1.63562882e-03 -3.54430563e+01] [ 3.59008011e-03 3.13819514e-05 9.99993555e-01 -2.17697736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.31762799999998 meters 0.012902917872106479 Centerline is valid? [True, True] Translation: X:128.85, Y:-35.47, Z:-0.22 [[ 8.85593465e-01 4.64453316e-01 -2.70775509e-03 1.28851117e+02] [-4.64451246e-01 8.85597604e-01 1.38688920e-03 -3.54714579e+01] [ 3.04212671e-03 2.94002158e-05 9.99995372e-01 -2.17474739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.377628 meters 0.012842140053213207 Centerline is valid? [True, True] Translation: X:128.90, Y:-35.50, Z:-0.22 [[ 8.86109886e-01 4.63472481e-01 -1.59028491e-03 1.28904618e+02] [-4.63471765e-01 8.86111313e-01 8.14761454e-04 -3.55013759e+01] [ 1.78678897e-03 1.50839760e-05 9.99998404e-01 -2.17251490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.437628 meters 0.012447619213186883 Centerline is valid? [True, True] Translation: X:128.96, Y:-35.53, Z:-0.22 [[ 8.87869136e-01 4.60092639e-01 -1.77790419e-03 1.28957996e+02] [-4.60091736e-01 8.87870916e-01 9.11592677e-04 -3.55341637e+01] [ 1.99796650e-03 8.62402345e-06 9.99998004e-01 -2.18226591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.497628 meters 0.012383518755127262 Centerline is valid? [True, True] Translation: X:129.01, Y:-35.57, Z:-0.22 [[ 8.90637428e-01 4.54707643e-01 -2.43540885e-03 1.29009994e+02] [-4.54705927e-01 8.90640758e-01 1.24944959e-03 -3.55706476e+01] [ 2.73720866e-03 -5.41173067e-06 9.99996254e-01 -2.19855191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.557628 meters 0.012778413138775304 Centerline is valid? [True, True] Translation: X:129.06, Y:-35.60, Z:-0.22 [[ 8.92472178e-01 4.51092141e-01 -3.04830543e-03 1.29062053e+02] [-4.51089428e-01 8.92477383e-01 1.56459419e-03 -3.56044450e+01] [ 3.42631980e-03 -2.12984327e-05 9.99994130e-01 -2.20686992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.617628 meters 0.014295457801642318 Centerline is valid? [True, True] Translation: X:129.11, Y:-35.64, Z:-0.22 [[ 8.95763450e-01 4.44515322e-01 -3.73778975e-03 1.29112575e+02] [-4.44511186e-01 8.95771246e-01 1.91838019e-03 -3.56422676e+01] [ 4.20095397e-03 -5.69255054e-05 9.99991174e-01 -2.21557108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.677628 meters 0.014850671110267237 Centerline is valid? [True, True] Translation: X:129.17, Y:-35.68, Z:-0.22 [[ 8.98435446e-01 4.39078048e-01 -4.92106995e-03 1.29165509e+02] [-4.39070795e-01 8.98448917e-01 2.52610054e-03 -3.56752714e+01] [ 5.53048526e-03 -1.08840177e-04 9.99984701e-01 -2.21344989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.737628 meters 0.016808370991911705 Centerline is valid? [True, True] Translation: X:129.22, Y:-35.71, Z:-0.22 [[ 9.03183338e-01 4.29215407e-01 -5.83023774e-03 1.29215097e+02] [-4.29205008e-01 9.03202133e-01 2.99473468e-03 -3.57129592e+01] [ 6.55126943e-03 -2.02427231e-04 9.99978520e-01 -2.21450676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.797628 meters 0.018815683649772853 Centerline is valid? [True, True] Translation: X:129.27, Y:-35.75, Z:-0.22 [[ 9.05894571e-01 4.23470298e-01 -5.28512985e-03 1.29266335e+02] [-4.23461646e-01 9.05909961e-01 2.71622524e-03 -3.57468469e+01] [ 5.93809249e-03 -2.22563912e-04 9.99982345e-01 -2.21044957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.857628 meters 0.020680462787157898 Centerline is valid? [True, True] Translation: X:129.32, Y:-35.78, Z:-0.22 [[ 9.08259830e-01 4.18398389e-01 -2.62082481e-03 1.29318911e+02] [-4.18396240e-01 9.08263603e-01 1.34711640e-03 -3.57782576e+01] [ 2.94403112e-03 -1.26988466e-04 9.99995658e-01 -2.19735184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.917628 meters 0.023340690425371638 Centerline is valid? [True, True] Translation: X:129.37, Y:-35.81, Z:-0.22 [[ 9.09228602e-01 4.16294579e-01 -1.47397186e-03 1.29371431e+02] [-4.16293895e-01 9.09229794e-01 7.58399048e-04 -3.58099106e+01] [ 1.65589654e-03 -7.59526219e-05 9.99998626e-01 -2.18920809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.977628 meters 0.02188497344421668 Centerline is valid? [True, True] Translation: X:129.43, Y:-35.83, Z:-0.22 [[ 9.10055817e-01 4.14485601e-01 -3.08974054e-04 1.29428691e+02] [-4.14485571e-01 9.10055870e-01 1.59047779e-04 -3.58347235e+01] [ 3.47106666e-04 -1.66770690e-05 9.99999940e-01 -2.18818355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.03762799999998 meters 0.021873566072111845 Centerline is valid? [True, True] Translation: X:129.49, Y:-35.86, Z:-0.22 [[ 9.10294247e-01 4.13961814e-01 1.31784439e-05 1.29485751e+02] [-4.13961814e-01 9.10294247e-01 -6.31498200e-06 -3.58601709e+01] [-1.46104231e-05 2.93119229e-07 1.00000000e+00 -2.19669718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.097628 meters 0.025114599156054924 Centerline is valid? [True, True] Translation: X:129.54, Y:-35.89, Z:-0.22 [[ 9.10503764e-01 4.13500709e-01 2.44857047e-04 1.29540907e+02] [-4.13500690e-01 9.10503796e-01 -1.25657451e-04 -3.58866933e+01] [-2.74902716e-04 1.31630244e-05 9.99999962e-01 -2.21026053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.157628 meters 0.021692166672685798 Centerline is valid? [True, True] Translation: X:129.60, Y:-35.91, Z:-0.22 [[ 9.10566609e-01 4.13362162e-01 4.15450433e-04 1.29600135e+02] [-4.13362108e-01 9.10566704e-01 -2.13590456e-04 -3.59072840e+01] [-4.66585545e-04 2.27568708e-05 9.99999891e-01 -2.20362686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.217628 meters 0.023079378001211414 Centerline is valid? [True, True] Translation: X:129.66, Y:-35.93, Z:-0.22 [[ 9.10792303e-01 4.12864629e-01 4.22482623e-04 1.29656264e+02] [-4.12864572e-01 9.10792401e-01 -2.17422409e-04 -3.59307911e+01] [-4.74559985e-04 2.35985490e-05 9.99999887e-01 -2.20546233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.277628 meters 0.022863513586213448 Centerline is valid? [True, True] Translation: X:129.72, Y:-35.95, Z:-0.22 [[ 9.10719634e-01 4.13025003e-01 -3.08933000e-04 1.29715288e+02] [-4.13024972e-01 9.10719686e-01 1.59533854e-04 -3.59547748e+01] [ 3.47242836e-04 -1.76935692e-05 9.99999940e-01 -2.22232336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.337628 meters 0.022500733881596534 Centerline is valid? [True, True] Translation: X:129.77, Y:-35.98, Z:-0.22 [[ 9.09379911e-01 4.15964723e-01 -1.23603285e-03 1.29772806e+02] [-4.15964239e-01 9.09380748e-01 6.37679265e-04 -3.59764248e+01] [ 1.38927656e-03 -6.57472473e-05 9.99999033e-01 -2.23229674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.397628 meters 0.020372429103779968 Centerline is valid? [True, True] Translation: X:129.83, Y:-36.00, Z:-0.22 [[ 9.07459762e-01 4.20134568e-01 -1.92978410e-03 1.29831698e+02] [-4.20133399e-01 9.07461810e-01 9.95509805e-04 -3.59968584e+01] [ 2.16945345e-03 -9.26183377e-05 9.99997642e-01 -2.24093771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.457628 meters 0.01758668825859819 Centerline is valid? [True, True] Translation: X:129.89, Y:-36.01, Z:-0.23 [[ 9.02840760e-01 4.29965196e-01 -2.91401206e-03 1.29892089e+02] [-4.29962580e-01 9.02845457e-01 1.50345639e-03 -3.60145600e+01] [ 3.27733647e-03 -1.04465569e-04 9.99994624e-01 -2.25595322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.517628 meters 0.015122520492909408 Centerline is valid? [True, True] Translation: X:129.95, Y:-36.04, Z:-0.23 [[ 8.99047425e-01 4.37837547e-01 -3.46564487e-03 1.29950843e+02] [-4.37833904e-01 8.99054100e-01 1.78828485e-03 -3.60351106e+01] [ 3.89878048e-03 -9.03760615e-05 9.99992396e-01 -2.26006139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.577628 meters 0.012353110943175923 Centerline is valid? [True, True] Translation: X:130.01, Y:-36.05, Z:-0.23 [[ 8.91483066e-01 4.53030794e-01 -4.58731413e-03 1.30010780e+02] [-4.53024611e-01 8.91494868e-01 2.36704912e-03 -3.60509600e+01] [ 5.16191314e-03 -3.20180047e-05 9.99986677e-01 -2.26803290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.637628 meters 0.012593093887025878 Centerline is valid? [True, True] Translation: X:130.07, Y:-36.07, Z:-0.23 [[ 8.84185365e-01 4.67107411e-01 -5.18723079e-03 1.30071347e+02] [-4.67099733e-01 8.84200579e-01 2.67868470e-03 -3.60685854e+01] [ 5.83778594e-03 5.45003126e-05 9.99982958e-01 -2.27023924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.697628 meters 0.013755260147986661 Centerline is valid? [True, True] Translation: X:130.13, Y:-36.09, Z:-0.23 [[ 8.81053184e-01 4.72990929e-01 -4.98677697e-03 1.30128330e+02] [-4.72983919e-01 8.81067292e-01 2.57659937e-03 -3.60925216e+01] [ 5.61239421e-03 8.85442365e-05 9.99984246e-01 -2.26874149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.757628 meters 0.013831080807460051 Centerline is valid? [True, True] Translation: X:130.18, Y:-36.12, Z:-0.23 [[ 8.80696724e-01 4.73648259e-01 -5.53228853e-03 1.30182876e+02] [-4.73639634e-01 8.80714094e-01 2.86017826e-03 -3.61226539e+01] [ 6.22708293e-03 1.01361492e-04 9.99980606e-01 -2.27517842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.81762799999998 meters 0.013255942976282168 Centerline is valid? [True, True] Translation: X:130.24, Y:-36.16, Z:-0.23 [[ 8.82220111e-01 4.70802650e-01 -5.70439894e-03 1.30235503e+02] [-4.70793409e-01 8.82238549e-01 2.95091526e-03 -3.61554943e+01] [ 6.42193937e-03 8.22366411e-05 9.99979376e-01 -2.28469842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.877628 meters 0.012191749058231437 Centerline is valid? [True, True] Translation: X:130.29, Y:-36.20, Z:-0.23 [[ 8.85939477e-01 4.63752323e-01 -6.71011420e-03 1.30285239e+02] [-4.63739318e-01 8.85964888e-01 3.47315650e-03 -3.61952004e+01] [ 7.55560996e-03 3.47373290e-05 9.99971455e-01 -2.28882128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.937628 meters 0.012114843887700648 Centerline is valid? [True, True] Translation: X:130.34, Y:-36.23, Z:-0.23 [[ 8.88544479e-01 4.58717458e-01 -8.18549673e-03 1.30337514e+02] [-4.58697865e-01 8.88582182e-01 4.23975369e-03 -3.62318743e+01] [ 9.21833558e-03 -1.25398658e-05 9.99957510e-01 -2.29806059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.997628 meters 0.012622979422178292 Centerline is valid? [True, True] Translation: X:130.39, Y:-36.27, Z:-0.23 [[ 8.91283983e-01 4.53356036e-01 -9.00925681e-03 1.30388176e+02] [-4.53331998e-01 8.91329512e-01 4.66913939e-03 -3.62695491e+01] [ 1.01469990e-02 -7.73447636e-05 9.99948515e-01 -2.30387075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.057628 meters 0.014184295333839041 Centerline is valid? [True, True] Translation: X:130.44, Y:-36.31, Z:-0.23 [[ 8.95500945e-01 4.44988005e-01 -7.98331370e-03 1.30436237e+02] [-4.44968792e-01 8.95536516e-01 4.13786886e-03 -3.63125449e+01] [ 8.99065095e-03 -1.53140016e-04 9.99959572e-01 -2.28970615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.117628 meters 0.0157757762972917 Centerline is valid? [True, True] Translation: X:130.48, Y:-36.35, Z:-0.23 [[ 8.99161047e-01 4.37567279e-01 -6.65491238e-03 1.30484533e+02] [-4.37553708e-01 8.99185654e-01 3.45150542e-03 -3.63526524e+01] [ 7.49426757e-03 -1.91577637e-04 9.99971899e-01 -2.27729689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.177628 meters 0.016855128829844943 Centerline is valid? [True, True] Translation: X:130.54, Y:-36.39, Z:-0.23 [[ 9.01523339e-01 4.32680716e-01 -6.56251376e-03 1.30535289e+02] [-4.32667389e-01 9.01547195e-01 3.40378149e-03 -3.63890265e+01] [ 7.38916649e-03 -2.29202759e-04 9.99972673e-01 -2.27118733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.237628 meters 0.018028951363826266 Centerline is valid? [True, True] Translation: X:130.59, Y:-36.42, Z:-0.23 [[ 9.02693663e-01 4.30229987e-01 -6.80505316e-03 1.30587327e+02] [-4.30215568e-01 9.02719276e-01 3.53189321e-03 -3.64222034e+01] [ 7.66257903e-03 -2.60577812e-04 9.99970608e-01 -2.27136825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.297628 meters 0.01868071875721388 Centerline is valid? [True, True] Translation: X:130.64, Y:-36.46, Z:-0.23 [[ 9.05046203e-01 4.25261999e-01 -6.60324114e-03 1.30638211e+02] [-4.25248289e-01 9.05070244e-01 3.42732713e-03 -3.64586364e+01] [ 7.43390905e-03 -2.93872404e-04 9.99972325e-01 -2.26105290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.357628 meters 0.01870401459905479 Centerline is valid? [True, True] Translation: X:130.69, Y:-36.49, Z:-0.23 [[ 9.03880606e-01 4.27742450e-01 -6.02054913e-03 1.30692336e+02] [-4.27731103e-01 9.03900622e-01 3.12565190e-03 -3.64862628e+01] [ 6.77895210e-03 -2.50040019e-04 9.99976991e-01 -2.25600921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.417628 meters 0.017240344730558552 Centerline is valid? [True, True] Translation: X:130.75, Y:-36.51, Z:-0.23 [[ 9.00799332e-01 4.34176148e-01 -7.18584601e-03 1.30748037e+02] [-4.34160185e-01 9.00827960e-01 3.73091259e-03 -3.65122186e+01] [ 8.09308426e-03 -2.40995333e-04 9.99967221e-01 -2.26266945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.477628 meters 0.015778383105590044 Centerline is valid? [True, True] Translation: X:130.80, Y:-36.54, Z:-0.23 [[ 8.98674059e-01 4.38553222e-01 -7.48375266e-03 1.30803703e+02] [-4.38536053e-01 8.98705195e-01 3.88622091e-03 -3.65376797e+01] [ 8.43000210e-03 -2.10550561e-04 9.99964445e-01 -2.26589857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.53762799999998 meters 0.014680811854189747 Centerline is valid? [True, True] Translation: X:130.86, Y:-36.56, Z:-0.23 [[ 8.96471499e-01 4.43063159e-01 -5.82131448e-03 1.30861396e+02] [-4.43052863e-01 8.96490390e-01 3.02333144e-03 -3.65609738e+01] [ 6.55827927e-03 -1.31180422e-04 9.99978486e-01 -2.26584303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.597628 meters 0.014205324002959641 Centerline is valid? [True, True] Translation: X:130.92, Y:-36.59, Z:-0.23 [[ 8.95217079e-01 4.45608272e-01 -4.43265960e-03 1.30918115e+02] [-4.45602325e-01 8.95228049e-01 2.30385799e-03 -3.65872284e+01] [ 4.99485939e-03 -8.72495987e-05 9.99987522e-01 -2.25992068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.657628 meters 0.012706909357784953 Centerline is valid? [True, True] Translation: X:130.97, Y:-36.61, Z:-0.22 [[ 8.92694145e-01 4.50640767e-01 -4.47902483e-03 1.30974945e+02] [-4.50634751e-01 8.92705380e-01 2.32936851e-03 -3.66129695e+01] [ 5.04815798e-03 -6.10093935e-05 9.99987256e-01 -2.24103483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.717628 meters 0.012353828564774115 Centerline is valid? [True, True] Translation: X:131.03, Y:-36.64, Z:-0.23 [[ 8.90991198e-01 4.53990914e-01 -5.18993147e-03 1.31031096e+02] [-4.53982884e-01 8.91006312e-01 2.70064665e-03 -3.66396695e+01] [ 5.85033074e-03 -5.01123320e-05 9.99982885e-01 -2.25416427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.777628 meters 0.012334065872757916 Centerline is valid? [True, True] Translation: X:131.09, Y:-36.67, Z:-0.23 [[ 8.88188237e-01 4.59426526e-01 -6.99457657e-03 1.31086884e+02] [-4.59412094e-01 8.88215777e-01 3.64152654e-03 -3.66652664e+01] [ 7.88570715e-03 -2.09679627e-05 9.99968907e-01 -2.29442192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.837628 meters 0.012317981370391378 Centerline is valid? [True, True] Translation: X:131.14, Y:-36.69, Z:-0.23 [[ 8.86399483e-01 4.62867753e-01 -7.02855597e-03 1.31143252e+02] [-4.62853267e-01 8.86427348e-01 3.66185485e-03 -3.66939375e+01] [ 7.92525876e-03 7.32384933e-06 9.99968595e-01 -2.29314535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.897628 meters 0.01289679575054841 Centerline is valid? [True, True] Translation: X:131.20, Y:-36.72, Z:-0.23 [[ 8.84031591e-01 4.67377008e-01 -6.84671121e-03 1.31197321e+02] [-4.67363384e-01 8.84058103e-01 3.56899605e-03 -3.67225323e+01] [ 7.72095722e-03 4.47968582e-05 9.99970192e-01 -2.28955426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.957628 meters 0.013294154083393819 Centerline is valid? [True, True] Translation: X:131.25, Y:-36.75, Z:-0.23 [[ 8.82431199e-01 4.70394849e-01 -6.62305020e-03 1.31252145e+02] [-4.70382168e-01 8.82456051e-01 3.45460421e-03 -3.67519093e+01] [ 7.46957875e-03 6.69141743e-05 9.99972100e-01 -2.27689288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.017628 meters 0.014169223006174722 Centerline is valid? [True, True] Translation: X:131.31, Y:-36.78, Z:-0.23 [[ 8.79580157e-01 4.75707696e-01 -6.39811609e-03 1.31308581e+02] [-4.75695987e-01 8.79603420e-01 3.33932427e-03 -3.67771996e+01] [ 7.21634705e-03 1.06354781e-04 9.99973956e-01 -2.27877651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.077628 meters 0.014734107754743899 Centerline is valid? [True, True] Translation: X:131.36, Y:-36.80, Z:-0.23 [[ 8.78405410e-01 4.77868797e-01 -6.73413511e-03 1.31363435e+02] [-4.77855882e-01 8.78431213e-01 3.51558171e-03 -3.68039003e+01] [ 7.59546128e-03 1.29840080e-04 9.99971146e-01 -2.28743747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.137628 meters 0.014276826866044178 Centerline is valid? [True, True] Translation: X:131.42, Y:-36.83, Z:-0.23 [[ 8.78922622e-01 4.76905387e-01 -7.50178454e-03 1.31417911e+02] [-4.76889304e-01 8.78954626e-01 3.91891880e-03 -3.68345277e+01] [ 8.46268171e-03 1.33094422e-04 9.99964182e-01 -2.28543590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.197628 meters 0.013547594503397932 Centerline is valid? [True, True] Translation: X:131.47, Y:-36.86, Z:-0.23 [[ 8.81239181e-01 4.72594682e-01 -8.47180481e-03 1.31470726e+02] [-4.72573948e-01 8.81279897e-01 4.42801882e-03 -3.68649115e+01] [ 9.55868942e-03 1.01410567e-04 9.99954310e-01 -2.29674387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.257628 meters 0.013066754986456383 Centerline is valid? [True, True] Translation: X:131.52, Y:-36.89, Z:-0.23 [[ 8.83517551e-01 4.68333643e-01 -7.76763132e-03 1.31523932e+02] [-4.68316028e-01 8.83551694e-01 4.06221636e-03 -3.68946129e+01] [ 8.76557640e-03 4.86667934e-05 9.99961580e-01 -2.29682708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.31762799999998 meters 0.012648792289274804 Centerline is valid? [True, True] Translation: X:131.58, Y:-36.93, Z:-0.23 [[ 8.86651326e-01 4.62387560e-01 -6.86812055e-03 1.31577050e+02] [-4.62373592e-01 8.86677926e-01 3.59398175e-03 -3.69266554e+01] [ 7.75162333e-03 -1.09711123e-05 9.99969956e-01 -2.27204686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.377628 meters 0.014951228076815084 Centerline is valid? [True, True] Translation: X:131.63, Y:-36.96, Z:-0.23 [[ 8.94684677e-01 4.46652775e-01 -6.37399707e-03 1.31626725e+02] [-4.46640329e-01 8.94707371e-01 3.33723900e-03 -3.69642823e+01] [ 7.19344922e-03 -1.38892445e-04 9.99974117e-01 -2.26019335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.437628 meters 0.018208901742657355 Centerline is valid? [True, True] Translation: X:131.68, Y:-37.00, Z:-0.22 [[ 9.00949617e-01 4.33899060e-01 -4.62540270e-03 1.31677829e+02] [-4.33892335e-01 9.00961473e-01 2.42213220e-03 -3.69983089e+01] [ 5.21827051e-03 -1.75292296e-04 9.99986369e-01 -2.24818731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.497628 meters 0.022237290408345083 Centerline is valid? [True, True] Translation: X:131.73, Y:-37.03, Z:-0.22 [[ 9.07878432e-01 4.19229904e-01 -1.74380459e-03 1.31730937e+02] [-4.19228921e-01 9.07880101e-01 9.13311646e-04 -3.70295812e+01] [ 1.96605304e-03 -9.81226302e-05 9.99998062e-01 -2.22836922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.557628 meters 0.023792544824725096 Centerline is valid? [True, True] Translation: X:131.79, Y:-37.06, Z:-0.22 [[ 9.10472936e-01 4.13556597e-01 -3.15797900e-03 1.31786413e+02] [-4.13553338e-01 9.10478391e-01 1.65407399e-03 -3.70571851e+01] [ 3.55932485e-03 -1.99996844e-04 9.99993646e-01 -2.23124223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.617628 meters 0.02458411225620519 Centerline is valid? [True, True] Translation: X:131.84, Y:-37.08, Z:-0.22 [[ 9.09699389e-01 4.15231398e-01 -5.46877874e-03 1.31842687e+02] [-4.15221641e-01 9.09715765e-01 2.86643609e-03 -3.70836702e+01] [ 6.16526850e-03 -3.36839874e-04 9.99980938e-01 -2.24573164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.677628 meters 0.0216250888957502 Centerline is valid? [True, True] Translation: X:131.90, Y:-37.10, Z:-0.23 [[ 9.07259731e-01 4.20522356e-01 -6.38186378e-03 1.31903875e+02] [-4.20509198e-01 9.07282109e-01 3.34512047e-03 -3.70993556e+01] [ 7.19684877e-03 -3.51260679e-04 9.99974041e-01 -2.26644454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.737628 meters 0.021802538250984882 Centerline is valid? [True, True] Translation: X:131.96, Y:-37.12, Z:-0.23 [[ 9.05350260e-01 4.24620011e-01 -6.22519995e-03 1.31959739e+02] [-4.24607580e-01 9.05371608e-01 3.26403322e-03 -3.71233354e+01] [ 7.02209312e-03 -3.11826244e-04 9.99975296e-01 -2.26573566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.797628 meters 0.01846128941000846 Centerline is valid? [True, True] Translation: X:132.02, Y:-37.14, Z:-0.22 [[ 9.03321971e-01 4.28950061e-01 -3.35583068e-03 1.32018597e+02] [-4.28946478e-01 9.03328192e-01 1.75970126e-03 -3.71432160e+01] [ 3.78624043e-03 -1.50105063e-04 9.99992821e-01 -2.21758537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.857628 meters 0.01858858650388077 Centerline is valid? [True, True] Translation: X:132.07, Y:-37.17, Z:-0.22 [[ 9.02190655e-01 4.31332579e-01 -2.05639414e-03 1.32074327e+02] [-4.31331239e-01 9.02192994e-01 1.07850186e-03 -3.71673767e+01] [ 2.32045738e-03 -8.60272643e-05 9.99997304e-01 -2.20955304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.917628 meters 0.018142853011837407 Centerline is valid? [True, True] Translation: X:132.13, Y:-37.19, Z:-0.22 [[ 9.00757158e-01 4.34323024e-01 -2.28986990e-04 1.32132389e+02] [-4.34323007e-01 9.00757187e-01 1.20247911e-04 -3.71893342e+01] [ 2.58488113e-04 -8.85984844e-06 9.99999967e-01 -2.20565049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.977628 meters 0.017342520575279314 Centerline is valid? [True, True] Translation: X:132.19, Y:-37.21, Z:-0.22 [[ 8.99588095e-01 4.36738875e-01 -6.43431157e-04 1.32189281e+02] [-4.36738745e-01 8.99588325e-01 3.37628270e-04 -3.72140638e+01] [ 7.26278547e-04 -2.27150570e-05 9.99999736e-01 -2.20271524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.03762799999998 meters 0.015781956668499682 Centerline is valid? [True, True] Translation: X:132.25, Y:-37.24, Z:-0.22 [[ 8.96929935e-01 4.42168326e-01 -1.96547779e-03 1.32248064e+02] [-4.42167127e-01 8.96932087e-01 1.03125055e-03 -3.72351485e+01] [ 2.21888642e-03 -5.58898238e-05 9.99997537e-01 -2.22350658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.097628 meters 0.014393884760194148 Centerline is valid? [True, True] Translation: X:132.31, Y:-37.26, Z:-0.22 [[ 8.94985186e-01 4.46089554e-01 -2.37205715e-03 1.32305445e+02] [-4.46087821e-01 8.94988328e-01 1.24464268e-03 -3.72580249e+01] [ 2.67818556e-03 -5.57909533e-05 9.99996412e-01 -2.22842403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.157628 meters 0.013471595602016157 Centerline is valid? [True, True] Translation: X:132.36, Y:-37.28, Z:-0.22 [[ 8.93061194e-01 4.49928376e-01 -2.48215043e-03 1.32362946e+02] [-4.49926492e-01 8.93064642e-01 1.30278635e-03 -3.72829496e+01] [ 2.80288133e-03 -4.66826925e-05 9.99996071e-01 -2.22818854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.217628 meters 0.012880463563584516 Centerline is valid? [True, True] Translation: X:132.42, Y:-37.31, Z:-0.22 [[ 8.91440478e-01 4.53128610e-01 -2.88753961e-03 1.32419762e+02] [-4.53126077e-01 8.91445153e-01 1.51585328e-03 -3.73092926e+01] [ 3.26095968e-03 -4.28734798e-05 9.99994682e-01 -2.23376192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.277628 meters 0.012133979547304862 Centerline is valid? [True, True] Translation: X:132.48, Y:-37.33, Z:-0.22 [[ 8.89473966e-01 4.56970509e-01 -3.74407633e-03 1.32477051e+02] [-4.56966277e-01 8.89481845e-01 1.96693519e-03 -3.73339273e+01] [ 4.22911929e-03 -3.86210265e-05 9.99991056e-01 -2.24785410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.337628 meters 0.012033682392953474 Centerline is valid? [True, True] Translation: X:132.53, Y:-37.36, Z:-0.23 [[ 8.88750672e-01 4.58370904e-01 -4.28456454e-03 1.32532844e+02] [-4.58365372e-01 8.88760999e-01 2.25240029e-03 -3.73624433e+01] [ 4.84038862e-03 -3.79262492e-05 9.99988285e-01 -2.25679163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.397628 meters 0.011926932243872302 Centerline is valid? [True, True] Translation: X:132.59, Y:-37.39, Z:-0.23 [[ 8.88240813e-01 4.59350362e-01 -5.05000027e-03 1.32588081e+02] [-4.59342682e-01 8.88255168e-01 2.65648861e-03 -3.73924617e+01] [ 5.70594784e-03 -3.99209303e-05 9.99983720e-01 -2.26197722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.457628 meters 0.011994043253682904 Centerline is valid? [True, True] Translation: X:132.64, Y:-37.42, Z:-0.23 [[ 8.87967403e-01 4.59875812e-01 -5.30370694e-03 1.32643352e+02] [-4.59867340e-01 8.87983241e-01 2.79177973e-03 -3.74232945e+01] [ 5.99347484e-03 -4.00077977e-05 9.99982038e-01 -2.26649743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.517628 meters 0.011910037308427693 Centerline is valid? [True, True] Translation: X:132.70, Y:-37.45, Z:-0.23 [[ 8.87362754e-01 4.61024911e-01 -6.58589772e-03 1.32698928e+02] [-4.61011862e-01 8.87387193e-01 3.46895431e-03 -3.74537922e+01] [ 7.44351564e-03 -4.20438859e-05 9.99972296e-01 -2.26960676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.577628 meters 0.011791360496901507 Centerline is valid? [True, True] Translation: X:132.75, Y:-37.49, Z:-0.23 [[ 8.86345723e-01 4.62965267e-01 -7.37708137e-03 1.32752598e+02] [-4.62948940e-01 8.86376421e-01 3.88828846e-03 -3.74860751e+01] [ 8.33901349e-03 -3.11558502e-05 9.99965229e-01 -2.26703770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.637628 meters 0.011653427667469695 Centerline is valid? [True, True] Translation: X:132.81, Y:-37.52, Z:-0.23 [[ 8.85607603e-01 4.64379790e-01 -7.11230770e-03 1.32806966e+02] [-4.64364638e-01 8.85636162e-01 3.75133525e-03 -3.75174685e+01] [ 8.04096117e-03 -1.95068268e-05 9.99967671e-01 -2.25810871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.697628 meters 0.011573212834024911 Centerline is valid? [True, True] Translation: X:132.86, Y:-37.55, Z:-0.23 [[ 8.85044623e-01 4.65446043e-01 -7.48309168e-03 1.32860676e+02] [-4.65429285e-01 8.85076257e-01 3.94957383e-03 -3.75499694e+01] [ 8.46142029e-03 -1.26990731e-05 9.99964201e-01 -2.26188389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.757628 meters 0.011523408949277931 Centerline is valid? [True, True] Translation: X:132.91, Y:-37.58, Z:-0.23 [[ 8.84787864e-01 4.65945275e-01 -6.74056164e-03 1.32912757e+02] [-4.65931686e-01 8.84813540e-01 3.55862983e-03 -3.75822371e+01] [ 7.62226696e-03 -7.99123733e-06 9.99970950e-01 -2.25988132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.81762799999998 meters 0.011506736889703743 Centerline is valid? [True, True] Translation: X:132.96, Y:-37.62, Z:-0.22 [[ 8.84428658e-01 4.66635539e-01 -6.10093849e-03 1.32964756e+02] [-4.66624406e-01 8.84449701e-01 3.22340217e-03 -3.76175971e+01] [ 6.90012723e-03 -4.02245966e-06 9.99976194e-01 -2.24365997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.877628 meters 0.011647781744797844 Centerline is valid? [True, True] Translation: X:133.02, Y:-37.65, Z:-0.23 [[ 8.84729211e-01 4.66060036e-01 -6.50120424e-03 1.33016397e+02] [-4.66047363e-01 8.84753097e-01 3.43693985e-03 -3.76525681e+01] [ 7.35378089e-03 -1.08919856e-05 9.99972961e-01 -2.25694090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.937628 meters 0.011762458217044061 Centerline is valid? [True, True] Translation: X:133.07, Y:-37.69, Z:-0.23 [[ 8.85622059e-01 4.64351282e-01 -7.17326997e-03 1.33068709e+02] [-4.64335780e-01 8.85651109e-01 3.79430794e-03 -3.76867889e+01] [ 8.11490626e-03 -2.95169019e-05 9.99967073e-01 -2.26872578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.997628 meters 0.012132440835204043 Centerline is valid? [True, True] Translation: X:133.12, Y:-37.72, Z:-0.23 [[ 8.87208009e-01 4.61317903e-01 -6.90950564e-03 1.33119950e+02] [-4.61303411e-01 8.87234912e-01 3.65696664e-03 -3.77222058e+01] [ 7.81737881e-03 -5.71115692e-05 9.99969442e-01 -2.26149948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.057628 meters 0.013907283422664462 Centerline is valid? [True, True] Translation: X:133.17, Y:-37.76, Z:-0.23 [[ 8.91132298e-01 4.53713812e-01 -5.19650610e-03 1.33167491e+02] [-4.53705482e-01 8.91147445e-01 2.75097808e-03 -3.77627401e+01] [ 5.87900989e-03 -9.38021136e-05 9.99982714e-01 -2.25767687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.117628 meters 0.017013845407350483 Centerline is valid? [True, True] Translation: X:133.22, Y:-37.80, Z:-0.22 [[ 8.94117063e-01 4.47815655e-01 -3.97697117e-03 1.33215741e+02] [-4.47810715e-01 8.94125902e-01 2.10582086e-03 -3.78017011e+01] [ 4.49893248e-03 -1.01920058e-04 9.99989875e-01 -2.24858261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.177628 meters 0.01668433275910105 Centerline is valid? [True, True] Translation: X:133.27, Y:-37.84, Z:-0.22 [[ 8.96990656e-01 4.42046198e-01 -1.70929095e-03 1.33266097e+02] [-4.42045273e-01 8.96992283e-01 9.05892438e-04 -3.78371835e+01] [ 1.93366710e-03 -5.69930679e-05 9.99998129e-01 -2.22381998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.237628 meters 0.017146219844876888 Centerline is valid? [True, True] Translation: X:133.32, Y:-37.87, Z:-0.22 [[ 8.97272181e-01 4.41475267e-01 -1.49073655e-03 1.33318750e+02] [-4.41474562e-01 8.97273417e-01 7.90634435e-04 -3.78705351e+01] [ 1.68664383e-03 -5.12920164e-05 9.99998576e-01 -2.22788127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.297628 meters 0.015917267912058768 Centerline is valid? [True, True] Translation: X:133.37, Y:-37.90, Z:-0.22 [[ 8.94380327e-01 4.47304929e-01 -1.46028078e-03 1.33371830e+02] [-4.47304260e-01 8.94381518e-01 7.74224798e-04 -3.78987402e+01] [ 1.65236271e-03 -3.92616143e-05 9.99998634e-01 -2.24472542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.357628 meters 0.013862222291292768 Centerline is valid? [True, True] Translation: X:133.43, Y:-37.92, Z:-0.23 [[ 8.90613514e-01 4.54759133e-01 -1.30389579e-03 1.33427739e+02] [-4.54758608e-01 8.90614468e-01 6.91570715e-04 -3.79235982e+01] [ 1.47576656e-03 -2.29643901e-05 9.99998911e-01 -2.25124483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.417628 meters 0.011922610295933533 Centerline is valid? [True, True] Translation: X:133.49, Y:-37.95, Z:-0.23 [[ 8.85339623e-01 4.64942104e-01 -1.60969538e-03 1.33485241e+02] [-4.64941320e-01 8.85341087e-01 8.53745500e-04 -3.79467681e+01] [ 1.82207168e-03 -7.44082555e-06 9.99998340e-01 -2.26146105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.477628 meters 0.011729810669903884 Centerline is valid? [True, True] Translation: X:133.54, Y:-37.97, Z:-0.23 [[ 8.82447444e-01 4.70407452e-01 -1.82688846e-03 1.33541857e+02] [-4.70406452e-01 8.82449335e-01 9.69938310e-04 -3.79716018e+01] [ 2.06840272e-03 3.46053738e-06 9.99997861e-01 -2.27273781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.53762799999998 meters 0.011774185787029372 Centerline is valid? [True, True] Translation: X:133.60, Y:-38.00, Z:-0.23 [[ 8.81658612e-01 4.71884212e-01 -1.83919874e-03 1.33598526e+02] [-4.71883200e-01 8.81660530e-01 9.77155928e-04 -3.79986732e+01] [ 2.08265339e-03 6.36904726e-06 9.99997831e-01 -2.28585180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.597628 meters 0.011818634673332844 Centerline is valid? [True, True] Translation: X:133.65, Y:-38.02, Z:-0.23 [[ 8.81098072e-01 4.72928861e-01 -2.11665073e-03 1.33654407e+02] [-4.72927524e-01 8.81100614e-01 1.12474119e-03 -3.80249480e+01] [ 2.39690483e-03 1.00150916e-05 9.99997127e-01 -2.29899148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.657628 meters 0.012045078562061858 Centerline is valid? [True, True] Translation: X:133.71, Y:-38.05, Z:-0.23 [[ 8.80573407e-01 4.73907382e-01 -1.50596043e-03 1.33710430e+02] [-4.73906706e-01 8.80574695e-01 8.01026313e-04 -3.80536641e+01] [ 1.70572293e-03 8.32227520e-06 9.99998545e-01 -2.29803702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.717628 meters 0.012120866465631373 Centerline is valid? [True, True] Translation: X:133.77, Y:-38.08, Z:-0.23 [[ 8.80295558e-01 4.74425509e-01 -4.08895273e-04 1.33767106e+02] [-4.74425459e-01 8.80295653e-01 2.17992626e-04 -3.80816080e+01] [ 4.63369994e-04 2.09238724e-06 9.99999893e-01 -2.30517846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.777628 meters 0.012016242593299153 Centerline is valid? [True, True] Translation: X:133.82, Y:-38.11, Z:-0.23 [[ 8.80605188e-01 4.73850716e-01 -3.42628156e-05 1.33822255e+02] [-4.73850716e-01 8.80605189e-01 1.87293616e-05 -3.81116965e+01] [ 3.90469346e-05 -2.57713307e-07 9.99999999e-01 -2.31260123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.837628 meters 0.01188055074282875 Centerline is valid? [True, True] Translation: X:133.88, Y:-38.14, Z:-0.23 [[ 8.81144208e-01 4.72847481e-01 -3.81132785e-04 1.33877369e+02] [-4.72847437e-01 8.81144290e-01 2.03468238e-04 -3.81428219e+01] [ 4.32042421e-04 9.32800953e-07 9.99999907e-01 -2.31931865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.897628 meters 0.011913079880185968 Centerline is valid? [True, True] Translation: X:133.93, Y:-38.17, Z:-0.23 [[ 8.82268844e-01 4.70741458e-01 -2.04113818e-03 1.33930391e+02] [-4.70740201e-01 8.82271205e-01 1.08777195e-03 -3.81743558e+01] [ 2.31289680e-03 1.13849927e-06 9.99997325e-01 -2.33069361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.957628 meters 0.01207517622924718 Centerline is valid? [True, True] Translation: X:133.98, Y:-38.20, Z:-0.23 [[ 8.83874179e-01 4.67714452e-01 -3.10274621e-03 1.33984106e+02] [-4.67711526e-01 8.83879625e-01 1.65444437e-03 -3.82047978e+01] [ 3.51626170e-03 -1.11304917e-05 9.99993818e-01 -2.34449742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.017628 meters 0.012433289384603634 Centerline is valid? [True, True] Translation: X:134.04, Y:-38.24, Z:-0.23 [[ 8.84589601e-01 4.66359522e-01 -3.16774562e-03 1.34039370e+02] [-4.66356460e-01 8.84595272e-01 1.69012773e-03 -3.82350182e+01] [ 3.59037996e-03 -1.77707772e-05 9.99993554e-01 -2.34413954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.077628 meters 0.013539334276667597 Centerline is valid? [True, True] Translation: X:134.09, Y:-38.27, Z:-0.23 [[ 8.86796557e-01 4.62154168e-01 -2.32206094e-03 1.34093136e+02] [-4.62152506e-01 8.86799597e-01 1.23961932e-03 -3.82670726e+01] [ 2.63209794e-03 -2.61438580e-05 9.99996536e-01 -2.33218066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.137628 meters 0.01809786600041955 Centerline is valid? [True, True] Translation: X:134.14, Y:-38.30, Z:-0.23 [[ 8.92710838e-01 4.50625646e-01 -1.97134216e-03 1.34142306e+02] [-4.50624419e-01 8.92713013e-01 1.05289125e-03 -3.83042547e+01] [ 2.23430260e-03 -5.15925105e-05 9.99997503e-01 -2.31073893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.197628 meters 0.025186741302554994 Centerline is valid? [True, True] Translation: X:134.19, Y:-38.34, Z:-0.23 [[ 8.96793706e-01 4.42445999e-01 -1.60847493e-03 1.34190598e+02] [-4.42445169e-01 8.96795147e-01 8.59089781e-04 -3.83413370e+01] [ 1.82257335e-03 -5.87643458e-05 9.99998337e-01 -2.30589401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.257628 meters 0.03331901964572118 Centerline is valid? [True, True] Translation: X:134.24, Y:-38.38, Z:-0.23 [[ 9.01772694e-01 4.32202534e-01 -2.64138431e-03 1.34240094e+02] [-4.32200251e-01 9.01776553e-01 1.41090724e-03 -3.83763668e+01] [ 2.99173612e-03 -1.30710663e-04 9.99995516e-01 -2.31998274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.31762799999998 meters 0.021164382874242486 Centerline is valid? [True, True] Translation: X:134.30, Y:-38.39, Z:-0.23 [[ 9.04506353e-01 4.26446193e-01 -3.44988254e-03 1.34303906e+02] [-4.26442254e-01 9.04512911e-01 1.84320749e-03 -3.83864207e+01] [ 3.90649212e-03 -1.96017192e-04 9.99992350e-01 -2.30610525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.377628 meters 0.022818391072059595 Centerline is valid? [True, True] Translation: X:134.36, Y:-38.41, Z:-0.23 [[ 9.04574706e-01 4.26301016e-01 -3.47068352e-03 1.34358593e+02] [-4.26297026e-01 9.04581342e-01 1.85500560e-03 -3.84144960e+01] [ 3.93030633e-03 -1.98449086e-04 9.99992257e-01 -2.29947938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.437628 meters 0.02067931998870583 Centerline is valid? [True, True] Translation: X:134.42, Y:-38.44, Z:-0.23 [[ 9.02750953e-01 4.30151235e-01 -3.26066631e-03 1.34416689e+02] [-4.30147739e-01 9.02756825e-01 1.74278980e-03 -3.84357513e+01] [ 3.69325196e-03 -1.70736913e-04 9.99993165e-01 -2.28483197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.497628 meters 0.02145908150023985 Centerline is valid? [True, True] Translation: X:134.47, Y:-38.46, Z:-0.23 [[ 9.00966806e-01 4.33876927e-01 -3.10259463e-03 1.34471382e+02] [-4.33873781e-01 9.00972136e-01 1.65882530e-03 -3.84617018e+01] [ 3.51507733e-03 -1.48412074e-04 9.99993811e-01 -2.28407321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.557628 meters 0.019188544353429312 Centerline is valid? [True, True] Translation: X:134.53, Y:-38.48, Z:-0.23 [[ 8.98540864e-01 4.38879892e-01 -2.95886192e-03 1.34530700e+02] [-4.38877058e-01 8.98545728e-01 1.58203331e-03 -3.84816284e+01] [ 3.35299534e-03 -1.22944960e-04 9.99994371e-01 -2.28281520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.617628 meters 0.01849241065070091 Centerline is valid? [True, True] Translation: X:134.59, Y:-38.51, Z:-0.23 [[ 8.97288641e-01 4.41440060e-01 -1.94100870e-03 1.34587266e+02] [-4.41438845e-01 8.97290738e-01 1.03843637e-03 -3.85056297e+01] [ 2.20005654e-03 -7.49405246e-05 9.99997577e-01 -2.27238689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.677628 meters 0.01711060131460522 Centerline is valid? [True, True] Translation: X:134.65, Y:-38.53, Z:-0.23 [[ 8.96315608e-01 4.43415481e-01 -1.02136636e-03 1.34645031e+02] [-4.43415145e-01 8.96316189e-01 5.47073362e-04 -3.85294293e+01] [ 1.15804800e-03 -3.74610793e-05 9.99999329e-01 -2.25806191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.737628 meters 0.017078891072971218 Centerline is valid? [True, True] Translation: X:134.70, Y:-38.55, Z:-0.23 [[ 8.95386333e-01 4.45286897e-01 -1.70125281e-03 1.34702336e+02] [-4.45285968e-01 8.95387947e-01 9.11461827e-04 -3.85533243e+01] [ 1.92914327e-03 -5.85664601e-05 9.99998137e-01 -2.26194266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.797628 meters 0.016945852664289773 Centerline is valid? [True, True] Translation: X:134.76, Y:-38.58, Z:-0.23 [[ 8.94395476e-01 4.47264207e-01 -3.38548180e-03 1.34758833e+02] [-4.47260540e-01 8.94401877e-01 1.81439929e-03 -3.85785751e+01] [ 3.83949713e-03 -1.08598101e-04 9.99992623e-01 -2.28219688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.857628 meters 0.017963989972646664 Centerline is valid? [True, True] Translation: X:134.82, Y:-38.60, Z:-0.23 [[ 8.91940214e-01 4.52112356e-01 -6.08864171e-03 1.34816939e+02] [-4.52100610e-01 8.91960982e-01 3.26279597e-03 -3.86010688e+01] [ 6.90598121e-03 -1.57540313e-04 9.99976141e-01 -2.33048126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.917628 meters 0.013455301469804977 Centerline is valid? [True, True] Translation: X:134.87, Y:-38.62, Z:-0.23 [[ 8.88687294e-01 4.58466096e-01 -6.61302815e-03 1.34874747e+02] [-4.58452412e-01 8.88711891e-01 3.54407828e-03 -3.86228038e+01] [ 7.50191648e-03 -1.17818628e-04 9.99971853e-01 -2.31163470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.977628 meters 0.013576235887322142 Centerline is valid? [True, True] Translation: X:134.93, Y:-38.65, Z:-0.23 [[ 8.86913816e-01 4.61886792e-01 -6.66891555e-03 1.34928925e+02] [-4.61872954e-01 8.86938884e-01 3.57639673e-03 -3.86515187e+01] [ 7.56681092e-03 -9.17639399e-05 9.99971367e-01 -2.32708986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.03762799999998 meters 0.012396423867224783 Centerline is valid? [True, True] Translation: X:134.98, Y:-38.68, Z:-0.23 [[ 8.84245406e-01 4.66982240e-01 -6.13595663e-03 1.34984488e+02] [-4.66970634e-01 8.84266693e-01 3.29262324e-03 -3.86785572e+01] [ 6.96341866e-03 -4.61754165e-05 9.99975754e-01 -2.30571213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.097628 meters 0.012075072107814026 Centerline is valid? [True, True] Translation: X:135.04, Y:-38.71, Z:-0.23 [[ 8.82477435e-01 4.70326202e-01 -5.18086313e-03 1.35039900e+02] [-4.70317975e-01 8.82492642e-01 2.78182029e-03 -3.87072215e+01] [ 5.88043656e-03 -1.82405777e-05 9.99982710e-01 -2.30660648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.157628 meters 0.011956847260860692 Centerline is valid? [True, True] Translation: X:135.09, Y:-38.74, Z:-0.23 [[ 8.81397467e-01 4.72357024e-01 -4.16486251e-03 1.35093472e+02] [-4.72351728e-01 8.81407307e-01 2.23691173e-03 -3.87371311e+01] [ 4.72756122e-03 -4.32833369e-06 9.99988825e-01 -2.30002253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.217628 meters 0.011955926777353593 Centerline is valid? [True, True] Translation: X:135.15, Y:-38.77, Z:-0.23 [[ 8.81228679e-01 4.72670408e-01 -4.32438226e-03 1.35146933e+02] [-4.72664692e-01 8.81239290e-01 2.32447865e-03 -3.87709028e+01] [ 4.90952782e-03 -4.41444411e-06 9.99987948e-01 -2.28567655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.277628 meters 0.011963177088838772 Centerline is valid? [True, True] Translation: X:135.20, Y:-38.80, Z:-0.23 [[ 8.82345399e-01 4.70579171e-01 -4.67343380e-03 1.35199405e+02] [-4.70572458e-01 8.82357775e-01 2.51362560e-03 -3.88045208e+01] [ 5.30650050e-03 -1.86967519e-05 9.99985920e-01 -2.29721383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.337628 meters 0.013048299118974385 Centerline is valid? [True, True] Translation: X:135.25, Y:-38.84, Z:-0.23 [[ 8.86054928e-01 4.63558923e-01 -4.44845160e-03 1.35248464e+02] [-4.63552752e-01 8.86066093e-01 2.39268595e-03 -3.88413659e+01] [ 5.05077305e-03 -5.79591960e-05 9.99987243e-01 -2.30441318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.397628 meters 0.014753275675891618 Centerline is valid? [True, True] Translation: X:135.30, Y:-38.88, Z:-0.23 [[ 8.90506764e-01 4.54957799e-01 -3.33246253e-03 1.35297526e+02] [-4.54954273e-01 8.90512995e-01 1.79282212e-03 -3.88795522e+01] [ 3.78325960e-03 -8.04021559e-05 9.99992840e-01 -2.27817198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.457628 meters 0.01664553170659012 Centerline is valid? [True, True] Translation: X:135.35, Y:-38.92, Z:-0.23 [[ 8.93090409e-01 4.49871007e-01 -2.36620778e-03 1.35348803e+02] [-4.49869211e-01 8.93093540e-01 1.27316129e-03 -3.89152687e+01] [ 2.68600324e-03 -7.25641122e-05 9.99996390e-01 -2.26886868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.517628 meters 0.017806078703670444 Centerline is valid? [True, True] Translation: X:135.40, Y:-38.95, Z:-0.23 [[ 8.95006601e-01 4.46046872e-01 -2.31764441e-03 1.35401125e+02] [-4.46045136e-01 8.95009598e-01 1.24722119e-03 -3.89485935e+01] [ 2.63063310e-03 -8.24971774e-05 9.99996536e-01 -2.26797110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.577628 meters 0.019242930234597926 Centerline is valid? [True, True] Translation: X:135.45, Y:-38.98, Z:-0.23 [[ 8.96777189e-01 4.42476334e-01 -2.31658056e-03 1.35453384e+02] [-4.42474587e-01 8.96780177e-01 1.24680695e-03 -3.89824672e+01] [ 2.62914609e-03 -9.30800035e-05 9.99996539e-01 -2.27199662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.637628 meters 0.019415737182616927 Centerline is valid? [True, True] Translation: X:135.51, Y:-39.01, Z:-0.23 [[ 8.97656877e-01 4.40684822e-01 -3.00328894e-03 1.35506415e+02] [-4.40681874e-01 8.97661892e-01 1.61694447e-03 -3.90137951e+01] [ 3.40850092e-03 -1.27966328e-04 9.99994183e-01 -2.26650075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.697628 meters 0.019090057857109512 Centerline is valid? [True, True] Translation: X:135.56, Y:-39.04, Z:-0.23 [[ 8.98256321e-01 4.39452385e-01 -4.14529305e-03 1.35561397e+02] [-4.39446749e-01 8.98265867e-01 2.23327905e-03 -3.90425137e+01] [ 4.70499506e-03 -1.84421470e-04 9.99988914e-01 -2.27759022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.75762799999998 meters 0.019134486225332006 Centerline is valid? [True, True] Translation: X:135.62, Y:-39.07, Z:-0.23 [[ 8.98576243e-01 4.38790080e-01 -4.89907602e-03 1.35615738e+02] [-4.38782195e-01 8.98589571e-01 2.63992124e-03 -3.90717116e+01] [ 5.56062987e-03 -2.22543179e-04 9.99984515e-01 -2.27759063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.81762799999998 meters 0.01917860469750807 Centerline is valid? [True, True] Translation: X:135.67, Y:-39.10, Z:-0.23 [[ 8.99472137e-01 4.36962558e-01 -3.68738037e-03 1.35670466e+02] [-4.36958075e-01 8.99479678e-01 1.98727500e-03 -3.91004617e+01] [ 4.18508848e-03 -1.76267863e-04 9.99991227e-01 -2.26885383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.877628 meters 0.020002467371534497 Centerline is valid? [True, True] Translation: X:135.73, Y:-39.13, Z:-0.23 [[ 9.00189899e-01 4.35492594e-01 -2.08451209e-03 1.35725023e+02] [-4.35491155e-01 9.00192307e-01 1.12441370e-03 -3.91291282e+01] [ 2.36613558e-03 -1.04399275e-04 9.99997195e-01 -2.25783611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.937628 meters 0.021488372912029673 Centerline is valid? [True, True] Translation: X:135.78, Y:-39.16, Z:-0.23 [[ 9.01157290e-01 4.33491922e-01 -5.41033156e-04 1.35779290e+02] [-4.33491824e-01 9.01157452e-01 2.92320123e-04 -3.91584479e+01] [ 6.14274472e-04 -2.88929604e-05 9.99999811e-01 -2.25512501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.997628 meters 0.022875384308654746 Centerline is valid? [True, True] Translation: X:135.83, Y:-39.19, Z:-0.22 [[ 9.02297039e-01 4.31114892e-01 -5.67296689e-05 1.35833292e+02] [-4.31114891e-01 9.02297041e-01 3.07245998e-05 -3.91885344e+01] [ 6.44328449e-05 -3.26571040e-06 9.99999998e-01 -2.24661902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.057628 meters 0.024936301444138526 Centerline is valid? [True, True] Translation: X:135.89, Y:-39.22, Z:-0.23 [[ 9.03592002e-01 4.28392836e-01 -1.03515758e-03 1.35887184e+02] [-4.28392476e-01 9.03592593e-01 5.58887661e-04 -3.92153796e+01] [ 1.17478419e-03 -6.15527028e-05 9.99999308e-01 -2.25857000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.117628 meters 0.02622504541901268 Centerline is valid? [True, True] Translation: X:135.94, Y:-39.24, Z:-0.23 [[ 9.03668477e-01 4.28228522e-01 -1.90176002e-03 1.35943524e+02] [-4.28227305e-01 9.03670471e-01 1.02743034e-03 -3.92421923e+01] [ 2.15853935e-03 -1.14070841e-04 9.99997664e-01 -2.28029929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.177628 meters 0.026919981359375587 Centerline is valid? [True, True] Translation: X:136.00, Y:-39.27, Z:-0.23 [[ 9.02895028e-01 4.29851682e-01 -2.84603524e-03 1.36000503e+02] [-4.29848961e-01 9.02899498e-01 1.53820271e-03 -3.92663542e+01] [ 3.23088281e-03 -1.65470291e-04 9.99994767e-01 -2.30167900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.237628 meters 0.027160661434439085 Centerline is valid? [True, True] Translation: X:136.06, Y:-39.29, Z:-0.23 [[ 9.02095046e-01 4.31521537e-01 -3.70023714e-03 1.36056649e+02] [-4.31516949e-01 9.02102610e-01 2.00083230e-03 -3.92927860e+01] [ 4.20139581e-03 -2.08225863e-04 9.99991152e-01 -2.31164202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.297628 meters 0.021459185316440206 Centerline is valid? [True, True] Translation: X:136.12, Y:-39.31, Z:-0.23 [[ 9.00268250e-01 4.35311994e-01 -4.53282823e-03 1.36118296e+02] [-4.35305157e-01 9.00279631e-01 2.45081046e-03 -3.93086658e+01] [ 5.14768011e-03 -2.33223338e-04 9.99986723e-01 -2.32816319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.357628 meters 0.0198388002262456 Centerline is valid? [True, True] Translation: X:136.18, Y:-39.33, Z:-0.23 [[ 8.97364811e-01 4.41272352e-01 -3.88682892e-03 1.36176121e+02] [-4.41267379e-01 8.97373212e-01 2.10182541e-03 -3.93312649e+01] [ 4.41541360e-03 -1.70973347e-04 9.99990237e-01 -2.31872846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.417628 meters 0.017252884196027756 Centerline is valid? [True, True] Translation: X:136.23, Y:-39.35, Z:-0.23 [[ 8.94674521e-01 4.46704193e-01 -3.58690748e-03 1.36233992e+02] [-4.46700001e-01 8.94681701e-01 1.93979159e-03 -3.93533394e+01] [ 4.07565352e-03 -1.33210535e-04 9.99991686e-01 -2.31263359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.477628 meters 0.014256377957560606 Centerline is valid? [True, True] Translation: X:136.29, Y:-39.37, Z:-0.23 [[ 8.89455388e-01 4.57015019e-01 -2.52699288e-03 1.36293901e+02] [-4.57012979e-01 8.89458975e-01 1.36668928e-03 -3.93711385e+01] [ 2.87225403e-03 -6.07405981e-05 9.99995873e-01 -2.31380296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.53762799999998 meters 0.01234916339406272 Centerline is valid? [True, True] Translation: X:136.35, Y:-39.39, Z:-0.23 [[ 8.85460666e-01 4.64711673e-01 -1.57165457e-03 1.36351962e+02] [-4.64710896e-01 8.85462060e-01 8.50275882e-04 -3.93934072e+01] [ 1.78677362e-03 -2.25208462e-05 9.99998403e-01 -2.31531556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.597628 meters 0.011124455368930808 Centerline is valid? [True, True] Translation: X:136.41, Y:-39.41, Z:-0.23 [[ 8.80017389e-01 4.74937315e-01 -1.98563238e-03 1.36411271e+02] [-4.74936098e-01 8.80019629e-01 1.07514011e-03 -3.94147370e+01] [ 2.25801963e-03 -3.09349171e-06 9.99997451e-01 -2.32257276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.657628 meters 0.01123858274146618 Centerline is valid? [True, True] Translation: X:136.47, Y:-39.44, Z:-0.23 [[ 8.77042661e-01 4.80402554e-01 -3.09126347e-03 1.36468309e+02] [-4.80399636e-01 8.77048109e-01 1.67455623e-03 -3.94403417e+01] [ 3.51564787e-03 1.63845892e-05 9.99993820e-01 -2.34084057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.717628 meters 0.01153623891054199 Centerline is valid? [True, True] Translation: X:136.52, Y:-39.47, Z:-0.24 [[ 8.75063800e-01 4.83993889e-01 -3.64165837e-03 1.36524029e+02] [-4.83989865e-01 8.75071377e-01 1.97381870e-03 -3.94685958e+01] [ 4.14202720e-03 3.53084512e-05 9.99991421e-01 -2.35598098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.777628 meters 0.012026603005459461 Centerline is valid? [True, True] Translation: X:136.58, Y:-39.50, Z:-0.24 [[ 8.73916073e-01 4.86062599e-01 -3.72107792e-03 1.36576318e+02] [-4.86058412e-01 8.73923994e-01 2.01792568e-03 -3.95004440e+01] [ 4.23277748e-03 4.51635368e-05 9.99991041e-01 -2.35972550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.837628 meters 0.012076636910054691 Centerline is valid? [True, True] Translation: X:136.63, Y:-39.54, Z:-0.24 [[ 8.73775793e-01 4.86311026e-01 -4.17726092e-03 1.36629475e+02] [-4.86305745e-01 8.73785777e-01 2.26690081e-03 -3.95350726e+01] [ 4.75245004e-03 5.06629336e-05 9.99988706e-01 -2.36729271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.897628 meters 0.011979242735269614 Centerline is valid? [True, True] Translation: X:136.68, Y:-39.57, Z:-0.24 [[ 8.74296291e-01 4.85367331e-01 -4.95481165e-03 1.36680890e+02] [-4.85359876e-01 8.74310329e-01 2.69056247e-03 -3.95724142e+01] [ 5.63795412e-03 5.25179821e-05 9.99984105e-01 -2.38491729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.957628 meters 0.011737124957552024 Centerline is valid? [True, True] Translation: X:136.73, Y:-39.61, Z:-0.24 [[ 8.75429541e-01 4.83322319e-01 -4.75961311e-03 1.36730084e+02] [-4.83315402e-01 8.75442479e-01 2.58603316e-03 -3.96115955e+01] [ 5.41665504e-03 3.65045015e-05 9.99985329e-01 -2.38246327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.017628 meters 0.011528319162649339 Centerline is valid? [True, True] Translation: X:136.78, Y:-39.65, Z:-0.24 [[ 8.76528941e-01 4.81330024e-01 -4.29241063e-03 1.36780471e+02] [-4.81324367e-01 8.76539450e-01 2.33361005e-03 -3.96488583e+01] [ 4.88570384e-03 2.05650869e-05 9.99988065e-01 -2.37190212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.077628 meters 0.011394605872561421 Centerline is valid? [True, True] Translation: X:136.83, Y:-39.69, Z:-0.24 [[ 8.77914425e-01 4.78805898e-01 -3.34282401e-03 1.36831405e+02] [-4.78802449e-01 8.77920789e-01 1.81754217e-03 -3.96863561e+01] [ 3.80498461e-03 4.90583670e-06 9.99992761e-01 -2.36464262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.137628 meters 0.011692936106662433 Centerline is valid? [True, True] Translation: X:136.88, Y:-39.73, Z:-0.24 [[ 8.80765515e-01 4.73540480e-01 -3.39435095e-03 1.36879647e+02] [-4.73536877e-01 8.80772056e-01 1.84713367e-03 -3.97285549e+01] [ 3.86434203e-03 -1.95412913e-05 9.99992533e-01 -2.37183910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.197628 meters 0.01247125316867653 Centerline is valid? [True, True] Translation: X:136.93, Y:-39.77, Z:-0.24 [[ 8.83018867e-01 4.69323838e-01 -3.57987591e-03 1.36928775e+02] [-4.69319792e-01 8.83026123e-01 1.94911168e-03 -3.97680771e+01] [ 4.07588852e-03 -4.09957715e-05 9.99991693e-01 -2.36800601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.25762799999998 meters 0.015418486188437403 Centerline is valid? [True, True] Translation: X:136.97, Y:-39.81, Z:-0.24 [[ 8.87143457e-01 4.61464393e-01 -5.20576846e-03 1.36973592e+02] [-4.61455695e-01 8.87158724e-01 2.83549494e-03 -3.98131769e+01] [ 5.92682286e-03 -1.13259276e-04 9.99982430e-01 -2.38405241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.31762799999998 meters 0.01750899068261801 Centerline is valid? [True, True] Translation: X:137.02, Y:-39.85, Z:-0.24 [[ 8.90523990e-01 4.54900081e-01 -5.73937314e-03 1.37021822e+02] [-4.54889362e-01 8.90542467e-01 3.12762872e-03 -3.98521888e+01] [ 6.53391408e-03 -1.74448622e-04 9.99978639e-01 -2.38726741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.377628 meters 0.02248568114609736 Centerline is valid? [True, True] Translation: X:137.07, Y:-39.90, Z:-0.24 [[ 8.95301778e-01 4.45425755e-01 -5.53380565e-03 1.37066694e+02] [-4.45415605e-01 8.95318849e-01 3.01615092e-03 -3.98953274e+01] [ 6.29799180e-03 -2.35521885e-04 9.99980140e-01 -2.38034245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.437628 meters 0.02398310915089114 Centerline is valid? [True, True] Translation: X:137.12, Y:-39.93, Z:-0.24 [[ 8.96077151e-01 4.43874651e-01 -4.58627268e-03 1.37120134e+02] [-4.43867651e-01 8.96088864e-01 2.50130512e-03 -3.99271723e+01] [ 5.21997381e-03 -2.05664285e-04 9.99986355e-01 -2.37368259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.497628 meters 0.021514330039746475 Centerline is valid? [True, True] Translation: X:137.18, Y:-39.95, Z:-0.24 [[ 8.97402840e-01 4.41182447e-01 -5.11775742e-03 1.37177170e+02] [-4.41173678e-01 8.97417398e-01 2.79260401e-03 -3.99515140e+01] [ 5.82481241e-03 -2.48270903e-04 9.99983005e-01 -2.37904203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.557628 meters 0.020583497632923442 Centerline is valid? [True, True] Translation: X:137.23, Y:-39.98, Z:-0.24 [[ 8.98536173e-01 4.38877828e-01 -4.35873944e-03 1.37231876e+02] [-4.38871433e-01 8.98546716e-01 2.37982100e-03 -3.99800842e+01] [ 4.96098169e-03 -2.25429027e-04 9.99987669e-01 -2.36260630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.617628 meters 0.02198320486431132 Centerline is valid? [True, True] Translation: X:137.29, Y:-40.01, Z:-0.24 [[ 9.00762258e-01 4.34291212e-01 -4.30087490e-03 1.37286843e+02] [-4.34284928e-01 9.00772491e-01 2.34946402e-03 -4.00072591e+01] [ 4.89446138e-03 -2.48503369e-04 9.99987991e-01 -2.37720035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.677628 meters 0.022363968940889257 Centerline is valid? [True, True] Translation: X:137.34, Y:-40.03, Z:-0.24 [[ 9.01409313e-01 4.32949462e-01 -4.00169926e-03 1.37343089e+02] [-4.32944003e-01 9.01418164e-01 2.18728148e-03 -4.00325210e+01] [ 4.55418674e-03 -2.39124196e-04 9.99989601e-01 -2.37807327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.737628 meters 0.022985934099825765 Centerline is valid? [True, True] Translation: X:137.40, Y:-40.06, Z:-0.24 [[ 9.00165316e-01 4.35532250e-01 -3.75014637e-03 1.37396540e+02] [-4.35527477e-01 9.00173102e-01 2.05008664e-03 -4.00602906e+01] [ 4.26865974e-03 -2.12125098e-04 9.99990867e-01 -2.36277371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.797628 meters 0.021500445771629618 Centerline is valid? [True, True] Translation: X:137.45, Y:-40.08, Z:-0.24 [[ 8.97425964e-01 4.41149525e-01 -3.70610031e-03 1.37453999e+02] [-4.41144906e-01 8.97433598e-01 2.02722406e-03 -4.00822060e+01] [ 4.22028787e-03 -1.84356238e-04 9.99991078e-01 -2.37569364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.857628 meters 0.020069012324049167 Centerline is valid? [True, True] Translation: X:137.51, Y:-40.11, Z:-0.24 [[ 8.96701309e-01 4.42623095e-01 -3.39972760e-03 1.37510612e+02] [-4.42619214e-01 8.96707739e-01 1.86083369e-03 -4.01076218e+01] [ 3.87221001e-03 -1.63827251e-04 9.99992490e-01 -2.38331284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.917628 meters 0.020274999876127874 Centerline is valid? [True, True] Translation: X:137.57, Y:-40.13, Z:-0.24 [[ 8.96337403e-01 4.43362084e-01 -3.05327704e-03 1.37566890e+02] [-4.43358954e-01 8.96342592e-01 1.67222304e-03 -4.01347084e+01] [ 3.47818254e-03 -1.45178340e-04 9.99993941e-01 -2.39299052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.977628 meters 0.018804760409672622 Centerline is valid? [True, True] Translation: X:137.62, Y:-40.16, Z:-0.24 [[ 8.96015699e-01 4.44003540e-01 -4.08953585e-03 1.37622621e+02] [-4.43997926e-01 8.96025011e-01 2.24095593e-03 -4.01618316e+01] [ 4.65931877e-03 -1.92186257e-04 9.99989127e-01 -2.38644944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.03762799999998 meters 0.020554286276022255 Centerline is valid? [True, True] Translation: X:137.68, Y:-40.19, Z:-0.24 [[ 8.94408700e-01 4.47224652e-01 -4.81547028e-03 1.37675644e+02] [-4.47216916e-01 8.94421639e-01 2.63845554e-03 -4.01900128e+01] [ 5.48704318e-03 -2.06297823e-04 9.99984925e-01 -2.40802103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.097628 meters 0.018134415985011323 Centerline is valid? [True, True] Translation: X:137.73, Y:-40.21, Z:-0.24 [[ 8.92855325e-01 4.50318413e-01 -4.76389980e-03 1.37732763e+02] [-4.50310884e-01 8.92868015e-01 2.61056490e-03 -4.02138573e+01] [ 5.42911920e-03 -1.85620843e-04 9.99985245e-01 -2.41191477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.157628 meters 0.01630073386568512 Centerline is valid? [True, True] Translation: X:137.79, Y:-40.24, Z:-0.24 [[ 8.90440464e-01 4.55067357e-01 -5.42956458e-03 1.37788817e+02] [-4.55057660e-01 8.90457000e-01 2.97612219e-03 -4.02388071e+01] [ 6.18912985e-03 -1.79294672e-04 9.99980831e-01 -2.41658050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.217628 meters 0.014903108266238467 Centerline is valid? [True, True] Translation: X:137.85, Y:-40.26, Z:-0.24 [[ 8.87335618e-01 4.61076197e-01 -6.65152271e-03 1.37845523e+02] [-4.61061808e-01 8.87360531e-01 3.64650219e-03 -4.02642240e+01] [ 7.58361409e-03 -1.68908182e-04 9.99971230e-01 -2.42804946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.277628 meters 0.013963868975601031 Centerline is valid? [True, True] Translation: X:137.90, Y:-40.29, Z:-0.24 [[ 8.85150405e-01 4.65259573e-01 -6.50307878e-03 1.37901082e+02] [-4.65245929e-01 8.85174284e-01 3.56552523e-03 -4.02914902e+01] [ 7.41525285e-03 -1.30495176e-04 9.99972498e-01 -2.43051939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.337628 meters 0.01319767575166425 Centerline is valid? [True, True] Translation: X:137.96, Y:-40.32, Z:-0.24 [[ 8.83543622e-01 4.68322804e-01 -4.94158989e-03 1.37956505e+02] [-4.68314968e-01 8.83557437e-01 2.71042509e-03 -4.03203652e+01] [ 5.63553238e-03 -8.05582843e-05 9.99984117e-01 -2.41555561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.397628 meters 0.012755321596911624 Centerline is valid? [True, True] Translation: X:138.01, Y:-40.35, Z:-0.24 [[ 8.82201590e-01 4.70855195e-01 -3.96724015e-03 1.38011173e+02] [-4.70850163e-01 8.82210509e-01 2.17754101e-03 -4.03505053e+01] [ 4.52524745e-03 -5.30544710e-05 9.99989760e-01 -2.40338133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.457628 meters 0.01285298245722814 Centerline is valid? [True, True] Translation: X:138.07, Y:-40.38, Z:-0.24 [[ 8.82175867e-01 4.70898957e-01 -4.46226791e-03 1.38066023e+02] [-4.70892583e-01 8.82187151e-01 2.45088359e-03 -4.03820557e+01] [ 5.09067394e-03 -6.08614977e-05 9.99987041e-01 -2.42321063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.517628 meters 0.013383019786998369 Centerline is valid? [True, True] Translation: X:138.12, Y:-40.42, Z:-0.24 [[ 8.83158686e-01 4.69055024e-01 -4.25675750e-03 1.38118014e+02] [-4.69049196e-01 8.83168942e-01 2.33930582e-03 -4.04158226e+01] [ 4.85669916e-03 -6.93495762e-05 9.99988204e-01 -2.42401370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.577628 meters 0.01582911071321477 Centerline is valid? [True, True] Translation: X:138.17, Y:-40.46, Z:-0.24 [[ 8.86609301e-01 4.62514031e-01 -2.17207684e-03 1.38165331e+02] [-4.62512493e-01 8.86611960e-01 1.19398047e-03 -4.04551975e+01] [ 2.47802202e-03 -5.39815129e-05 9.99996928e-01 -2.40245790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.637628 meters 0.016496607564770095 Centerline is valid? [True, True] Translation: X:138.22, Y:-40.49, Z:-0.24 [[ 8.90533847e-01 4.54916331e-01 -7.73570616e-04 1.38215707e+02] [-4.54916133e-01 8.90534183e-01 4.25805723e-04 -4.04904232e+01] [ 8.82597054e-04 -2.72846551e-05 9.99999610e-01 -2.39031371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.697628 meters 0.017506251551080945 Centerline is valid? [True, True] Translation: X:138.27, Y:-40.52, Z:-0.24 [[ 8.92346679e-01 4.51350090e-01 -7.07193081e-04 1.38266598e+02] [-4.51349923e-01 8.92346959e-01 3.89504240e-04 -4.05248108e+01] [ 8.06864369e-04 -2.83812732e-05 9.99999674e-01 -2.39328018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.75762799999998 meters 0.018268053873761812 Centerline is valid? [True, True] Translation: X:138.32, Y:-40.56, Z:-0.24 [[ 8.93553543e-01 4.48954049e-01 -1.52562467e-03 1.38318022e+02] [-4.48953269e-01 8.93554843e-01 8.39642834e-04 -4.05604597e+01] [ 1.74019036e-03 -6.53316464e-05 9.99998484e-01 -2.39057267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.81762799999998 meters 0.018209099543703023 Centerline is valid? [True, True] Translation: X:138.37, Y:-40.59, Z:-0.24 [[ 8.93677815e-01 4.48707566e-01 -1.21775587e-03 1.38371081e+02] [-4.48707067e-01 8.93678643e-01 6.70912372e-04 -4.05918303e+01] [ 1.38932587e-03 -5.31638395e-05 9.99999033e-01 -2.38767871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.877628 meters 0.0190543390109205 Centerline is valid? [True, True] Translation: X:138.42, Y:-40.62, Z:-0.24 [[ 8.93423835e-01 4.49214302e-01 -6.02216639e-04 1.38423035e+02] [-4.49214180e-01 8.93424037e-01 3.31946437e-04 -4.06231982e+01] [ 6.87149908e-04 -2.60446047e-05 9.99999764e-01 -2.39663646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.937628 meters 0.018479830513742686 Centerline is valid? [True, True] Translation: X:138.48, Y:-40.65, Z:-0.24 [[ 8.93464075e-01 4.49131683e-01 -1.63616676e-03 1.38477132e+02] [-4.49130783e-01 8.93465571e-01 9.02143132e-04 -4.06541954e+01] [ 1.86703973e-03 -7.11796211e-05 9.99998255e-01 -2.40222088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.997628 meters 0.018126807732780987 Centerline is valid? [True, True] Translation: X:138.53, Y:-40.68, Z:-0.24 [[ 8.93930027e-01 4.48197450e-01 -2.85516725e-03 1.38531762e+02] [-4.48194702e-01 8.93934578e-01 1.57486629e-03 -4.06838106e+01] [ 3.25818378e-03 -1.28149429e-04 9.99994684e-01 -2.41772935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.057628 meters 0.019264015258294392 Centerline is valid? [True, True] Translation: X:138.58, Y:-40.72, Z:-0.24 [[ 8.94106671e-01 4.47840005e-01 -3.54837316e-03 1.38584265e+02] [-4.47835756e-01 8.94113698e-01 1.95751543e-03 -4.07150130e+01] [ 4.04930276e-03 -1.61139226e-04 9.99991789e-01 -2.43318242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.117628 meters 0.020278409825421975 Centerline is valid? [True, True] Translation: X:138.64, Y:-40.75, Z:-0.24 [[ 8.94551400e-01 4.46957749e-01 -2.56193396e-03 1.38637372e+02] [-4.46955528e-01 8.94555060e-01 1.41433580e-03 -4.07462559e+01] [ 2.92393934e-03 -1.20125526e-04 9.99995718e-01 -2.42673438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.177628 meters 0.021229541915491052 Centerline is valid? [True, True] Translation: X:138.69, Y:-40.78, Z:-0.24 [[ 8.94708015e-01 4.46649371e-01 -1.38096352e-03 1.38691124e+02] [-4.46648724e-01 8.94709079e-01 7.63030638e-04 -4.07767692e+01] [ 1.57636775e-03 -6.58840344e-05 9.99998755e-01 -2.42095721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.237628 meters 0.018862966286052538 Centerline is valid? [True, True] Translation: X:138.75, Y:-40.80, Z:-0.24 [[ 8.94220966e-01 4.47625371e-01 -6.26378052e-04 1.38747358e+02] [-4.47625237e-01 8.94221184e-01 3.46571598e-04 -4.08034886e+01] [ 7.15254764e-04 -2.95289647e-05 9.99999744e-01 -2.40928225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.297628 meters 0.017098264333229876 Centerline is valid? [True, True] Translation: X:138.80, Y:-40.83, Z:-0.24 [[ 8.91115771e-01 4.53775729e-01 -5.20195004e-04 1.38803068e+02] [-4.53775638e-01 8.91115923e-01 2.87619652e-04 -4.08297594e+01] [ 5.94068868e-04 -2.02505886e-05 9.99999823e-01 -2.39729911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.357628 meters 0.015854878460603145 Centerline is valid? [True, True] Translation: X:138.86, Y:-40.86, Z:-0.24 [[ 8.87611974e-01 4.60588666e-01 -1.75035277e-03 1.38857623e+02] [-4.60587652e-01 8.87613699e-01 9.67731145e-04 -4.08551319e+01] [ 1.99936309e-03 -5.27788806e-05 9.99998000e-01 -2.39877232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.417628 meters 0.0131497225118983 Centerline is valid? [True, True] Translation: X:138.92, Y:-40.88, Z:-0.24 [[ 8.81645752e-01 4.71898874e-01 -3.49594213e-03 1.38915941e+02] [-4.71894915e-01 8.81652681e-01 1.93359275e-03 -4.08767100e+01] [ 3.99466700e-03 -5.50265195e-05 9.99992020e-01 -2.42301783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.477628 meters 0.012229359054794206 Centerline is valid? [True, True] Translation: X:138.97, Y:-40.90, Z:-0.24 [[ 8.77940388e-01 4.78737079e-01 -5.61107073e-03 1.38972517e+02] [-4.78727010e-01 8.77958318e-01 3.10514091e-03 -4.09026229e+01] [ 6.41283231e-03 -3.99574986e-05 9.99979437e-01 -2.44414861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.53762799999998 meters 0.012130844166921185 Centerline is valid? [True, True] Translation: X:139.03, Y:-40.93, Z:-0.25 [[ 8.76850999e-01 4.80711522e-01 -6.98271366e-03 1.39028119e+02] [-4.80695972e-01 8.76878801e-01 3.86668390e-03 -4.09323136e+01] [ 7.98175309e-03 -3.39433106e-05 9.99968145e-01 -2.45947098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.597628 meters 0.012267607031740653 Centerline is valid? [True, True] Translation: X:139.08, Y:-40.96, Z:-0.25 [[ 8.76947399e-01 4.80523906e-01 -7.74821484e-03 1.39081710e+02] [-4.80504728e-01 8.76981627e-01 4.29334213e-03 -4.09646407e+01] [ 8.85809558e-03 -4.19813509e-05 9.99960765e-01 -2.46231812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.657628 meters 0.012346414664104775 Centerline is valid? [True, True] Translation: X:139.13, Y:-41.00, Z:-0.24 [[ 8.77905760e-01 4.78782554e-01 -6.98159753e-03 1.39133417e+02] [-4.78766907e-01 8.77933518e-01 3.87117409e-03 -4.10002571e+01] [ 7.98282910e-03 -5.59681740e-05 9.99968135e-01 -2.44402561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.717628 meters 0.01248336552372648 Centerline is valid? [True, True] Translation: X:139.19, Y:-41.03, Z:-0.24 [[ 8.78282165e-01 4.78108006e-01 -5.75968337e-03 1.39186689e+02] [-4.78097327e-01 8.78301049e-01 3.19590535e-03 -4.10330350e+01] [ 6.58672387e-03 -5.32174482e-05 9.99978306e-01 -2.43775709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.777628 meters 0.012660107285739929 Centerline is valid? [True, True] Translation: X:139.24, Y:-41.07, Z:-0.24 [[ 8.78619644e-01 4.77498943e-01 -4.72027857e-03 1.39239583e+02] [-4.77491752e-01 8.78632322e-01 2.62100304e-03 -4.10664618e+01] [ 5.39891550e-03 -4.89706740e-05 9.99985425e-01 -2.43724300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.837628 meters 0.01291051659409543 Centerline is valid? [True, True] Translation: X:139.29, Y:-41.10, Z:-0.24 [[ 8.78900265e-01 4.76989196e-01 -3.95366463e-03 1.39292600e+02] [-4.76984139e-01 8.78909156e-01 2.19687145e-03 -4.11003372e+01] [ 4.52279599e-03 -4.49955804e-05 9.99989771e-01 -2.43038713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.897628 meters 0.015260624425211812 Centerline is valid? [True, True] Translation: X:139.34, Y:-41.13, Z:-0.25 [[ 8.79044334e-01 4.76670818e-01 -8.12341691e-03 1.39344947e+02] [-4.76649437e-01 8.79081863e-01 4.51577912e-03 -4.11345430e+01] [ 9.29368860e-03 -9.75479502e-05 9.99956808e-01 -2.47938524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.957628 meters 0.012879487016504697 Centerline is valid? [True, True] Translation: X:139.40, Y:-41.16, Z:-0.25 [[ 8.76687368e-01 4.80968434e-01 -9.41401427e-03 1.39399966e+02] [-4.80939938e-01 8.76737909e-01 5.23586044e-03 -4.11606543e+01] [ 1.07719068e-02 -6.26372666e-05 9.99941979e-01 -2.48120614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.017628 meters 0.01286758696146736 Centerline is valid? [True, True] Translation: X:139.46, Y:-41.19, Z:-0.25 [[ 8.74918895e-01 4.84114662e-01 -1.22442121e-02 1.39455160e+02] [-4.84066717e-01 8.75004567e-01 6.81331213e-03 -4.11878154e+01] [ 1.40121658e-02 -3.40799619e-05 9.99901824e-01 -2.50567242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.077628 meters 0.012795501423769068 Centerline is valid? [True, True] Translation: X:139.51, Y:-41.22, Z:-0.25 [[ 8.75325165e-01 4.83356149e-01 -1.31410813e-02 1.39508770e+02] [-4.83300772e-01 8.75423800e-01 7.31663927e-03 -4.12182901e+01] [ 1.50405579e-02 -5.33437378e-05 9.99886883e-01 -2.49540108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.137628 meters 0.01310394059722525 Centerline is valid? [True, True] Translation: X:139.56, Y:-41.25, Z:-0.25 [[ 8.77735440e-01 4.79043835e-01 -9.87429262e-03 1.39560956e+02] [-4.79012258e-01 8.77790974e-01 5.50108055e-03 -4.12521578e+01] [ 1.13028237e-02 -9.85861587e-05 9.99936116e-01 -2.45020129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.197628 meters 0.013640839608583255 Centerline is valid? [True, True] Translation: X:139.61, Y:-41.29, Z:-0.24 [[ 8.79617843e-01 4.75628416e-01 -7.07537800e-03 1.39614808e+02] [-4.75612070e-01 8.79646292e-01 3.94457235e-03 -4.12850741e+01] [ 8.09998072e-03 -1.04581045e-04 9.99967189e-01 -2.41757421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.25762799999998 meters 0.014231585175962189 Centerline is valid? [True, True] Translation: X:139.67, Y:-41.32, Z:-0.24 [[ 8.81323158e-01 4.72491383e-01 -4.62423262e-03 1.39667989e+02] [-4.72484350e-01 8.81335285e-01 2.57966734e-03 -4.13167026e+01] [ 5.29436996e-03 -8.86430280e-05 9.99985981e-01 -2.38913820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.31762799999998 meters 0.014313520589227177 Centerline is valid? [True, True] Translation: X:139.72, Y:-41.35, Z:-0.24 [[ 8.81057367e-01 4.72990294e-01 -4.25413206e-03 1.39723655e+02] [-4.72984338e-01 8.81067634e-01 2.37486822e-03 -4.13469262e+01] [ 4.87146769e-03 -8.02573060e-05 9.99988131e-01 -2.39219173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.377628 meters 0.013581772750094635 Centerline is valid? [True, True] Translation: X:139.78, Y:-41.37, Z:-0.24 [[ 8.79181375e-01 4.76459085e-01 -5.18173360e-03 1.39780317e+02] [-4.76450301e-01 8.79196642e-01 2.89421073e-03 -4.13729902e+01] [ 5.93473578e-03 -7.56976397e-05 9.99982386e-01 -2.41282273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.437628 meters 0.013062714818752279 Centerline is valid? [True, True] Translation: X:139.84, Y:-41.40, Z:-0.24 [[ 8.76755949e-01 4.80875856e-01 -7.57737487e-03 1.39836531e+02] [-4.80857217e-01 8.76788689e-01 4.23448938e-03 -4.13999781e+01] [ 8.68002029e-03 -6.89783612e-05 9.99962326e-01 -2.43562201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.497628 meters 0.01292482027451482 Centerline is valid? [True, True] Translation: X:139.89, Y:-41.43, Z:-0.25 [[ 8.75269096e-01 4.83565635e-01 -8.26355525e-03 1.39890907e+02] [-4.83543564e-01 8.75308103e-01 4.62030105e-03 -4.14278866e+01] [ 9.46737568e-03 -4.82177654e-05 9.99955182e-01 -2.45381223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.557628 meters 0.012688764328485641 Centerline is valid? [True, True] Translation: X:139.95, Y:-41.46, Z:-0.25 [[ 8.73718061e-01 4.86363476e-01 -8.20487961e-03 1.39946871e+02] [-4.86341816e-01 8.73756585e-01 4.59009422e-03 -4.14553613e+01] [ 9.40152177e-03 -2.00721665e-05 9.99955805e-01 -2.45965996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.617628 meters 0.012620638448828827 Centerline is valid? [True, True] Translation: X:140.00, Y:-41.49, Z:-0.24 [[ 8.73395388e-01 4.86965243e-01 -6.73419899e-03 1.40001289e+02] [-4.86950653e-01 8.73421349e-01 3.76957831e-03 -4.14860784e+01] [ 7.71744678e-03 -1.31097157e-05 9.99970220e-01 -2.44173645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.677628 meters 0.012589993071224194 Centerline is valid? [True, True] Translation: X:140.05, Y:-41.52, Z:-0.24 [[ 8.73589359e-01 4.86639257e-01 -4.88520324e-03 1.40052717e+02] [-4.86631570e-01 8.73603018e-01 2.73537041e-03 -4.15187948e+01] [ 5.59886692e-03 -1.22963609e-05 9.99984326e-01 -2.42507829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.737628 meters 0.012533532053884085 Centerline is valid? [True, True] Translation: X:140.11, Y:-41.55, Z:-0.24 [[ 8.72807750e-01 4.88038729e-01 -4.98305824e-03 1.40107233e+02] [-4.88030741e-01 8.72821975e-01 2.79216069e-03 -4.15506105e+01] [ 5.71200529e-03 -5.13388036e-06 9.99983686e-01 -2.43424222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.797628 meters 0.013110725064495942 Centerline is valid? [True, True] Translation: X:140.16, Y:-41.58, Z:-0.25 [[ 8.69949919e-01 4.93035887e-01 -1.01367114e-02 1.40162231e+02] [-4.93003163e-01 8.70008972e-01 5.68069189e-03 -4.15787282e+01] [ 1.16198148e-02 5.55133125e-05 9.99932486e-01 -2.48087799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.857628 meters 0.013088190430218635 Centerline is valid? [True, True] Translation: X:140.22, Y:-41.61, Z:-0.25 [[ 8.70080573e-01 4.92807415e-01 -1.00323644e-02 1.40216705e+02] [-4.92775301e-01 8.70138408e-01 5.62608956e-03 -4.16093611e+01] [ 1.15021242e-02 4.85501576e-05 9.99933847e-01 -2.48159510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.917628 meters 0.013088190430218635 Centerline is valid? [True, True] Translation: X:140.27, Y:-41.64, Z:-0.25 [[ 8.69946594e-01 4.93043919e-01 -1.00308346e-02 1.40271087e+02] [-4.93011790e-01 8.70004420e-01 5.62881668e-03 -4.16399654e+01] [ 1.15021243e-02 4.85498345e-05 9.99933847e-01 -2.48263850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.977628 meters 0.012882017191986601 Centerline is valid? [True, True] Translation: X:140.32, Y:-41.67, Z:-0.25 [[ 8.71679224e-01 4.89997639e-01 -8.81160127e-03 1.40323589e+02] [-4.89972662e-01 8.71723760e-01 4.94742029e-03 -4.16730916e+01] [ 1.01055064e-02 4.88024847e-06 9.99948938e-01 -2.46792638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.03762799999998 meters 0.013110952614310152 Centerline is valid? [True, True] Translation: X:140.38, Y:-41.71, Z:-0.24 [[ 8.74796596e-01 4.84445146e-01 -6.61940557e-03 1.40375666e+02] [-4.84430872e-01 8.74821638e-01 3.71921820e-03 -4.17082727e+01] [ 7.59255643e-03 -4.69150123e-05 9.99971175e-01 -2.43567090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.097628 meters 0.014779862244422745 Centerline is valid? [True, True] Translation: X:140.43, Y:-41.74, Z:-0.24 [[ 8.79977535e-01 4.75005589e-01 -3.03796373e-03 1.40426915e+02] [-4.75002525e-01 8.79982777e-01 1.70709270e-03 -4.17441017e+01] [ 3.48423433e-03 -5.91627826e-05 9.99993928e-01 -2.39691134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.157628 meters 0.018069153422956855 Centerline is valid? [True, True] Translation: X:140.48, Y:-41.78, Z:-0.24 [[ 8.84851686e-01 4.65867085e-01 -2.31369537e-03 1.40477276e+02] [-4.65865275e-01 8.84854708e-01 1.30080957e-03 -4.17785427e+01] [ 2.65328860e-03 -7.31532140e-05 9.99996477e-01 -2.38907332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.217628 meters 0.01894119726796753 Centerline is valid? [True, True] Translation: X:140.53, Y:-41.81, Z:-0.24 [[ 8.90075745e-01 4.55782947e-01 -5.20330583e-03 1.40532839e+02] [-4.55773619e-01 8.90090923e-01 2.92524409e-03 -4.18065154e+01] [ 5.96469166e-03 -2.32159290e-04 9.99982184e-01 -2.41485057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.277628 meters 0.019905674322693714 Centerline is valid? [True, True] Translation: X:140.59, Y:-41.84, Z:-0.24 [[ 8.90860132e-01 4.54242330e-01 -5.66849778e-03 1.40586270e+02] [-4.54231215e-01 8.90878126e-01 3.18882201e-03 -4.18369042e+01] [ 6.49843862e-03 -2.65985763e-04 9.99978850e-01 -2.42509021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.337628 meters 0.025156320205164676 Centerline is valid? [True, True] Translation: X:140.64, Y:-41.87, Z:-0.24 [[ 8.91510228e-01 4.52963799e-01 -5.77150150e-03 1.40636068e+02] [-4.52952243e-01 8.91528865e-01 3.24769258e-03 -4.18721709e+01] [ 6.61654735e-03 -2.81136598e-04 9.99978071e-01 -2.44635908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.397628 meters 0.021182557428273397 Centerline is valid? [True, True] Translation: X:140.69, Y:-41.89, Z:-0.24 [[ 8.92071906e-01 4.51847130e-01 -6.47194619e-03 1.40694820e+02] [-4.51832553e-01 8.92095322e-01 3.64411652e-03 -4.18938355e+01] [ 7.42017651e-03 -3.26578002e-04 9.99972417e-01 -2.43441518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.457628 meters 0.02034637012044089 Centerline is valid? [True, True] Translation: X:140.75, Y:-41.92, Z:-0.24 [[ 8.91298759e-01 4.53369785e-01 -6.50854603e-03 1.40751028e+02] [-4.53355067e-01 8.91322465e-01 3.66686887e-03 -4.19201496e+01] [ 7.46366084e-03 -3.17593351e-04 9.99972096e-01 -2.43666963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.517628 meters 0.019849367629191542 Centerline is valid? [True, True] Translation: X:140.81, Y:-41.94, Z:-0.24 [[ 8.88832077e-01 4.58211002e-01 -4.49626673e-03 1.40806097e+02] [-4.58204037e-01 8.88843429e-01 2.53359730e-03 -4.19448166e+01] [ 5.15739929e-03 -1.91734986e-04 9.99986682e-01 -2.42575341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.577628 meters 0.018305320930761728 Centerline is valid? [True, True] Translation: X:140.86, Y:-41.97, Z:-0.24 [[ 8.86495891e-01 4.62722525e-01 -3.59159385e-03 1.40863119e+02] [-4.62718117e-01 8.86503157e-01 2.02398509e-03 -4.19693076e+01] [ 4.12050278e-03 -1.32358920e-04 9.99991502e-01 -2.42107669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.637628 meters 0.01602601004068511 Centerline is valid? [True, True] Translation: X:140.92, Y:-41.99, Z:-0.24 [[ 8.83938475e-01 4.67562426e-01 -6.17657551e-03 1.40920595e+02] [-4.67549506e-01 8.83960034e-01 3.48110562e-03 -4.19930314e+01] [ 7.08748009e-03 -1.89228361e-04 9.99974866e-01 -2.44137876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.697628 meters 0.01562688706438925 Centerline is valid? [True, True] Translation: X:140.97, Y:-42.02, Z:-0.25 [[ 8.81434378e-01 4.72255000e-01 -6.97516614e-03 1.40974457e+02] [-4.72238659e-01 8.81461959e-01 3.93226171e-03 -4.20197630e+01] [ 8.00537387e-03 -1.72087547e-04 9.99967942e-01 -2.45589309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.75762799999998 meters 0.014382738480383277 Centerline is valid? [True, True] Translation: X:141.03, Y:-42.05, Z:-0.24 [[ 8.78497032e-01 4.77712679e-01 -5.79320721e-03 1.41030440e+02] [-4.77701523e-01 8.78516127e-01 3.26632706e-03 -4.20456945e+01] [ 6.64979181e-03 -1.02034721e-04 9.99977885e-01 -2.44645724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.81762799999998 meters 0.013188280848896946 Centerline is valid? [True, True] Translation: X:141.09, Y:-42.07, Z:-0.24 [[ 8.74971103e-01 4.84159266e-01 -3.92085730e-03 1.41087594e+02] [-4.84154215e-01 8.74979888e-01 2.21188205e-03 -4.20692968e+01] [ 4.50157447e-03 -3.70332893e-05 9.99989867e-01 -2.42992187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.877628 meters 0.012711913993023707 Centerline is valid? [True, True] Translation: X:141.15, Y:-42.09, Z:-0.24 [[ 8.69509205e-01 4.93905893e-01 -3.27294312e-03 1.41146242e+02] [-4.93902437e-01 8.69515364e-01 1.84762536e-03 -4.20917040e+01] [ 3.75842738e-03 9.98732673e-06 9.99992937e-01 -2.43135631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.937628 meters 0.013573060048018178 Centerline is valid? [True, True] Translation: X:141.20, Y:-42.12, Z:-0.24 [[ 8.65261223e-01 5.01317264e-01 -2.00435513e-03 1.41202210e+02] [-5.01315986e-01 8.65263544e-01 1.13231887e-03 -4.21185742e+01] [ 2.30194642e-03 2.50636580e-05 9.99997350e-01 -2.41353690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.997628 meters 0.017275111593986626 Centerline is valid? [True, True] Translation: X:141.26, Y:-42.15, Z:-0.24 [[ 8.62731741e-01 5.05653884e-01 -2.84467910e-03 1.41257842e+02] [-5.05651331e-01 8.62736430e-01 1.60776948e-03 -4.21469061e+01] [ 3.26718318e-03 5.13420101e-05 9.99994661e-01 -2.44122659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.057628 meters 0.015548952527156372 Centerline is valid? [True, True] Translation: X:141.31, Y:-42.18, Z:-0.25 [[ 8.60419115e-01 5.09545784e-01 -6.48391776e-03 1.41312777e+02] [-5.09532631e-01 8.60443532e-01 3.66427396e-03 -4.21764307e+01] [ 7.44616045e-03 1.50956321e-04 9.99972266e-01 -2.45738973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.117628 meters 0.015393551663120163 Centerline is valid? [True, True] Translation: X:141.37, Y:-42.21, Z:-0.25 [[ 8.60514322e-01 5.09382852e-01 -6.64918989e-03 1.41365304e+02] [-5.09368993e-01 8.60539998e-01 3.76056662e-03 -4.22111434e+01] [ 7.63746200e-03 1.50869715e-04 9.99970823e-01 -2.45181581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.177628 meters 0.01423988799132831 Centerline is valid? [True, True] Translation: X:141.42, Y:-42.25, Z:-0.24 [[ 8.62660159e-01 5.05750908e-01 -5.78530533e-03 1.41415248e+02] [-5.05740321e-01 8.62679552e-01 3.27391212e-03 -4.22484751e+01] [ 6.64664864e-03 1.01588626e-04 9.99977906e-01 -2.43431835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.237628 meters 0.013271296790908731 Centerline is valid? [True, True] Translation: X:141.47, Y:-42.29, Z:-0.24 [[ 8.65732084e-01 5.00483094e-01 -4.96296781e-03 1.41465478e+02] [-5.00475206e-01 8.65746308e-01 2.81028693e-03 -4.22851740e+01] [ 5.70317216e-03 5.08867786e-05 9.99983735e-01 -2.43002845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.297628 meters 0.012899023020152644 Centerline is valid? [True, True] Translation: X:141.51, Y:-42.33, Z:-0.24 [[ 8.71451676e-01 4.90470710e-01 -3.23414373e-03 1.41512369e+02] [-4.90467286e-01 8.71457677e-01 1.83258315e-03 -4.23279352e+01] [ 3.71724774e-03 -1.07659601e-05 9.99993091e-01 -2.40755650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.357628 meters 0.01411196967420083 Centerline is valid? [True, True] Translation: X:141.56, Y:-42.37, Z:-0.24 [[ 8.77087396e-01 4.80329529e-01 -1.11512794e-03 1.41560120e+02] [-4.80329113e-01 8.77088104e-01 6.32498008e-04 -4.23687969e+01] [ 1.28187292e-03 -1.91276183e-05 9.99999178e-01 -2.38585028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.417628 meters 0.015378486960732676 Centerline is valid? [True, True] Translation: X:141.61, Y:-42.40, Z:-0.24 [[ 8.79876644e-01 4.75201042e-01 -1.03010765e-03 1.41611308e+02] [-4.75200683e-01 8.79877246e-01 5.84613241e-04 -4.24036243e+01] [ 1.18417711e-03 -2.48796758e-05 9.99999299e-01 -2.39962874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.477628 meters 0.015903963469467382 Centerline is valid? [True, True] Translation: X:141.66, Y:-42.43, Z:-0.24 [[ 8.80815371e-01 4.73455734e-01 -1.98758568e-03 1.41664906e+02] [-4.73454392e-01 8.80817612e-01 1.12827575e-03 -4.24346937e+01] [ 2.28488910e-03 -5.27714509e-05 9.99997388e-01 -2.42277371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.53762799999998 meters 0.017351188537771085 Centerline is valid? [True, True] Translation: X:141.72, Y:-42.47, Z:-0.25 [[ 8.83377116e-01 4.68626821e-01 -5.81144527e-03 1.41715541e+02] [-4.68615243e-01 8.83396211e-01 3.29970575e-03 -4.24700654e+01] [ 6.68013935e-03 -1.91552704e-04 9.99977669e-01 -2.45272894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.597628 meters 0.01857883913787504 Centerline is valid? [True, True] Translation: X:141.77, Y:-42.50, Z:-0.25 [[ 8.85525057e-01 4.64535988e-01 -7.18955016e-03 1.41768533e+02] [-4.64518131e-01 8.85554199e-01 4.08239872e-03 -4.25025220e+01] [ 8.26315746e-03 -2.75389949e-04 9.99965822e-01 -2.46884842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.657628 meters 0.021271380595050442 Centerline is valid? [True, True] Translation: X:141.82, Y:-42.53, Z:-0.25 [[ 8.88590496e-01 4.58658375e-01 -6.27900332e-03 1.41822578e+02] [-4.58644603e-01 8.88612633e-01 3.56590371e-03 -4.25328107e+01] [ 7.21513327e-03 -2.88797154e-04 9.99973929e-01 -2.48644919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.717628 meters 0.02154985965116447 Centerline is valid? [True, True] Translation: X:141.87, Y:-42.56, Z:-0.24 [[ 8.90145727e-01 4.55658837e-01 -3.95069515e-03 1.41874817e+02] [-4.55653351e-01 8.90154472e-01 2.24471568e-03 -4.25638815e+01] [ 4.53955350e-03 -1.97976587e-04 9.99989677e-01 -2.44022480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.777628 meters 0.022096563133486877 Centerline is valid? [True, True] Translation: X:141.93, Y:-42.59, Z:-0.24 [[ 8.91396023e-01 4.53217892e-01 -2.58319529e-03 1.41930280e+02] [-4.53215536e-01 8.91399755e-01 1.46788853e-03 -4.25925319e+01] [ 2.96793300e-03 -1.37725763e-04 9.99995586e-01 -2.42564249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.837628 meters 0.02214404806565403 Centerline is valid? [True, True] Translation: X:141.99, Y:-42.62, Z:-0.24 [[ 8.90701281e-01 4.54583122e-01 -2.32655544e-03 1.41987094e+02] [-4.54581213e-01 8.90704311e-01 1.32315376e-03 -4.26185902e+01] [ 2.67375633e-03 -1.20926353e-04 9.99996418e-01 -2.43355662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.897628 meters 0.02018162878187876 Centerline is valid? [True, True] Translation: X:142.05, Y:-42.64, Z:-0.24 [[ 8.87513230e-01 4.60777767e-01 -2.02890476e-03 1.42046239e+02] [-4.60776330e-01 8.87515544e-01 1.15443748e-03 -4.26390233e+01] [ 2.33262364e-03 -8.97072431e-05 9.99997275e-01 -2.42693575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.957628 meters 0.01654013895665596 Centerline is valid? [True, True] Translation: X:142.11, Y:-42.66, Z:-0.24 [[ 8.82432537e-01 4.70430509e-01 -2.82009759e-03 1.42106591e+02] [-4.70427779e-01 8.82437039e-01 1.60512962e-03 -4.26560047e+01] [ 3.24366051e-03 -8.97663604e-05 9.99994735e-01 -2.43386811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.017628 meters 0.014460353061959641 Centerline is valid? [True, True] Translation: X:142.17, Y:-42.67, Z:-0.25 [[ 8.77603018e-01 4.79379274e-01 -2.90775108e-03 1.42166407e+02] [-4.79376421e-01 8.77607833e-01 1.65509008e-03 -4.26732112e+01] [ 3.34528100e-03 -5.86047411e-05 9.99994403e-01 -2.45397934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.077628 meters 0.013212661340369266 Centerline is valid? [True, True] Translation: X:142.22, Y:-42.70, Z:-0.25 [[ 8.74816777e-01 4.84443557e-01 -3.16982494e-03 1.42224321e+02] [-4.84440198e-01 8.74822518e-01 1.80441584e-03 -4.26965074e+01] [ 3.64717187e-03 -4.29426248e-05 9.99993348e-01 -2.47095033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.137628 meters 0.012238576025273975 Centerline is valid? [True, True] Translation: X:142.28, Y:-42.72, Z:-0.25 [[ 8.71993706e-01 4.89499956e-01 -4.09497134e-03 1.42281748e+02] [-4.89494399e-01 8.72003321e-01 2.33271595e-03 -4.27216060e+01] [ 4.71269297e-03 -2.96480872e-05 9.99988895e-01 -2.47268452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.197628 meters 0.011758935979655317 Centerline is valid? [True, True] Translation: X:142.34, Y:-42.75, Z:-0.25 [[ 8.68319584e-01 4.95987195e-01 -4.21921791e-03 1.42339776e+02] [-4.95981365e-01 8.68329835e-01 2.40486907e-03 -4.27450228e+01] [ 4.85645706e-03 4.45854997e-06 9.99988207e-01 -2.47611725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.25762799999998 meters 0.0119719892920439 Centerline is valid? [True, True] Translation: X:142.40, Y:-42.77, Z:-0.25 [[ 8.66193822e-01 4.99696784e-01 -3.37432165e-03 1.42395751e+02] [-4.99693081e-01 8.66200394e-01 1.92403256e-03 -4.27717436e+01] [ 3.88427162e-03 1.95400642e-05 9.99992456e-01 -2.48051162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.31762799999998 meters 0.011992465155108673 Centerline is valid? [True, True] Translation: X:142.45, Y:-42.80, Z:-0.25 [[ 8.64530477e-01 5.02570515e-01 -3.15151647e-03 1.42450219e+02] [-5.02567299e-01 8.64536221e-01 1.79818994e-03 -4.28017717e+01] [ 3.62831738e-03 2.92591161e-05 9.99993417e-01 -2.46570569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.377628 meters 0.012150379390255466 Centerline is valid? [True, True] Translation: X:142.50, Y:-42.83, Z:-0.25 [[ 8.63386078e-01 5.04533592e-01 -3.21483903e-03 1.42503661e+02] [-5.04530255e-01 8.63392062e-01 1.83539924e-03 -4.28329164e+01] [ 3.70168707e-03 3.73254054e-05 9.99993148e-01 -2.45935893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.437628 meters 0.012176675930481978 Centerline is valid? [True, True] Translation: X:142.56, Y:-42.86, Z:-0.25 [[ 8.63642463e-01 5.04091264e-01 -3.70050052e-03 1.42557267e+02] [-5.04086833e-01 8.63650390e-01 2.11393721e-03 -4.28647621e+01] [ 4.26155600e-03 3.96876520e-05 9.99990919e-01 -2.46403608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.497628 meters 0.011847671626032915 Centerline is valid? [True, True] Translation: X:142.61, Y:-42.90, Z:-0.25 [[ 8.65425886e-01 5.01017846e-01 -4.37636677e-03 1.42608076e+02] [-5.01011603e-01 8.65436951e-01 2.50132078e-03 -4.29009598e+01] [ 5.04067586e-03 2.79027814e-05 9.99987295e-01 -2.46993959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.557628 meters 0.01171901540474976 Centerline is valid? [True, True] Translation: X:142.66, Y:-42.93, Z:-0.25 [[ 8.66361157e-01 4.99400642e-01 -4.16463875e-03 1.42660102e+02] [-4.99394963e-01 8.66371167e-01 2.38167773e-03 -4.29342336e+01] [ 4.79753432e-03 1.64065415e-05 9.99988492e-01 -2.46896810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.617628 meters 0.011673777406148333 Centerline is valid? [True, True] Translation: X:142.71, Y:-42.97, Z:-0.25 [[ 8.68936676e-01 4.94902753e-01 -4.50758376e-03 1.42711336e+02] [-4.94896030e-01 8.68948368e-01 2.57948573e-03 -4.29717339e+01] [ 5.19345214e-03 -1.06244429e-05 9.99986514e-01 -2.47032710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.677628 meters 0.012889399474576672 Centerline is valid? [True, True] Translation: X:142.76, Y:-43.01, Z:-0.25 [[ 8.74101236e-01 4.85729661e-01 -3.70466457e-03 1.42758954e+02] [-4.85725033e-01 8.74109085e-01 2.12122120e-03 -4.30137184e+01] [ 4.26862101e-03 -5.47137575e-05 9.99990888e-01 -2.45312138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.737628 meters 0.015818287564387867 Centerline is valid? [True, True] Translation: X:142.80, Y:-43.06, Z:-0.24 [[ 8.79409505e-01 4.76057742e-01 -2.81944061e-03 1.42804661e+02] [-4.76055010e-01 8.79414021e-01 1.61460114e-03 -4.30554096e+01] [ 3.24809898e-03 -7.76867620e-05 9.99994722e-01 -2.43042303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.797628 meters 0.019683091413112624 Centerline is valid? [True, True] Translation: X:142.85, Y:-43.09, Z:-0.24 [[ 8.84112869e-01 4.67261859e-01 -3.28475990e-03 1.42852185e+02] [-4.67258088e-01 8.84118962e-01 1.88177135e-03 -4.30946172e+01] [ 3.78339849e-03 -1.28867641e-04 9.99992835e-01 -2.44071678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.857628 meters 0.02459984503801213 Centerline is valid? [True, True] Translation: X:142.90, Y:-43.14, Z:-0.24 [[ 8.88640565e-01 4.58589663e-01 -3.66981520e-03 1.42898588e+02] [-4.58584880e-01 8.88648123e-01 2.10270276e-03 -4.31351435e+01] [ 4.22545214e-03 -1.85625203e-04 9.99991056e-01 -2.44099510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.917628 meters 0.02615356985638165 Centerline is valid? [True, True] Translation: X:142.95, Y:-43.17, Z:-0.24 [[ 8.89882329e-01 4.56169649e-01 -4.32333858e-03 1.42950241e+02] [-4.56162976e-01 8.89892801e-01 2.47848957e-03 -4.31688247e+01] [ 4.97791960e-03 -2.33417075e-04 9.99987583e-01 -2.44489680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.977628 meters 0.023070198140056355 Centerline is valid? [True, True] Translation: X:143.00, Y:-43.20, Z:-0.24 [[ 8.92734189e-01 4.50541235e-01 -6.18573816e-03 1.43004480e+02] [-4.50527438e-01 8.92755539e-01 3.54625035e-03 -4.31978443e+01] [ 7.12008402e-03 -3.79014161e-04 9.99974580e-01 -2.44502357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.03762799999998 meters 0.027332074489999393 Centerline is valid? [True, True] Translation: X:143.05, Y:-43.23, Z:-0.25 [[ 8.92196324e-01 4.51586513e-01 -7.43913792e-03 1.43054986e+02] [-4.51566572e-01 8.92227225e-01 4.26734996e-03 -4.32326929e+01] [ 8.56447907e-03 -4.48047936e-04 9.99963224e-01 -2.45522320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.097628 meters 0.032891541662836185 Centerline is valid? [True, True] Translation: X:143.10, Y:-43.27, Z:-0.25 [[ 8.90851089e-01 4.54231542e-01 -7.61866569e-03 1.43104646e+02] [-4.54210723e-01 8.90883561e-01 4.37034450e-03 -4.32673437e+01] [ 8.77249234e-03 -4.32846509e-04 9.99961427e-01 -2.47813678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.157628 meters 0.020067011472538667 Centerline is valid? [True, True] Translation: X:143.17, Y:-43.28, Z:-0.24 [[ 8.88379534e-01 4.59077564e-01 -5.43993903e-03 1.43165838e+02] [-4.59067028e-01 8.88396147e-01 3.12252799e-03 -4.32831798e+01] [ 6.26630341e-03 -2.76693321e-04 9.99980328e-01 -2.40787479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.217628 meters 0.018704907258339995 Centerline is valid? [True, True] Translation: X:143.22, Y:-43.31, Z:-0.24 [[ 8.84774117e-01 4.66005188e-01 -3.73186732e-03 1.43222460e+02] [-4.66000291e-01 8.84781973e-01 2.14215866e-03 -4.33084784e+01] [ 4.30014598e-03 -1.56275283e-04 9.99990742e-01 -2.40054542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.277628 meters 0.018083425230989297 Centerline is valid? [True, True] Translation: X:143.28, Y:-43.33, Z:-0.24 [[ 8.82083691e-01 4.71079560e-01 -3.52280471e-03 1.43276434e+02] [-4.71075235e-01 8.82090717e-01 2.02244277e-03 -4.33349353e+01] [ 4.06016478e-03 -1.24457725e-04 9.99991750e-01 -2.40198945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.337628 meters 0.014951211863761095 Centerline is valid? [True, True] Translation: X:143.33, Y:-43.36, Z:-0.24 [[ 8.77737900e-01 4.79114229e-01 -5.07300179e-03 1.43334509e+02] [-4.79105392e-01 8.77752550e-01 2.91263908e-03 -4.33574514e+01] [ 5.84832709e-03 -1.26031193e-04 9.99982890e-01 -2.40445343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.397628 meters 0.014138600455767363 Centerline is valid? [True, True] Translation: X:143.39, Y:-43.38, Z:-0.24 [[ 8.75377321e-01 4.83403326e-01 -5.98074204e-03 1.43390084e+02] [-4.83391141e-01 8.75397744e-01 3.43423450e-03 -4.33848452e+01] [ 6.89564847e-03 -1.15213280e-04 9.99976218e-01 -2.41814709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.457628 meters 0.013707612950194218 Centerline is valid? [True, True] Translation: X:143.44, Y:-43.41, Z:-0.24 [[ 8.73361116e-01 4.87030696e-01 -6.43911832e-03 1.43444848e+02] [-4.87016659e-01 8.73384848e-01 3.69879032e-03 -4.34128771e+01] [ 7.42525279e-03 -9.44217494e-05 9.99972428e-01 -2.43378322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.517628 meters 0.013399509961300227 Centerline is valid? [True, True] Translation: X:143.50, Y:-43.44, Z:-0.24 [[ 8.72706610e-01 4.88209054e-01 -5.92394139e-03 1.43499372e+02] [-4.88197197e-01 8.72726712e-01 3.40345049e-03 -4.34436511e+01] [ 6.83157723e-03 -7.81621535e-05 9.99976661e-01 -2.42884916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.577628 meters 0.01265533232133835 Centerline is valid? [True, True] Translation: X:143.55, Y:-43.47, Z:-0.25 [[ 8.70394883e-01 4.92308366e-01 -6.72464774e-03 1.43554140e+02] [-4.92293190e-01 8.70420858e-01 3.86584728e-03 -4.34721017e+01] [ 7.75646261e-03 -5.43154016e-05 9.99969917e-01 -2.45216770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.637628 meters 0.0120356030580049 Centerline is valid? [True, True] Translation: X:143.61, Y:-43.50, Z:-0.24 [[ 8.67621567e-01 4.97171029e-01 -7.33382951e-03 1.43609033e+02] [-4.97153132e-01 8.67652562e-01 4.21846922e-03 -4.35008992e+01] [ 8.46051664e-03 -1.39985622e-05 9.99964209e-01 -2.44735096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.697628 meters 0.012302796173454969 Centerline is valid? [True, True] Translation: X:143.66, Y:-43.53, Z:-0.24 [[ 8.63664405e-01 5.04000063e-01 -8.22998001e-03 1.43662823e+02] [-5.03977809e-01 8.63703614e-01 4.73658455e-03 -4.35316045e+01] [ 9.49550239e-03 5.69078126e-05 9.99954915e-01 -2.44352590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.75762799999998 meters 0.012906857854548738 Centerline is valid? [True, True] Translation: X:143.72, Y:-43.56, Z:-0.25 [[ 8.61735616e-01 5.07274408e-01 -9.18709503e-03 1.43716197e+02] [-5.07246831e-01 8.61784581e-01 5.29036400e-03 -4.35628582e+01] [ 1.06009631e-02 1.01229754e-04 9.99943803e-01 -2.45029288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.81762799999998 meters 0.013415374716880493 Centerline is valid? [True, True] Translation: X:143.77, Y:-43.60, Z:-0.24 [[ 8.59812693e-01 5.10523027e-01 -9.40061334e-03 1.43768006e+02] [-5.10494331e-01 8.59864070e-01 5.41475592e-03 -4.35962735e+01] [ 1.08476072e-02 1.43283947e-04 9.99941153e-01 -2.44604898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.877628 meters 0.013500851333786684 Centerline is valid? [True, True] Translation: X:143.82, Y:-43.63, Z:-0.24 [[ 8.59592790e-01 5.10870219e-01 -1.05761209e-02 1.43819860e+02] [-5.10833878e-01 8.59657835e-01 6.09559246e-03 -4.36311520e+01] [ 1.22059019e-02 1.62913532e-04 9.99925492e-01 -2.44999553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.937628 meters 0.01317390045426991 Centerline is valid? [True, True] Translation: X:143.87, Y:-43.67, Z:-0.25 [[ 8.60415556e-01 5.09469304e-01 -1.12294052e-02 1.43870245e+02] [-5.09428167e-01 8.60488818e-01 6.47587142e-03 -4.36677184e+01] [ 1.29620353e-02 1.48634776e-04 9.99915978e-01 -2.45070699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.997628 meters 0.012669258262634004 Centerline is valid? [True, True] Translation: X:143.92, Y:-43.71, Z:-0.24 [[ 8.63039103e-01 5.05066510e-01 -8.44554226e-03 1.43918262e+02] [-5.05043026e-01 8.63080423e-01 4.87089796e-03 -4.37084130e+01] [ 9.74930962e-03 6.15868189e-05 9.99952472e-01 -2.42015802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.057628 meters 0.012448873415300947 Centerline is valid? [True, True] Translation: X:143.97, Y:-43.75, Z:-0.24 [[ 8.65249329e-01 5.01314558e-01 -5.22616544e-03 1.43967339e+02] [-5.01305489e-01 8.65265112e-01 3.01533326e-03 -4.37457148e+01] [ 6.03364909e-03 1.08903414e-05 9.99981797e-01 -2.39221800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.117628 meters 0.012679063718924294 Centerline is valid? [True, True] Translation: X:144.02, Y:-43.79, Z:-0.24 [[ 8.68664342e-01 4.95390849e-01 -3.18882870e-03 1.44015918e+02] [-4.95387427e-01 8.68670194e-01 1.84146411e-03 -4.37874510e+01] [ 3.68228492e-03 -1.99085672e-05 9.99993220e-01 -2.36423390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.177628 meters 0.012564916437026747 Centerline is valid? [True, True] Translation: X:144.07, Y:-43.82, Z:-0.24 [[ 8.67890988e-01 4.96750018e-01 -2.15700976e-03 1.44070013e+02] [-4.96748454e-01 8.67893668e-01 1.24642624e-03 -4.38181946e+01] [ 2.49121737e-03 -1.02708338e-05 9.99996897e-01 -2.36500913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.237628 meters 0.012577615635509748 Centerline is valid? [True, True] Translation: X:144.12, Y:-43.85, Z:-0.24 [[ 8.66349565e-01 4.99417849e-01 -4.49925436e-03 1.44124345e+02] [-4.99411076e-01 8.66361248e-01 2.60097145e-03 -4.38483063e+01] [ 5.19695119e-03 -6.37302503e-06 9.99986496e-01 -2.38661192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.297628 meters 0.01258272634330719 Centerline is valid? [True, True] Translation: X:144.18, Y:-43.88, Z:-0.24 [[ 8.65244253e-01 5.01275822e-01 -8.65639494e-03 1.44180012e+02] [-5.01250820e-01 8.65287554e-01 5.00651780e-03 -4.38768155e+01] [ 9.99991712e-03 7.16430483e-06 9.99950000e-01 -2.42701830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.357628 meters 0.01271597436225244 Centerline is valid? [True, True] Translation: X:144.23, Y:-43.91, Z:-0.24 [[ 8.66730522e-01 4.98687298e-01 -9.44358027e-03 1.44233175e+02] [-4.98657355e-01 8.66781967e-01 5.46482329e-03 -4.39084239e+01] [ 1.09107630e-02 -2.74183822e-05 9.99940475e-01 -2.44112575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.417628 meters 0.016466281317585235 Centerline is valid? [True, True] Translation: X:144.28, Y:-43.94, Z:-0.25 [[ 8.70599652e-01 4.91938089e-01 -7.29126177e-03 1.44283959e+02] [-4.91919983e-01 8.70630179e-01 4.22155877e-03 -4.39430699e+01] [ 8.42473809e-03 -8.85702220e-05 9.99964507e-01 -2.45251250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.477628 meters 0.014067672436492725 Centerline is valid? [True, True] Translation: X:144.34, Y:-43.98, Z:-0.24 [[ 8.71550315e-01 4.90268834e-01 -6.04299986e-03 1.44337918e+02] [-4.90256341e-01 8.71571260e-01 3.50116329e-03 -4.39753107e+01] [ 6.98341626e-03 -8.88209695e-05 9.99975612e-01 -2.41424918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.53762799999998 meters 0.015221647381253266 Centerline is valid? [True, True] Translation: X:144.39, Y:-44.01, Z:-0.24 [[ 8.73516680e-01 4.86771534e-01 -4.69929112e-03 1.44390569e+02] [-4.86763920e-01 8.73529315e-01 2.72416767e-03 -4.40080587e+01] [ 5.43101583e-03 -9.21605349e-05 9.99985248e-01 -2.39891304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.597628 meters 0.014848440149416959 Centerline is valid? [True, True] Translation: X:144.45, Y:-44.04, Z:-0.24 [[ 8.74384142e-01 4.85223823e-01 -3.19593388e-03 1.44445286e+02] [-4.85220286e-01 8.74389980e-01 1.85389088e-03 -4.40370429e+01] [ 3.69404458e-03 -7.02808318e-05 9.99993175e-01 -2.39005124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.657628 meters 0.014402324112372756 Centerline is valid? [True, True] Translation: X:144.50, Y:-44.07, Z:-0.24 [[ 8.73386897e-01 4.87014353e-01 -3.51402502e-03 1.44500849e+02] [-4.87010087e-01 8.73393963e-01 2.03951603e-03 -4.40653491e+01] [ 4.06240182e-03 -6.99209420e-05 9.99991746e-01 -2.39944874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.717628 meters 0.013807599245475465 Centerline is valid? [True, True] Translation: X:144.56, Y:-44.09, Z:-0.24 [[ 8.71208137e-01 4.90886307e-01 -5.19760980e-03 1.44556821e+02] [-4.90877035e-01 8.71223638e-01 3.01812176e-03 -4.40930583e+01] [ 6.00983517e-03 -7.80249455e-05 9.99981938e-01 -2.42604182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.777628 meters 0.01281364424751121 Centerline is valid? [True, True] Translation: X:144.61, Y:-44.12, Z:-0.24 [[ 8.67590159e-01 4.97229465e-01 -7.08337520e-03 1.44613230e+02] [-4.97212437e-01 8.67619073e-01 4.11528612e-03 -4.41187421e+01] [ 8.19191294e-03 -4.84394910e-05 9.99966445e-01 -2.44629580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.837628 meters 0.01245926023924743 Centerline is valid? [True, True] Translation: X:144.67, Y:-44.15, Z:-0.24 [[ 8.65260742e-01 5.01271657e-01 -7.11148737e-03 1.44669162e+02] [-5.01254611e-01 8.65289966e-01 4.13397154e-03 -4.41468339e+01] [ 8.22574143e-03 -1.22974445e-05 9.99966168e-01 -2.44493183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.897628 meters 0.01224499001457006 Centerline is valid? [True, True] Translation: X:144.72, Y:-44.18, Z:-0.24 [[ 8.63243864e-01 5.04755988e-01 -5.60565945e-03 1.44723869e+02] [-5.04745458e-01 8.63262065e-01 3.26037351e-03 -4.41750589e+01] [ 6.48484620e-03 1.49337199e-05 9.99978973e-01 -2.43687362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.957628 meters 0.012194040991013263 Centerline is valid? [True, True] Translation: X:144.78, Y:-44.21, Z:-0.24 [[ 8.63694304e-01 5.03992698e-01 -4.84859176e-03 1.44775878e+02] [-5.03984800e-01 8.63707914e-01 2.82153611e-03 -4.42066695e+01] [ 5.60980068e-03 6.67188017e-06 9.99984265e-01 -2.43917819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.017628 meters 0.012164977807817333 Centerline is valid? [True, True] Translation: X:144.83, Y:-44.24, Z:-0.24 [[ 8.66417161e-01 4.99304843e-01 -3.99715142e-03 1.44827636e+02] [-4.99299418e-01 8.66426381e-01 2.32769121e-03 -4.42435059e+01] [ 4.62546493e-03 -2.09762367e-05 9.99989302e-01 -2.43334630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.077628 meters 0.01289868790153159 Centerline is valid? [True, True] Translation: X:144.88, Y:-44.28, Z:-0.24 [[ 8.68619409e-01 4.95464316e-01 -3.92858690e-03 1.44878312e+02] [-4.95459031e-01 8.68628292e-01 2.28893761e-03 -4.42791128e+01] [ 4.54656863e-03 -4.17617807e-05 9.99989663e-01 -2.42897967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.137628 meters 0.013844777025192035 Centerline is valid? [True, True] Translation: X:144.93, Y:-44.31, Z:-0.24 [[ 8.70801485e-01 4.91603119e-01 -5.58086450e-03 1.44929022e+02] [-4.91592363e-01 8.70819364e-01 3.25318335e-03 -4.43149177e+01] [ 6.45919996e-03 -8.93665268e-05 9.99979135e-01 -2.44202390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.197628 meters 0.014838093499800944 Centerline is valid? [True, True] Translation: X:144.98, Y:-44.35, Z:-0.25 [[ 8.71929496e-01 4.89582443e-01 -6.92706441e-03 1.44980332e+02] [-4.89565794e-01 8.71957002e-01 4.03975652e-03 -4.43493548e+01] [ 8.01789618e-03 -1.31129080e-04 9.99967848e-01 -2.46366906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.25762799999998 meters 0.015638492807332767 Centerline is valid? [True, True] Translation: X:145.03, Y:-44.38, Z:-0.25 [[ 8.73637034e-01 4.86497143e-01 -8.88047588e-03 1.45030805e+02] [-4.86469594e-01 8.73682143e-01 5.18145448e-03 -4.43847595e+01] [ 1.02794760e-02 -2.06629024e-04 9.99947143e-01 -2.46612144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.31762799999998 meters 0.01608927084115982 Centerline is valid? [True, True] Translation: X:145.08, Y:-44.42, Z:-0.25 [[ 8.74246893e-01 4.85408348e-01 -8.43241086e-03 1.45083088e+02] [-4.85383432e-01 8.74287533e-01 4.92272306e-03 -4.44175708e+01] [ 9.76188255e-03 -2.10722820e-04 9.99952329e-01 -2.46457540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.377628 meters 0.017390537849254727 Centerline is valid? [True, True] Translation: X:145.14, Y:-44.45, Z:-0.24 [[ 8.74884690e-01 4.84287418e-01 -6.51735574e-03 1.45137411e+02] [-4.84272482e-01 8.74908947e-01 3.80746644e-03 -4.44485303e+01] [ 7.54600094e-03 -1.74918056e-04 9.99971513e-01 -2.44420245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.437628 meters 0.015097578111384199 Centerline is valid? [True, True] Translation: X:145.19, Y:-44.48, Z:-0.24 [[ 8.74801946e-01 4.84466798e-01 -3.67118410e-03 1.45189209e+02] [-4.84462055e-01 8.74809643e-01 2.14598692e-03 -4.44815527e+01] [ 4.25124667e-03 -9.87641368e-05 9.99990959e-01 -2.38629875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.497628 meters 0.014718767852720646 Centerline is valid? [True, True] Translation: X:145.24, Y:-44.51, Z:-0.24 [[ 8.73561504e-01 4.86707820e-01 -2.40741896e-03 1.45243689e+02] [-4.86705787e-01 8.73564820e-01 1.40823046e-03 -4.45114791e+01] [ 2.78843329e-03 -5.84711820e-05 9.99996111e-01 -2.36824178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.557628 meters 0.013882707471744407 Centerline is valid? [True, True] Translation: X:145.30, Y:-44.54, Z:-0.24 [[ 8.71559552e-01 4.90279647e-01 -3.13296431e-03 1.45299692e+02] [-4.90276222e-01 8.71565181e-01 1.83354133e-03 -4.45389711e+01] [ 3.62953060e-03 -6.20225542e-05 9.99993411e-01 -2.38311993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.617628 meters 0.012726075277518565 Centerline is valid? [True, True] Translation: X:145.36, Y:-44.56, Z:-0.24 [[ 8.68268039e-01 4.96063033e-01 -5.66386762e-03 1.45356877e+02] [-4.96051953e-01 8.68286509e-01 3.31624364e-03 -4.45644876e+01] [ 6.56292572e-03 -6.98157665e-05 9.99978461e-01 -2.40914647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.677628 meters 0.012553133376693781 Centerline is valid? [True, True] Translation: X:145.41, Y:-44.59, Z:-0.24 [[ 8.66609732e-01 4.98938295e-01 -6.93901907e-03 1.45412430e+02] [-4.98921738e-01 8.66637510e-01 4.06502678e-03 -4.45931181e+01] [ 8.04181174e-03 -6.07643097e-05 9.99967662e-01 -2.42826173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.737628 meters 0.01238246547993864 Centerline is valid? [True, True] Translation: X:145.47, Y:-44.62, Z:-0.24 [[ 8.65114253e-01 5.01522004e-01 -7.28068135e-03 1.45466798e+02] [-5.01503849e-01 8.65144888e-01 4.26751913e-03 -4.46227080e+01] [ 8.43909900e-03 -4.06019008e-05 9.99964389e-01 -2.42947192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.797628 meters 0.012211452444456102 Centerline is valid? [True, True] Translation: X:145.52, Y:-44.65, Z:-0.24 [[ 8.64894693e-01 5.01919423e-01 -5.83627908e-03 1.45520106e+02] [-5.01907753e-01 8.64914384e-01 3.42292199e-03 -4.46543507e+01] [ 6.76591276e-03 -3.11933427e-05 9.99977110e-01 -2.39627637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.857628 meters 0.01197116678814136 Centerline is valid? [True, True] Translation: X:145.57, Y:-44.69, Z:-0.24 [[ 8.64743778e-01 5.02195841e-01 -4.18771406e-03 1.45573487e+02] [-5.02189828e-01 8.64753917e-01 2.45758141e-03 -4.46851150e+01] [ 4.85552929e-03 -2.21508293e-05 9.99988212e-01 -2.38246737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.917628 meters 0.011970169034406094 Centerline is valid? [True, True] Translation: X:145.63, Y:-44.72, Z:-0.24 [[ 8.64266876e-01 5.03018691e-01 -3.86819593e-03 1.45626652e+02] [-5.03013563e-01 8.64275532e-01 2.27149086e-03 -4.47159598e+01] [ 4.48578946e-03 -1.74192910e-05 9.99989939e-01 -2.38770861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.977628 meters 0.012057345945939652 Centerline is valid? [True, True] Translation: X:145.68, Y:-44.75, Z:-0.24 [[ 8.63274073e-01 5.04713317e-01 -4.72672891e-03 1.45680952e+02] [-5.04705676e-01 8.63287013e-01 2.77730865e-03 -4.47479894e+01] [ 5.48226834e-03 -1.19716381e-05 9.99984972e-01 -2.39018095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.03762799999998 meters 0.01197950891908378 Centerline is valid? [True, True] Translation: X:145.74, Y:-44.78, Z:-0.24 [[ 8.61057249e-01 5.08475042e-01 -5.79183691e-03 1.45736855e+02] [-5.08463640e-01 8.61076728e-01 3.40512569e-03 -4.47776334e+01] [ 6.71863741e-03 1.29303223e-05 9.99977430e-01 -2.39928741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.097628 meters 0.012238652991680253 Centerline is valid? [True, True] Translation: X:145.79, Y:-44.81, Z:-0.24 [[ 8.59109238e-01 5.11761740e-01 -5.58911904e-03 1.45791885e+02] [-5.11751178e-01 8.59127418e-01 3.28811820e-03 -4.48083686e+01] [ 6.48449850e-03 3.53855269e-05 9.99978975e-01 -2.38961427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.157628 meters 0.01354683724652016 Centerline is valid? [True, True] Translation: X:145.85, Y:-44.84, Z:-0.24 [[ 8.56209074e-01 5.16596543e-01 -5.83375290e-03 1.45846105e+02] [-5.16585144e-01 8.56228945e-01 3.43261744e-03 -4.48358972e+01] [ 6.76830639e-03 7.45918781e-05 9.99977092e-01 -2.40069855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.217628 meters 0.014358888371270988 Centerline is valid? [True, True] Translation: X:145.90, Y:-44.87, Z:-0.24 [[ 8.55079388e-01 5.18463983e-01 -5.85988541e-03 1.45899815e+02] [-5.18452511e-01 8.55099463e-01 3.44999411e-03 -4.48668579e+01] [ 6.79948256e-03 8.80534558e-05 9.99976879e-01 -2.40768563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.277628 meters 0.013712546207966322 Centerline is valid? [True, True] Translation: X:145.95, Y:-44.90, Z:-0.24 [[ 8.54736552e-01 5.19035643e-01 -5.23716119e-03 1.45951428e+02] [-5.19026478e-01 8.54752593e-01 3.08550708e-03 -4.49030081e+01] [ 6.07796526e-03 8.09296423e-05 9.99981526e-01 -2.38970991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.337628 meters 0.013429455813509595 Centerline is valid? [True, True] Translation: X:146.00, Y:-44.94, Z:-0.24 [[ 8.55305949e-01 5.18102364e-01 -4.65559459e-03 1.46002721e+02] [-5.18095099e-01 8.55318617e-01 2.74442767e-03 -4.49379590e+01] [ 5.40391119e-03 6.47154277e-05 9.99985397e-01 -2.37956503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.397628 meters 0.013379738815741908 Centerline is valid? [True, True] Translation: X:146.06, Y:-44.97, Z:-0.24 [[ 8.55823705e-01 5.17249525e-01 -4.32600742e-03 1.46055115e+02] [-5.17243234e-01 8.55834637e-01 2.55160609e-03 -4.49712586e+01] [ 5.02216403e-03 5.38730928e-05 9.99987387e-01 -2.37833402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.457628 meters 0.012977144335064954 Centerline is valid? [True, True] Translation: X:146.10, Y:-45.01, Z:-0.24 [[ 8.57822378e-01 5.13920774e-01 -5.11918778e-03 1.46104796e+02] [-5.13911897e-01 8.57837652e-01 3.02087036e-03 -4.50072290e+01] [ 5.94392006e-03 3.94413031e-05 9.99982334e-01 -2.39883334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.517628 meters 0.01281489916186777 Centerline is valid? [True, True] Translation: X:146.16, Y:-45.04, Z:-0.24 [[ 8.59042700e-01 5.11875549e-01 -5.39095796e-03 1.46155733e+02] [-5.11865653e-01 8.59059615e-01 3.18303156e-03 -4.50433955e+01] [ 6.26047029e-03 2.50861954e-05 9.99980403e-01 -2.40607821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.577628 meters 0.013068116230500573 Centerline is valid? [True, True] Translation: X:146.21, Y:-45.08, Z:-0.24 [[ 8.58972080e-01 5.11975661e-01 -6.92015880e-03 1.46207725e+02] [-5.11959340e-01 8.58999954e-01 4.08807964e-03 -4.50767505e+01] [ 8.03741337e-03 3.12936591e-05 9.99967699e-01 -2.41157536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.637628 meters 0.01298410380512637 Centerline is valid? [True, True] Translation: X:146.26, Y:-45.11, Z:-0.24 [[ 8.59403279e-01 5.11234679e-01 -8.06892071e-03 1.46262169e+02] [-5.11212429e-01 8.59441157e-01 4.76971835e-03 -4.51087531e+01] [ 9.37320798e-03 2.58209586e-05 9.99956070e-01 -2.42372962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.697628 meters 0.012866505021250781 Centerline is valid? [True, True] Translation: X:146.31, Y:-45.14, Z:-0.24 [[ 8.61841691e-01 5.07134803e-01 -6.57197130e-03 1.46313896e+02] [-5.07119907e-01 8.61866748e-01 3.88704082e-03 -4.51424850e+01] [ 7.63541721e-03 -1.72363640e-05 9.99970850e-01 -2.40855570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.75762799999998 meters 0.013479372455336201 Centerline is valid? [True, True] Translation: X:146.36, Y:-45.18, Z:-0.24 [[ 8.65081367e-01 5.01614284e-01 -4.16393263e-03 1.46364275e+02] [-5.01608237e-01 8.65091387e-01 2.46349070e-03 -4.51776823e+01] [ 4.83790438e-03 -4.24570012e-05 9.99988296e-01 -2.38546044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.81762799999998 meters 0.013801594193266578 Centerline is valid? [True, True] Translation: X:146.42, Y:-45.21, Z:-0.24 [[ 8.65833265e-01 5.00319091e-01 -3.68298245e-03 1.46416788e+02] [-5.00314342e-01 8.65841097e-01 2.18035968e-03 -4.52100186e+01] [ 4.27975313e-03 -4.51790012e-05 9.99990841e-01 -2.38091021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.877628 meters 0.014968011079364175 Centerline is valid? [True, True] Translation: X:146.47, Y:-45.24, Z:-0.24 [[ 8.68029352e-01 4.96506317e-01 -2.55374189e-03 1.46468951e+02] [-4.96504015e-01 8.68033107e-01 1.51268908e-03 -4.52412408e+01] [ 2.96779219e-03 -4.51154209e-05 9.99995595e-01 -2.38842737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.937628 meters 0.015334388076757187 Centerline is valid? [True, True] Translation: X:146.52, Y:-45.27, Z:-0.24 [[ 8.69528273e-01 4.93876663e-01 -2.53462426e-03 1.46522673e+02] [-4.93874381e-01 8.69531965e-01 1.50223411e-03 -4.52721516e+01] [ 2.94585518e-03 -5.44490453e-05 9.99995659e-01 -2.38888701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.997628 meters 0.015532142581918176 Centerline is valid? [True, True] Translation: X:146.58, Y:-45.30, Z:-0.24 [[ 8.70988532e-01 4.91296581e-01 -2.57798086e-03 1.46576719e+02] [-4.91294207e-01 8.70992345e-01 1.52880254e-03 -4.53030036e+01] [ 2.99649706e-03 -6.50224178e-05 9.99995508e-01 -2.38286908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.057628 meters 0.017591065797100028 Centerline is valid? [True, True] Translation: X:146.63, Y:-45.33, Z:-0.24 [[ 8.73104107e-01 4.87530882e-01 -1.69062725e-03 1.46628769e+02] [-4.87529853e-01 8.73105742e-01 1.00278198e-03 -4.53343262e+01] [ 1.96498354e-03 -5.13018124e-05 9.99998068e-01 -2.38431127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.117628 meters 0.016874135126798473 Centerline is valid? [True, True] Translation: X:146.69, Y:-45.36, Z:-0.24 [[ 8.73993450e-01 4.85937332e-01 -5.99809120e-04 1.46685059e+02] [-4.85937201e-01 8.73993655e-01 3.56372146e-04 -4.53610332e+01] [ 6.97403895e-04 -1.99973565e-05 9.99999757e-01 -2.37138489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.177628 meters 0.017005481896824503 Centerline is valid? [True, True] Translation: X:146.74, Y:-45.39, Z:-0.24 [[ 8.73455440e-01 4.86904091e-01 -2.84386066e-05 1.46739985e+02] [-4.86904091e-01 8.73455440e-01 1.73584986e-05 -4.53896229e+01] [ 3.32917796e-05 -1.31500112e-06 9.99999999e-01 -2.36627415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.237628 meters 0.015463334995968667 Centerline is valid? [True, True] Translation: X:146.80, Y:-45.41, Z:-0.24 [[ 8.71159981e-01 4.90998745e-01 7.20601962e-04 1.46797867e+02] [-4.90998559e-01 8.71160279e-01 -4.27618272e-04 -4.54118413e+01] [-8.37719841e-04 1.87094003e-05 9.99999649e-01 -2.37203468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.297628 meters 0.014512696723641758 Centerline is valid? [True, True] Translation: X:146.85, Y:-45.44, Z:-0.24 [[ 8.69028093e-01 4.94762524e-01 4.67520908e-04 1.46854560e+02] [-4.94762446e-01 8.69028219e-01 -2.77343984e-04 -4.54377820e+01] [-5.43508271e-04 9.70792547e-06 9.99999852e-01 -2.38350053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.357628 meters 0.01340850326539409 Centerline is valid? [True, True] Translation: X:146.91, Y:-45.46, Z:-0.24 [[ 8.65699242e-01 5.00564487e-01 -1.29774974e-04 1.46911964e+02] [-5.00564481e-01 8.65699252e-01 7.72343867e-05 -4.54620873e+01] [ 1.51006889e-04 -1.90100765e-06 9.99999989e-01 -2.39186313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.417628 meters 0.012889660378427018 Centerline is valid? [True, True] Translation: X:146.97, Y:-45.49, Z:-0.24 [[ 8.63290764e-01 5.04706271e-01 -7.97548225e-04 1.46967373e+02] [-5.04706048e-01 8.63291133e-01 4.74764953e-04 -4.54895146e+01] [ 9.28133159e-04 -7.33278629e-06 9.99999569e-01 -2.39266423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.477628 meters 0.012584326044558261 Centerline is valid? [True, True] Translation: X:147.02, Y:-45.51, Z:-0.24 [[ 8.59713947e-01 5.10767730e-01 -2.87312324e-03 1.47023311e+02] [-5.10764868e-01 8.59718748e-01 1.70990088e-03 -4.55144679e+01] [ 3.34344010e-03 -2.53522583e-06 9.99994411e-01 -2.42019380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.53762799999998 meters 0.012630033871596604 Centerline is valid? [True, True] Translation: X:147.08, Y:-45.54, Z:-0.24 [[ 8.57294932e-01 5.14823726e-01 -1.38958122e-03 1.47079299e+02] [-5.14823060e-01 8.57296058e-01 8.27873031e-04 -4.55434071e+01] [ 1.61749118e-03 5.65710125e-06 9.99998692e-01 -2.41316764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.597628 meters 0.012700137995869488 Centerline is valid? [True, True] Translation: X:147.13, Y:-45.58, Z:-0.24 [[ 8.56731206e-01 5.15763136e-01 -1.65980162e-04 1.47134005e+02] [-5.15763127e-01 8.56731222e-01 9.94402422e-05 -4.55752674e+01] [ 1.93487998e-04 4.12888780e-07 9.99999981e-01 -2.40360390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.657628 meters 0.012685529087050243 Centerline is valid? [True, True] Translation: X:147.19, Y:-45.61, Z:-0.24 [[ 8.56702659e-01 5.15809502e-01 1.05393627e-03 1.47187340e+02] [-5.15809120e-01 8.56703308e-01 -6.27745731e-04 -4.56087240e+01] [-1.22670790e-03 -5.83850376e-06 9.99999248e-01 -2.39535837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.717628 meters 0.012648542791162898 Centerline is valid? [True, True] Translation: X:147.24, Y:-45.64, Z:-0.24 [[ 8.56850737e-01 5.15563166e-01 1.19873961e-03 1.47240882e+02] [-5.15562671e-01 8.56851575e-01 -7.14529540e-04 -4.56417801e+01] [-1.39552704e-03 -5.78023188e-06 9.99999026e-01 -2.39756284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.777628 meters 0.012677786931416097 Centerline is valid? [True, True] Translation: X:147.29, Y:-45.68, Z:-0.24 [[ 8.57210500e-01 5.14966150e-01 -1.51552264e-04 1.47293590e+02] [-5.14966142e-01 8.57210513e-01 9.10010113e-05 -4.56754416e+01] [ 1.76774635e-04 3.72623138e-08 9.99999984e-01 -2.41257741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.837628 meters 0.012696355191438606 Centerline is valid? [True, True] Translation: X:147.34, Y:-45.71, Z:-0.24 [[ 8.59529314e-01 5.11075388e-01 -3.36240782e-03 1.47344072e+02] [-5.11071440e-01 8.59535891e-01 2.00887768e-03 -4.57134246e+01] [ 3.91679814e-03 -8.25864820e-06 9.99992329e-01 -2.44565403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.897628 meters 0.013319773279950367 Centerline is valid? [True, True] Translation: X:147.39, Y:-45.75, Z:-0.25 [[ 8.62447951e-01 5.06124487e-01 -4.64054792e-03 1.47392387e+02] [-5.06116891e-01 8.62460435e-01 2.77333690e-03 -4.57508457e+01] [ 5.40594269e-03 -4.31990472e-05 9.99985387e-01 -2.46458544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.957628 meters 0.014823236861613085 Centerline is valid? [True, True] Translation: X:147.44, Y:-45.79, Z:-0.25 [[ 8.66369448e-01 4.99379378e-01 -4.92098379e-03 1.47440746e+02] [-4.99370725e-01 8.66383419e-01 2.94112703e-03 -4.57907105e+01] [ 5.73219695e-03 -9.07073560e-05 9.99983567e-01 -2.46560197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.017628 meters 0.017682629002613543 Centerline is valid? [True, True] Translation: X:147.49, Y:-45.83, Z:-0.24 [[ 8.73297964e-01 4.87168099e-01 -4.23203571e-03 1.47486995e+02] [-4.87161547e-01 8.73308205e-01 2.53097563e-03 -4.58340450e+01] [ 4.92888210e-03 -1.48610795e-04 9.99987842e-01 -2.44357375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.077628 meters 0.02214807125628651 Centerline is valid? [True, True] Translation: X:147.53, Y:-45.88, Z:-0.24 [[ 8.79990728e-01 4.74986344e-01 -2.07144041e-03 1.47531824e+02] [-4.74984739e-01 8.79993160e-01 1.23966342e-03 -4.58782810e+01] [ 2.41167658e-03 -1.06989731e-04 9.99997086e-01 -2.41419929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.137628 meters 0.0227849491353926 Centerline is valid? [True, True] Translation: X:147.58, Y:-45.91, Z:-0.24 [[ 8.83205990e-01 4.68984509e-01 -8.42109407e-04 1.47582909e+02] [-4.68984240e-01 8.83206390e-01 5.04499007e-04 -4.59129391e+01] [ 9.80358629e-04 -5.06405040e-05 9.99999518e-01 -2.40569263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.197628 meters 0.023831852942131596 Centerline is valid? [True, True] Translation: X:147.64, Y:-45.94, Z:-0.24 [[ 8.83953167e-01 4.67575371e-01 -2.66271899e-04 1.47636454e+02] [-4.67575344e-01 8.83953207e-01 1.59543644e-04 -4.59439603e+01] [ 3.09970577e-04 -1.65269348e-05 9.99999952e-01 -2.41212109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.25762799999998 meters 0.0232739429890957 Centerline is valid? [True, True] Translation: X:147.69, Y:-45.97, Z:-0.24 [[ 8.83293622e-01 4.68819299e-01 -9.18102663e-04 1.47690490e+02] [-4.68818979e-01 8.83294097e-01 5.50417173e-04 -4.59746137e+01] [ 1.06900086e-03 -5.57560251e-05 9.99999427e-01 -2.42245537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.31762799999998 meters 0.022302326781824845 Centerline is valid? [True, True] Translation: X:147.75, Y:-46.00, Z:-0.25 [[ 8.80881759e-01 4.73311076e-01 -4.89406791e-03 1.47747564e+02] [-4.73302063e-01 8.80895314e-01 2.93299732e-03 -4.59991647e+01] [ 5.69938161e-03 -2.67251402e-04 9.99983723e-01 -2.47342456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.377628 meters 0.01933504347919643 Centerline is valid? [True, True] Translation: X:147.80, Y:-46.02, Z:-0.25 [[ 8.76345706e-01 4.81646331e-01 -5.91741627e-03 1.47804648e+02] [-4.81633337e-01 8.76365646e-01 3.54727217e-03 -4.60205669e+01] [ 6.89435096e-03 -2.58611786e-04 9.99976200e-01 -2.48062176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.437628 meters 0.016787941445764273 Centerline is valid? [True, True] Translation: X:147.86, Y:-46.04, Z:-0.25 [[ 8.73241086e-01 4.87267058e-01 -4.56282253e-03 1.47862341e+02] [-4.87259402e-01 8.73252991e-01 2.73650904e-03 -4.60442055e+01] [ 5.31790913e-03 -1.66353945e-04 9.99985846e-01 -2.47231061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.497628 meters 0.015941727841827943 Centerline is valid? [True, True] Translation: X:147.92, Y:-46.07, Z:-0.25 [[ 8.70139321e-01 4.92792401e-01 -3.63471587e-03 1.47917138e+02] [-4.92787587e-01 8.70146906e-01 2.18090231e-03 -4.60712756e+01] [ 4.23746885e-03 -1.06545989e-04 9.99991016e-01 -2.45691868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.557628 meters 0.01437037230460787 Centerline is valid? [True, True] Translation: X:147.97, Y:-46.09, Z:-0.24 [[ 8.65769152e-01 5.00440848e-01 -1.65331548e-03 1.47973298e+02] [-5.00439866e-01 8.65770730e-01 9.92099976e-04 -4.60944925e+01] [ 1.92787950e-03 -3.15445783e-05 9.99998141e-01 -2.44268425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.617628 meters 0.012801312140835849 Centerline is valid? [True, True] Translation: X:148.03, Y:-46.12, Z:-0.24 [[ 8.61664005e-01 5.07479204e-01 -4.09005096e-06 1.48032011e+02] [-5.07479204e-01 8.61664005e-01 2.60273712e-06 -4.61167023e+01] [ 4.84508464e-06 -1.67069088e-07 1.00000000e+00 -2.44668671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.677628 meters 0.012458822014188608 Centerline is valid? [True, True] Translation: X:148.09, Y:-46.14, Z:-0.25 [[ 8.58922606e-01 5.12105403e-01 1.12314462e-04 1.48087420e+02] [-5.12105399e-01 8.58922613e-01 -6.69601823e-05 -4.61448379e+01] [-1.30760102e-04 -3.22810967e-09 9.99999991e-01 -2.45002227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.737628 meters 0.012316988775582061 Centerline is valid? [True, True] Translation: X:148.14, Y:-46.17, Z:-0.24 [[ 8.56275117e-01 5.16519611e-01 -6.44572970e-04 1.48142869e+02] [-5.16519465e-01 8.56275360e-01 3.87827263e-04 -4.61746539e+01] [ 7.52252339e-04 8.47650554e-07 9.99999717e-01 -2.44863782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.797628 meters 0.012528227723330678 Centerline is valid? [True, True] Translation: X:148.20, Y:-46.20, Z:-0.25 [[ 8.53403736e-01 5.21250278e-01 -4.59634034e-04 1.48197906e+02] [-5.21250205e-01 8.53403859e-01 2.76806847e-04 -4.62039148e+01] [ 5.36539104e-04 3.35633656e-06 9.99999856e-01 -2.45656471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.857628 meters 0.012643377200743369 Centerline is valid? [True, True] Translation: X:148.25, Y:-46.24, Z:-0.25 [[ 8.52359261e-01 5.22956676e-01 6.50319807e-05 1.48251423e+02] [-5.22956675e-01 8.52359264e-01 -3.86221723e-05 -4.62355377e+01] [-7.56283341e-05 -1.08894207e-06 9.99999997e-01 -2.46564055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.917628 meters 0.012848550648799266 Centerline is valid? [True, True] Translation: X:148.30, Y:-46.27, Z:-0.25 [[ 8.51574109e-01 5.24234235e-01 -6.42214622e-05 1.48303649e+02] [-5.24234233e-01 8.51574111e-01 3.92130466e-05 -4.62714495e+01] [ 7.52461560e-05 2.74273780e-07 9.99999997e-01 -2.46380065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.977628 meters 0.012897858999378975 Centerline is valid? [True, True] Translation: X:148.36, Y:-46.31, Z:-0.25 [[ 8.51374169e-01 5.24558863e-01 -1.56728858e-04 1.48355490e+02] [-5.24558854e-01 8.51374183e-01 9.49513427e-05 -4.63065380e+01] [ 1.83242472e-04 1.37438965e-06 9.99999983e-01 -2.46935177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.03762799999998 meters 0.01283418791939996 Centerline is valid? [True, True] Translation: X:148.41, Y:-46.34, Z:-0.25 [[ 8.51611706e-01 5.24167464e-01 -2.44372288e-03 1.48406122e+02] [-5.24165394e-01 8.51615212e-01 1.47332863e-03 -4.63436903e+01] [ 2.85338251e-03 2.62110558e-05 9.99995929e-01 -2.49584896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.097628 meters 0.01259071757015186 Centerline is valid? [True, True] Translation: X:148.46, Y:-46.38, Z:-0.25 [[ 8.53154994e-01 5.21648393e-01 -3.08388632e-03 1.48455003e+02] [-5.21645079e-01 8.53160567e-01 1.85944614e-03 -4.63803453e+01] [ 3.60102729e-03 2.22983645e-05 9.99993516e-01 -2.50785814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.157628 meters 0.012347541250669001 Centerline is valid? [True, True] Translation: X:148.50, Y:-46.42, Z:-0.25 [[ 8.57149152e-01 5.15058664e-01 -3.14702712e-03 1.48499888e+02] [-5.15055164e-01 8.57154929e-01 1.89861776e-03 -4.64233901e+01] [ 3.67538934e-03 -6.50603228e-06 9.99993246e-01 -2.50529587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.217628 meters 0.013227405170195689 Centerline is valid? [True, True] Translation: X:148.55, Y:-46.46, Z:-0.25 [[ 8.60950337e-01 5.08679772e-01 -3.06694851e-03 1.48547614e+02] [-5.08676404e-01 8.60955799e-01 1.85130609e-03 -4.64642919e+01] [ 3.58222906e-03 -3.37982657e-05 9.99993583e-01 -2.50343603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.277628 meters 0.014296105323874698 Centerline is valid? [True, True] Translation: X:148.60, Y:-46.50, Z:-0.25 [[ 8.65059508e-01 5.01669218e-01 -2.07262009e-04 1.48597137e+02] [-5.01669202e-01 8.65059533e-01 1.25587327e-04 -4.65016570e+01] [ 2.42297272e-04 -4.66354475e-06 9.99999971e-01 -2.46920787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.337628 meters 0.01569872411084163 Centerline is valid? [True, True] Translation: X:148.65, Y:-46.54, Z:-0.24 [[ 8.68399680e-01 4.95860748e-01 2.02843625e-03 1.48647650e+02] [-4.95859238e-01 8.68402047e-01 -1.22483700e-03 -4.65371578e+01] [-2.36884679e-03 5.78292021e-05 9.99997193e-01 -2.43456354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.397628 meters 0.016404552979515808 Centerline is valid? [True, True] Translation: X:148.70, Y:-46.57, Z:-0.24 [[ 8.70874659e-01 4.91502122e-01 1.72984568e-03 1.48700878e+02] [-4.91501015e-01 8.70876375e-01 -1.04472399e-03 -4.65693166e+01] [-2.01996579e-03 5.96027347e-05 9.99997958e-01 -2.44608990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.457628 meters 0.0183761865683068 Centerline is valid? [True, True] Translation: X:148.75, Y:-46.60, Z:-0.25 [[ 8.73916219e-01 4.86076395e-01 4.24772076e-04 1.48751837e+02] [-4.86076328e-01 8.73916322e-01 -2.56260200e-04 -4.66033612e+01] [-4.95777284e-04 1.74782938e-05 9.99999877e-01 -2.45597948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.517628 meters 0.020851913804887576 Centerline is valid? [True, True] Translation: X:148.80, Y:-46.63, Z:-0.25 [[ 8.77742755e-01 4.79131802e-01 -6.11022748e-04 1.48804558e+02] [-4.79131660e-01 8.77742967e-01 3.69849247e-04 -4.66345377e+01] [ 7.13527456e-04 -3.18721535e-05 9.99999745e-01 -2.47968116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.577628 meters 0.02274683792060194 Centerline is valid? [True, True] Translation: X:148.86, Y:-46.67, Z:-0.25 [[ 8.78714330e-01 4.77345333e-01 -1.59979756e-03 1.48856913e+02] [-4.77344359e-01 8.78715782e-01 9.67956737e-04 -4.66654025e+01] [ 1.86781700e-03 -8.69031144e-05 9.99998252e-01 -2.49102000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.637628 meters 0.020969994839562873 Centerline is valid? [True, True] Translation: X:148.91, Y:-46.69, Z:-0.25 [[ 8.77679505e-01 4.79247425e-01 -7.69297297e-04 1.48913853e+02] [-4.79247201e-01 8.77679841e-01 4.65939910e-04 -4.66896412e+01] [ 8.98497232e-04 -4.02623331e-05 9.99999596e-01 -2.48506955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.697628 meters 0.0200347937859179 Centerline is valid? [True, True] Translation: X:148.97, Y:-46.72, Z:-0.25 [[ 8.75609580e-01 4.83019449e-01 -2.72887921e-04 1.48969577e+02] [-4.83019421e-01 8.75609623e-01 1.65250111e-04 -4.67165188e+01] [ 3.18762307e-04 -1.28844141e-05 9.99999949e-01 -2.47909686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.75762799999998 meters 0.018746225645683134 Centerline is valid? [True, True] Translation: X:149.03, Y:-46.74, Z:-0.25 [[ 8.72837236e-01 4.88011353e-01 2.81088051e-04 1.49025683e+02] [-4.88011324e-01 8.72837281e-01 -1.70041415e-04 -4.67425708e+01] [-3.28326271e-04 1.12443263e-05 9.99999946e-01 -2.48041995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.81762799999998 meters 0.01658332365069769 Centerline is valid? [True, True] Translation: X:149.08, Y:-46.76, Z:-0.25 [[ 8.68151860e-01 4.96295534e-01 1.75818874e-03 1.49082938e+02] [-4.96294396e-01 8.68153639e-01 -1.06422406e-03 -4.67642808e+01] [-2.05454761e-03 5.13288790e-05 9.99997888e-01 -2.47927300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.877628 meters 0.01485516975935151 Centerline is valid? [True, True] Translation: X:149.14, Y:-46.79, Z:-0.25 [[ 8.64928770e-01 5.01884237e-01 3.23038081e-03 1.49139260e+02] [-5.01880431e-01 8.64934800e-01 -1.95595223e-03 -4.67898657e+01] [-3.77573037e-03 7.04944477e-05 9.99992869e-01 -2.47189243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.937628 meters 0.012314501861666924 Centerline is valid? [True, True] Translation: X:149.20, Y:-46.81, Z:-0.25 [[ 8.59795763e-01 5.10625548e-01 3.57701818e-03 1.49198330e+02] [-5.10620955e-01 8.59803203e-01 -2.16616883e-03 -4.68118124e+01] [-4.18163283e-03 3.59623422e-05 9.99991256e-01 -2.47734573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.997628 meters 0.011759823450940418 Centerline is valid? [True, True] Translation: X:149.25, Y:-46.84, Z:-0.25 [[ 8.56022070e-01 5.16936609e-01 1.66074957e-03 1.49253836e+02] [-5.16935630e-01 8.56023681e-01 -1.00583480e-03 -4.68385207e+01] [-1.94159380e-03 2.51616540e-06 9.99998115e-01 -2.51556287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.057628 meters 0.011727783472724084 Centerline is valid? [True, True] Translation: X:149.31, Y:-46.87, Z:-0.25 [[ 8.55070435e-01 5.18511806e-01 -2.42696146e-04 1.49307085e+02] [-5.18511785e-01 8.55070469e-01 1.47439764e-04 -4.68708998e+01] [ 2.83971566e-04 -2.30571715e-07 9.99999960e-01 -2.53759079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.117628 meters 0.011730441469911779 Centerline is valid? [True, True] Translation: X:149.36, Y:-46.91, Z:-0.25 [[ 8.54975463e-01 5.18667219e-01 -1.12849591e-03 1.49358973e+02] [-5.18666766e-01 8.54976208e-01 6.85027877e-04 -4.69058483e+01] [ 1.32013866e-03 -3.68700582e-07 9.99999129e-01 -2.54384039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.177628 meters 0.011835596328885995 Centerline is valid? [True, True] Translation: X:149.41, Y:-46.94, Z:-0.25 [[ 8.55340041e-01 5.18066251e-01 -8.79375693e-04 1.49410903e+02] [-5.18065976e-01 8.55340493e-01 5.34268361e-04 -4.69423634e+01] [ 1.02895205e-03 -1.40649553e-06 9.99999471e-01 -2.54154979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.237628 meters 0.01189861260848613 Centerline is valid? [True, True] Translation: X:149.46, Y:-46.98, Z:-0.25 [[ 8.55723514e-01 5.17432777e-01 -7.67243703e-04 1.49461512e+02] [-5.17432567e-01 8.55723858e-01 4.66498227e-04 -4.69793899e+01] [ 8.97930214e-04 -2.19662318e-06 9.99999597e-01 -2.53788975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.297628 meters 0.01213875768835485 Centerline is valid? [True, True] Translation: X:149.51, Y:-47.02, Z:-0.26 [[ 8.55987868e-01 5.16990686e-01 -2.32399204e-03 1.49511005e+02] [-5.16988756e-01 8.55991022e-01 1.41281868e-03 -4.70184556e+01] [ 2.71973042e-03 -7.87789526e-06 9.99996301e-01 -2.55537608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.357628 meters 0.012206859624005683 Centerline is valid? [True, True] Translation: X:149.56, Y:-47.06, Z:-0.26 [[ 8.55851287e-01 5.17215527e-01 -2.58329913e-03 1.49562291e+02] [-5.17213140e-01 8.55855185e-01 1.57140816e-03 -4.70555852e+01] [ 3.02368666e-03 -8.77543595e-06 9.99995429e-01 -2.55713298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.417628 meters 0.012219692295302583 Centerline is valid? [True, True] Translation: X:149.61, Y:-47.09, Z:-0.26 [[ 8.55244894e-01 5.18218921e-01 -2.30671681e-03 1.49612793e+02] [-5.18217019e-01 8.55248005e-01 1.40410414e-03 -4.70942908e+01] [ 2.70044828e-03 -5.47298498e-06 9.99996354e-01 -2.55753879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.477628 meters 0.01239194055196462 Centerline is valid? [True, True] Translation: X:149.66, Y:-47.13, Z:-0.26 [[ 8.54728489e-01 5.19069491e-01 -2.46460992e-03 1.49663872e+02] [-5.19067320e-01 8.54732042e-01 1.50110863e-03 -4.71311831e+01] [ 2.88576076e-03 -3.74184444e-06 9.99995836e-01 -2.55925200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.53762799999998 meters 0.012498125449254304 Centerline is valid? [True, True] Translation: X:149.72, Y:-47.17, Z:-0.25 [[ 8.52471152e-01 5.22773529e-01 -8.78651319e-04 1.49716982e+02] [-5.22773255e-01 8.52471605e-01 5.35854680e-04 -4.71653190e+01] [ 1.02915594e-03 2.53475350e-06 9.99999470e-01 -2.54267210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.597628 meters 0.012798250885991801 Centerline is valid? [True, True] Translation: X:149.77, Y:-47.20, Z:-0.25 [[ 8.50521505e-01 5.25939755e-01 -7.36864295e-04 1.49771143e+02] [-5.25939563e-01 8.50521824e-01 4.49662390e-04 -4.71950956e+01] [ 8.63214491e-04 5.09855226e-06 9.99999627e-01 -2.54633573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.657628 meters 0.01267369578987639 Centerline is valid? [True, True] Translation: X:149.82, Y:-47.23, Z:-0.26 [[ 8.51955053e-01 5.23611477e-01 -1.89969244e-03 1.49824639e+02] [-5.23610194e-01 8.51957171e-01 1.15912675e-03 -4.72256441e+01] [ 2.22538867e-03 7.17443463e-06 9.99997524e-01 -2.57434785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.717628 meters 0.01265365176392246 Centerline is valid? [True, True] Translation: X:149.88, Y:-47.26, Z:-0.26 [[ 8.53333761e-01 5.21363702e-01 -1.17588339e-03 1.49877673e+02] [-5.21363208e-01 8.53334571e-01 7.18178875e-04 -4.72586403e+01] [ 1.37785434e-03 2.16054445e-07 9.99999051e-01 -2.57103196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.777628 meters 0.012623524339722478 Centerline is valid? [True, True] Translation: X:149.93, Y:-47.29, Z:-0.25 [[ 8.53719688e-01 5.20731915e-01 9.83169236e-04 1.49931598e+02] [-5.20731570e-01 8.53720254e-01 -5.99850512e-04 -4.72917479e+01] [-1.15171280e-03 1.36932005e-07 9.99999337e-01 -2.54886483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.837628 meters 0.012472421038411131 Centerline is valid? [True, True] Translation: X:149.98, Y:-47.32, Z:-0.26 [[ 8.53278361e-01 5.21453479e-01 1.51892638e-03 1.49984917e+02] [-5.21452654e-01 8.53279713e-01 -9.27606869e-04 -4.73241415e+01] [-1.77977289e-03 -5.41321400e-07 9.99998416e-01 -2.55269249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.897628 meters 0.012493947028845527 Centerline is valid? [True, True] Translation: X:150.04, Y:-47.36, Z:-0.26 [[ 8.53064371e-01 5.21805657e-01 -1.87726337e-04 1.50038994e+02] [-5.21805645e-01 8.53064391e-01 1.15293097e-04 -4.73571770e+01] [ 2.20303243e-04 -3.95770819e-07 9.99999976e-01 -2.57799023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.957628 meters 0.012495340795575757 Centerline is valid? [True, True] Translation: X:150.09, Y:-47.39, Z:-0.26 [[ 8.52310317e-01 5.23032924e-01 -1.91941571e-03 1.50092654e+02] [-5.23031605e-01 8.52312478e-01 1.17458933e-03 -4.73898463e+01] [ 2.25029085e-03 2.80047105e-06 9.99997468e-01 -2.59838146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.017628 meters 0.012446680740889914 Centerline is valid? [True, True] Translation: X:150.15, Y:-47.42, Z:-0.26 [[ 8.51054083e-01 5.25074240e-01 -1.99739301e-03 1.50146920e+02] [-5.25072816e-01 8.51056427e-01 1.22303966e-03 -4.74208208e+01] [ 2.34208078e-03 7.90387079e-06 9.99997257e-01 -2.59847482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.077628 meters 0.01316008409566238 Centerline is valid? [True, True] Translation: X:150.20, Y:-47.45, Z:-0.26 [[ 8.48253791e-01 5.29589352e-01 -7.89911893e-04 1.50201804e+02] [-5.29589130e-01 8.48254159e-01 4.84130500e-04 -4.74473335e+01] [ 9.26436406e-04 7.66322031e-06 9.99999571e-01 -2.59987919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.137628 meters 0.0135403483922796 Centerline is valid? [True, True] Translation: X:150.26, Y:-47.48, Z:-0.26 [[ 8.47185918e-01 5.31296470e-01 2.85088019e-04 1.50256118e+02] [-5.31296442e-01 8.47185966e-01 -1.74210728e-04 -4.74781428e+01] [-3.34080114e-04 -3.87737480e-06 9.99999944e-01 -2.59045871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.197628 meters 0.012732395527464661 Centerline is valid? [True, True] Translation: X:150.31, Y:-47.51, Z:-0.26 [[ 8.48659865e-01 5.28938364e-01 8.00580781e-04 1.50306441e+02] [-5.28938136e-01 8.48660243e-01 -4.90277645e-04 -4.75139846e+01] [-9.38747736e-04 -7.37874629e-06 9.99999559e-01 -2.59139906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.25762799999998 meters 0.01242557519977969 Centerline is valid? [True, True] Translation: X:150.36, Y:-47.55, Z:-0.26 [[ 8.51057892e-01 5.25071063e-01 9.18527155e-04 1.50357509e+02] [-5.25070761e-01 8.51058388e-01 -5.62895744e-04 -4.75489008e+01] [-1.07728051e-03 -3.23488710e-06 9.99999420e-01 -2.59514448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.31762799999998 meters 0.012323979377665165 Centerline is valid? [True, True] Translation: X:150.41, Y:-47.58, Z:-0.26 [[ 8.54117013e-01 5.20080088e-01 9.11027299e-04 1.50408235e+02] [-5.20079788e-01 8.54117499e-01 -5.58660652e-04 -4.75847184e+01] [-1.06867264e-03 3.35468330e-06 9.99999429e-01 -2.59966577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.377628 meters 0.012557102311970016 Centerline is valid? [True, True] Translation: X:150.46, Y:-47.62, Z:-0.26 [[ 8.55193359e-01 5.18309086e-01 -1.00714329e-04 1.50462215e+02] [-5.18309082e-01 8.55193365e-01 6.23845510e-05 -4.76171940e+01] [ 1.18464705e-04 -1.14970244e-06 9.99999993e-01 -2.61938465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.437628 meters 0.013301368585457241 Centerline is valid? [True, True] Translation: X:150.51, Y:-47.65, Z:-0.27 [[ 8.58128144e-01 5.13428719e-01 -2.65287640e-03 1.50513660e+02] [-5.13426133e-01 8.58132244e-01 1.63010558e-03 -4.76511528e+01] [ 3.11346179e-03 -3.67834050e-05 9.99995152e-01 -2.65663764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.497628 meters 0.014062950669260709 Centerline is valid? [True, True] Translation: X:150.57, Y:-47.69, Z:-0.27 [[ 8.60280907e-01 5.09813159e-01 -2.70254480e-03 1.50565742e+02] [-5.09810454e-01 8.60285150e-01 1.66156591e-03 -4.76856719e+01] [ 3.17204733e-03 -5.16278400e-05 9.99994968e-01 -2.65233272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.557628 meters 0.018033425416620393 Centerline is valid? [True, True] Translation: X:150.62, Y:-47.72, Z:-0.27 [[ 8.62945303e-01 5.05294179e-01 -1.78805055e-03 1.50617768e+02] [-5.05292986e-01 8.62947154e-01 1.09931143e-03 -4.77194629e+01] [ 2.09846880e-03 -4.51562306e-05 9.99997797e-01 -2.66076637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.617628 meters 0.015405785000265517 Centerline is valid? [True, True] Translation: X:150.67, Y:-47.75, Z:-0.26 [[ 8.62004152e-01 5.06900671e-01 7.42787243e-04 1.50670940e+02] [-5.06900466e-01 8.62004472e-01 -4.56407684e-04 -4.77496202e+01] [-8.71639287e-04 1.69061187e-05 9.99999620e-01 -2.63671835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.677628 meters 0.013998665027211192 Centerline is valid? [True, True] Translation: X:150.73, Y:-47.78, Z:-0.26 [[ 8.59372166e-01 5.11350060e-01 7.72741057e-04 1.50726148e+02] [-5.11349839e-01 8.59372513e-01 -4.75051707e-04 -4.77779436e+01] [-9.06990143e-04 1.31051991e-05 9.99999589e-01 -2.64421047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.737628 meters 0.012493840234557695 Centerline is valid? [True, True] Translation: X:150.78, Y:-47.80, Z:-0.27 [[ 8.54490678e-01 5.19466035e-01 -8.47657303e-04 1.50782107e+02] [-5.19465773e-01 8.54491099e-01 5.22291375e-04 -4.78042053e+01] [ 9.95628250e-04 -5.96415553e-06 9.99999504e-01 -2.65372296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.797628 meters 0.012348463018009655 Centerline is valid? [True, True] Translation: X:150.84, Y:-47.83, Z:-0.27 [[ 8.51764857e-01 5.23923471e-01 -9.08673239e-04 1.50836310e+02] [-5.23923171e-01 8.51765341e-01 5.60233612e-04 -4.78348672e+01] [ 1.06749591e-03 -1.11233713e-06 9.99999430e-01 -2.65826336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.857628 meters 0.01244092476879132 Centerline is valid? [True, True] Translation: X:150.89, Y:-47.87, Z:-0.27 [[ 8.50130401e-01 5.26571464e-01 -8.91522797e-04 1.50889805e+02] [-5.26571177e-01 8.50130868e-01 5.50105649e-04 -4.78684390e+01] [ 1.04758099e-03 1.78867234e-06 9.99999451e-01 -2.66142614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.917628 meters 0.01243601983281406 Centerline is valid? [True, True] Translation: X:150.94, Y:-47.90, Z:-0.27 [[ 8.50609260e-01 5.25797799e-01 -7.49940397e-04 1.50941152e+02] [-5.25797595e-01 8.50609590e-01 4.63065303e-04 -4.79025864e+01] [ 8.81385211e-04 4.29222303e-07 9.99999612e-01 -2.67482538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.977628 meters 0.012576211391113756 Centerline is valid? [True, True] Translation: X:150.99, Y:-47.94, Z:-0.27 [[ 8.52515622e-01 5.22701620e-01 3.62638111e-04 1.50992873e+02] [-5.22701572e-01 8.52515699e-01 -2.23255081e-04 -4.79394564e+01] [-4.25850475e-04 7.76933909e-07 9.99999909e-01 -2.68063210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.03762799999998 meters 0.012706643906406224 Centerline is valid? [True, True] Translation: X:151.05, Y:-47.97, Z:-0.27 [[ 8.52799711e-01 5.22235509e-01 1.65120322e-03 1.51045965e+02] [-5.22234515e-01 8.52801309e-01 -1.01914774e-03 -4.79723718e+01] [-1.94038340e-03 6.81358699e-06 9.99998117e-01 -2.66965626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.097628 meters 0.01273107246206673 Centerline is valid? [True, True] Translation: X:151.10, Y:-48.00, Z:-0.27 [[ 8.52680393e-01 5.22428457e-01 2.15763201e-03 1.51099203e+02] [-5.22426758e-01 8.52683122e-01 -1.33261621e-03 -4.80046367e+01] [-2.53597303e-03 9.09101540e-06 9.99996784e-01 -2.66822242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.157628 meters 0.012870021304269588 Centerline is valid? [True, True] Translation: X:151.15, Y:-48.04, Z:-0.27 [[ 8.53285361e-01 5.21441906e-01 1.55938483e-03 1.51152571e+02] [-5.21441016e-01 8.53286785e-01 -9.63420412e-04 -4.80383274e+01] [-1.83297025e-03 8.94532135e-06 9.99998320e-01 -2.68142960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.217628 meters 0.013175896006452989 Centerline is valid? [True, True] Translation: X:151.20, Y:-48.07, Z:-0.27 [[ 8.54424807e-01 5.19574994e-01 2.73595839e-04 1.51204222e+02] [-5.19574966e-01 8.54424851e-01 -1.68735962e-04 -4.80725170e+01] [-3.21438070e-04 2.01864263e-06 9.99999948e-01 -2.70531903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.277628 meters 0.01313774117580466 Centerline is valid? [True, True] Translation: X:151.26, Y:-48.10, Z:-0.27 [[ 8.54395676e-01 5.19618237e-01 -2.21726353e-03 1.51258162e+02] [-5.19616424e-01 8.54398553e-01 1.37287023e-03 -4.81048144e+01] [ 2.60779516e-03 -2.08478443e-05 9.99996599e-01 -2.73580175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.337628 meters 0.013166278839549685 Centerline is valid? [True, True] Translation: X:151.31, Y:-48.14, Z:-0.28 [[ 8.54283863e-01 5.19761738e-01 -6.84224464e-03 1.51310984e+02] [-5.19744467e-01 8.54311261e-01 4.23766547e-03 -4.81371622e+01] [ 8.04798301e-03 -6.39504380e-05 9.99967612e-01 -2.77958887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.397628 meters 0.013320811082437534 Centerline is valid? [True, True] Translation: X:151.36, Y:-48.17, Z:-0.28 [[ 8.54174285e-01 5.19926949e-01 -7.89046854e-03 1.51362075e+02] [-5.19903976e-01 8.54210725e-01 4.88805854e-03 -4.81708698e+01] [ 9.28155622e-03 -7.29679443e-05 9.99956923e-01 -2.79206149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.457628 meters 0.013190321310300927 Centerline is valid? [True, True] Translation: X:151.41, Y:-48.20, Z:-0.28 [[ 8.55389257e-01 5.17954216e-01 -5.71396994e-03 1.51414639e+02] [-5.17942108e-01 8.55408338e-01 3.54236954e-03 -4.82046835e+01] [ 6.72256276e-03 -7.05992141e-05 9.99977401e-01 -2.75734296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.517628 meters 0.013735593842074694 Centerline is valid? [True, True] Translation: X:151.46, Y:-48.24, Z:-0.27 [[ 8.57541509e-01 5.14410811e-01 -2.01911610e-03 1.51463882e+02] [-5.14409288e-01 8.57543886e-01 1.25218665e-03 -4.82405028e+01] [ 2.37561902e-03 -3.51499542e-05 9.99997178e-01 -2.71574780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.577628 meters 0.014182348514110281 Centerline is valid? [True, True] Translation: X:151.52, Y:-48.28, Z:-0.27 [[ 8.58626738e-01 5.12600528e-01 -9.07150614e-04 1.51515040e+02] [-5.12600219e-01 8.58627217e-01 5.63254001e-04 -4.82754118e+01] [ 1.06762851e-03 -1.86193423e-05 9.99999430e-01 -2.69348216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.637628 meters 0.014078639353024312 Centerline is valid? [True, True] Translation: X:151.57, Y:-48.31, Z:-0.27 [[ 8.58531665e-01 5.12758329e-01 -1.50828493e-03 1.51568623e+02] [-5.12757475e-01 8.58532990e-01 9.36854453e-04 -4.83081846e+01] [ 1.77529230e-03 -3.09348416e-05 9.99998424e-01 -2.69116080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.697628 meters 0.013293385489722207 Centerline is valid? [True, True] Translation: X:151.62, Y:-48.34, Z:-0.27 [[ 8.56325386e-01 5.16417755e-01 -4.41994655e-03 1.51623270e+02] [-5.16410460e-01 8.56336790e-01 2.74580809e-03 -4.83383368e+01] [ 5.20294689e-03 -6.87985372e-05 9.99986462e-01 -2.70192725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.75762799999998 meters 0.012861090428863433 Centerline is valid? [True, True] Translation: X:151.68, Y:-48.37, Z:-0.27 [[ 8.54018574e-01 5.20207013e-01 -6.07763594e-03 1.51676885e+02] [-5.20193303e-01 8.54040198e-01 3.77732324e-03 -4.83682058e+01] [ 7.15553544e-03 -6.43586905e-05 9.99974397e-01 -2.71901182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.81762799999998 meters 0.012367021477243504 Centerline is valid? [True, True] Translation: X:151.73, Y:-48.40, Z:-0.27 [[ 8.50961717e-01 5.25167239e-01 -7.97041162e-03 1.51731205e+02] [-5.25143851e-01 8.50999042e-01 4.95636941e-03 -4.83980691e+01] [ 9.38573549e-03 -3.20679671e-05 9.99955952e-01 -2.72304343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.877628 meters 0.012296317256313282 Centerline is valid? [True, True] Translation: X:151.79, Y:-48.43, Z:-0.27 [[ 8.49522632e-01 5.27495202e-01 -7.75299795e-03 1.51785284e+02] [-5.27473141e-01 8.49558009e-01 4.82428640e-03 -4.84311195e+01] [ 9.13140944e-03 -8.84229334e-06 9.99958308e-01 -2.72237202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.937628 meters 0.012355353931522428 Centerline is valid? [True, True] Translation: X:151.84, Y:-48.46, Z:-0.27 [[ 8.48080975e-01 5.29791992e-01 -8.89411271e-03 1.51836964e+02] [-5.29763054e-01 8.48127612e-01 5.53725056e-03 -4.84649924e+01] [ 1.04769336e-02 1.57354547e-05 9.99945115e-01 -2.71620594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.997628 meters 0.012454646198788803 Centerline is valid? [True, True] Translation: X:151.89, Y:-48.50, Z:-0.27 [[ 8.47744152e-01 5.30317673e-01 -9.64462511e-03 1.51887077e+02] [-5.30283662e-01 8.47799013e-01 6.00604590e-03 -4.84993117e+01] [ 1.13618159e-02 2.27968291e-05 9.99935452e-01 -2.71954987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.057628 meters 0.012316234534812386 Centerline is valid? [True, True] Translation: X:151.94, Y:-48.53, Z:-0.27 [[ 8.47551515e-01 5.30641403e-01 -8.72527037e-03 1.51939449e+02] [-5.30613551e-01 8.47596426e-01 5.43677891e-03 -4.85330913e+01] [ 1.02804880e-02 2.17964973e-05 9.99947154e-01 -2.69701820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.117628 meters 0.012300702953378135 Centerline is valid? [True, True] Translation: X:151.99, Y:-48.56, Z:-0.27 [[ 8.46533236e-01 5.32270603e-01 -8.33576907e-03 1.51993782e+02] [-5.32245228e-01 8.46574275e-01 5.19750518e-03 -4.85644171e+01] [ 9.82332687e-03 3.68124263e-05 9.99951749e-01 -2.68067176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.177628 meters 0.012588033924925895 Centerline is valid? [True, True] Translation: X:152.05, Y:-48.59, Z:-0.27 [[ 8.45036649e-01 5.34620876e-01 -9.67369581e-03 1.52047109e+02] [-5.34586821e-01 8.45092015e-01 6.03461005e-03 -4.85937975e+01] [ 1.14013916e-02 7.19636387e-05 9.99934999e-01 -2.69789257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.237628 meters 0.012877556916017125 Centerline is valid? [True, True] Translation: X:152.10, Y:-48.62, Z:-0.27 [[ 8.43870721e-01 5.36405708e-01 -1.22932272e-02 1.52100835e+02] [-5.36350841e-01 8.43960250e-01 7.67282958e-03 -4.86249982e+01] [ 1.44907447e-02 1.18606512e-04 9.99894997e-01 -2.73222822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.297628 meters 0.01310997473770483 Centerline is valid? [True, True] Translation: X:152.15, Y:-48.66, Z:-0.28 [[ 8.43415790e-01 5.37053886e-01 -1.49307933e-02 1.52152514e+02] [-5.36972961e-01 8.43547924e-01 9.32408421e-03 -4.86593521e+01] [ 1.76023753e-02 1.53352410e-04 9.99845054e-01 -2.75841155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.357628 meters 0.013073151450321379 Centerline is valid? [True, True] Translation: X:152.20, Y:-48.69, Z:-0.28 [[ 8.43418081e-01 5.37082139e-01 -1.37374149e-02 1.52204185e+02] [-5.37013569e-01 8.43529938e-01 8.58313358e-03 -4.86925687e+01] [ 1.61977685e-02 1.38008142e-04 9.99868798e-01 -2.75154023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.417628 meters 0.012837979050749057 Centerline is valid? [True, True] Translation: X:152.26, Y:-48.73, Z:-0.27 [[ 8.43247132e-01 5.37380324e-01 -1.25164604e-02 1.52256280e+02] [-5.37323369e-01 8.43340009e-01 7.82471351e-03 -4.87261303e+01] [ 1.47604789e-02 1.27219471e-04 9.99891050e-01 -2.72987143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.477628 meters 0.012800394258114592 Centerline is valid? [True, True] Translation: X:152.31, Y:-48.76, Z:-0.27 [[ 8.42672745e-01 5.38309058e-01 -1.12251254e-02 1.52309587e+02] [-5.38263279e-01 8.42747496e-01 7.02139973e-03 -4.87577310e+01] [ 1.32396294e-02 1.25330597e-04 9.99912344e-01 -2.71388590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.53762799999998 meters 0.012540079697894547 Centerline is valid? [True, True] Translation: X:152.36, Y:-48.79, Z:-0.27 [[ 8.43016317e-01 5.37786254e-01 -1.04610559e-02 1.52361863e+02] [-5.37746410e-01 8.43081214e-01 6.54716256e-03 -4.87911348e+01] [ 1.23404938e-02 1.06030400e-04 9.99923848e-01 -2.70807538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.597628 meters 0.012354414890945131 Centerline is valid? [True, True] Translation: X:152.41, Y:-48.83, Z:-0.27 [[ 8.44653073e-01 5.35223835e-01 -9.83022975e-03 1.52412470e+02] [-5.35188441e-01 8.44710272e-01 6.15548520e-03 -4.88257397e+01] [ 1.15982584e-02 6.17758377e-05 9.99932736e-01 -2.70947145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.657628 meters 0.01219830045432753 Centerline is valid? [True, True] Translation: X:152.46, Y:-48.86, Z:-0.27 [[ 8.47043512e-01 5.31448440e-01 -8.93560073e-03 1.52463186e+02] [-5.31418975e-01 8.47090642e-01 5.59614225e-03 -4.88628120e+01] [ 1.05433248e-02 8.37180070e-06 9.99944418e-01 -2.70735067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.717628 meters 0.012303768646586827 Centerline is valid? [True, True] Translation: X:152.52, Y:-48.90, Z:-0.27 [[ 8.48463596e-01 5.29180062e-01 -8.83111591e-03 1.52515353e+02] [-5.29151120e-01 8.48509553e-01 5.53455366e-03 -4.88983727e+01] [ 1.04220617e-02 -2.28724236e-05 9.99945689e-01 -2.71229470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.777628 meters 0.012743074488422098 Centerline is valid? [True, True] Translation: X:152.57, Y:-48.93, Z:-0.27 [[ 8.50580845e-01 5.25759078e-01 -9.46666718e-03 1.52565066e+02] [-5.25725592e-01 8.50633521e-01 5.93426003e-03 -4.89346970e+01] [ 1.11726555e-02 -7.06987031e-05 9.99937581e-01 -2.71181272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.837628 meters 0.012947820644503517 Centerline is valid? [True, True] Translation: X:152.62, Y:-48.97, Z:-0.27 [[ 8.51929990e-01 5.23588881e-01 -8.36512067e-03 1.52617197e+02] [-5.23562594e-01 8.51971053e-01 5.24738959e-03 -4.89691528e+01] [ 9.87431551e-03 -9.07442853e-05 9.99951244e-01 -2.68780802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.897628 meters 0.013329649066529123 Centerline is valid? [True, True] Translation: X:152.67, Y:-49.00, Z:-0.27 [[ 8.52774216e-01 5.22228876e-01 -7.28953986e-03 1.52669502e+02] [-5.22208842e-01 8.52805366e-01 4.57537366e-03 -4.90029537e+01] [ 8.60595095e-03 -9.50985174e-05 9.99962964e-01 -2.68541206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.957628 meters 0.013963526377316376 Centerline is valid? [True, True] Translation: X:152.72, Y:-49.04, Z:-0.27 [[ 8.55235071e-01 5.18193483e-01 -6.96331972e-03 1.52721416e+02] [-5.18175048e-01 8.55263408e-01 4.37301971e-03 -4.90376792e+01] [ 8.22154287e-03 -1.31741295e-04 9.99966194e-01 -2.68031042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.017628 meters 0.014732195553585258 Centerline is valid? [True, True] Translation: X:152.77, Y:-49.07, Z:-0.27 [[ 8.56201729e-01 5.16594754e-01 -6.96128168e-03 1.52772197e+02] [-5.16576258e-01 8.56230015e-01 4.37389494e-03 -4.90717450e+01] [ 8.21998950e-03 -1.48903564e-04 9.99966204e-01 -2.68237613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.077628 meters 0.015974850721460418 Centerline is valid? [True, True] Translation: X:152.82, Y:-49.11, Z:-0.27 [[ 8.59395111e-01 5.11266959e-01 -6.79267973e-03 1.52823097e+02] [-5.11249176e-01 8.59421933e-01 4.26866438e-03 -4.91059979e+01] [ 8.02020500e-03 -1.95717376e-04 9.99967818e-01 -2.67962547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.137628 meters 0.01651816302064336 Centerline is valid? [True, True] Translation: X:152.88, Y:-49.14, Z:-0.27 [[ 8.61325589e-01 5.08021404e-01 -5.69941154e-03 1.52875980e+02] [-5.08008799e-01 8.61344424e-01 3.58377092e-03 -4.91379094e+01] [ 6.72978869e-03 -1.91442387e-04 9.99977336e-01 -2.66600007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.197628 meters 0.01690372069454211 Centerline is valid? [True, True] Translation: X:152.93, Y:-49.17, Z:-0.27 [[ 8.61613235e-01 5.07540856e-01 -4.99130520e-03 1.52929772e+02] [-5.07531170e-01 8.61627675e-01 3.14032685e-03 -4.91691463e+01] [ 5.89449087e-03 -1.72504208e-04 9.99982612e-01 -2.66499859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.25762799999998 meters 0.016502749765111308 Centerline is valid? [True, True] Translation: X:152.99, Y:-49.20, Z:-0.27 [[ 8.60442785e-01 5.09533556e-01 -3.71065527e-03 1.52986926e+02] [-5.09528220e-01 8.60450778e-01 2.33486100e-03 -4.91958461e+01] [ 4.38252624e-03 -1.18330729e-04 9.99990390e-01 -2.66385976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.31762799999998 meters 0.015852527540504827 Centerline is valid? [True, True] Translation: X:153.04, Y:-49.23, Z:-0.27 [[ 8.59733301e-01 5.10730391e-01 -3.62200479e-03 1.53041138e+02] [-5.10725311e-01 8.59740923e-01 2.28066030e-03 -4.92260655e+01] [ 4.27878827e-03 -1.10910084e-04 9.99990840e-01 -2.66801089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.377628 meters 0.014843173341588356 Centerline is valid? [True, True] Translation: X:153.10, Y:-49.25, Z:-0.27 [[ 8.58079561e-01 5.13501615e-01 -3.94430272e-03 1.53096844e+02] [-5.13495613e-01 8.58088620e-01 2.48495489e-03 -4.92545400e+01] [ 4.66058963e-03 -1.06906859e-04 9.99989134e-01 -2.67299261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.437628 meters 0.014247136539047488 Centerline is valid? [True, True] Translation: X:153.15, Y:-49.28, Z:-0.27 [[ 8.54682409e-01 5.19131902e-01 -4.47762554e-03 1.53151278e+02] [-5.19124239e-01 8.54694133e-01 2.82191788e-03 -4.92817411e+01] [ 5.29194787e-03 -8.73996213e-05 9.99985994e-01 -2.69923509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.497628 meters 0.013047292946015752 Centerline is valid? [True, True] Translation: X:153.21, Y:-49.31, Z:-0.27 [[ 8.51955701e-01 5.23590656e-01 -4.93030242e-03 1.53206769e+02] [-5.23581430e-01 8.51969965e-01 3.10897485e-03 -4.93094350e+01] [ 5.82829976e-03 -6.72940622e-05 9.99983013e-01 -2.71431372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.557628 meters 0.011928059976798704 Centerline is valid? [True, True] Translation: X:153.26, Y:-49.33, Z:-0.27 [[ 8.46791190e-01 5.31896526e-01 -5.54665550e-03 1.53263885e+02] [-5.31885014e-01 8.46809356e-01 3.49948750e-03 -4.93349415e+01] [ 6.55832501e-03 -1.31522478e-05 9.99978494e-01 -2.73522352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.617628 meters 0.012120812446536091 Centerline is valid? [True, True] Translation: X:153.32, Y:-49.36, Z:-0.27 [[ 8.43168240e-01 5.37631593e-01 -4.42594926e-03 1.53319565e+02] [-5.37624337e-01 8.43179856e-01 2.79344684e-03 -4.93628350e+01] [ 5.23371653e-03 2.41523814e-05 9.99986304e-01 -2.74076495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.677628 meters 0.01261969976435281 Centerline is valid? [True, True] Translation: X:153.37, Y:-49.39, Z:-0.27 [[ 8.38867854e-01 5.44327417e-01 -2.89603647e-03 1.53374771e+02] [-5.44324345e-01 8.38872852e-01 1.82913464e-03 -4.93912477e+01] [ 3.42505450e-03 4.19809042e-05 9.99994134e-01 -2.71752522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.737628 meters 0.013082425009958865 Centerline is valid? [True, True] Translation: X:153.43, Y:-49.42, Z:-0.27 [[ 8.37725115e-01 5.46090248e-01 -1.43941123e-03 1.53427210e+02] [-5.46089491e-01 8.37726352e-01 9.09804580e-04 -4.94221259e+01] [ 1.70266812e-03 2.38811976e-05 9.99998550e-01 -2.70500032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.797628 meters 0.015632453512346024 Centerline is valid? [True, True] Translation: X:153.48, Y:-49.46, Z:-0.27 [[ 8.37904668e-01 5.45816560e-01 2.24654876e-04 1.53478849e+02] [-5.45816542e-01 8.37904698e-01 -1.41513171e-04 -4.94565537e+01] [-2.65479608e-04 -4.04580059e-06 9.99999965e-01 -2.71715872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.857628 meters 0.01313443940824023 Centerline is valid? [True, True] Translation: X:153.53, Y:-49.49, Z:-0.27 [[ 8.37344704e-01 5.46674673e-01 -8.04759573e-04 1.53530970e+02] [-5.46674436e-01 8.37345091e-01 5.09451860e-04 -4.94910617e+01] [ 9.52365907e-04 1.33546688e-05 9.99999546e-01 -2.71622150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.917628 meters 0.013726819762061486 Centerline is valid? [True, True] Translation: X:153.58, Y:-49.52, Z:-0.27 [[ 8.35937011e-01 5.48810027e-01 -4.10709477e-03 1.53583903e+02] [-5.48803877e-01 8.35947096e-01 2.59940065e-03 -4.95233857e+01] [ 4.85989109e-03 8.10543223e-05 9.99988187e-01 -2.74548844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.977628 meters 0.013664857706953996 Centerline is valid? [True, True] Translation: X:153.64, Y:-49.56, Z:-0.28 [[ 8.35783688e-01 5.49022515e-01 -6.31703783e-03 1.53635841e+02] [-5.49007957e-01 8.35807551e-01 4.00001791e-03 -4.95577839e+01] [ 7.47592781e-03 1.24954312e-04 9.99972047e-01 -2.76419497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.03762799999998 meters 0.013442703857648392 Centerline is valid? [True, True] Translation: X:153.69, Y:-49.59, Z:-0.28 [[ 8.36415923e-01 5.48059941e-01 -6.22136852e-03 1.53687162e+02] [-5.48045779e-01 8.36439052e-01 3.94157196e-03 -4.95932256e+01] [ 7.36401329e-03 1.12801202e-04 9.99972879e-01 -2.76448488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.097628 meters 0.0126856753379706 Centerline is valid? [True, True] Translation: X:153.74, Y:-49.63, Z:-0.27 [[ 8.37872414e-01 5.45849123e-01 -4.30733206e-03 1.53736199e+02] [-5.45842296e-01 8.37883483e-01 2.73058749e-03 -4.96311977e+01] [ 5.09953118e-03 6.32400924e-05 9.99986995e-01 -2.73809489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.157628 meters 0.011682497216817763 Centerline is valid? [True, True] Translation: X:153.78, Y:-49.67, Z:-0.27 [[ 8.42099965e-01 5.39316666e-01 -2.27650620e-03 1.53782768e+02] [-5.39314732e-01 8.42103042e-01 1.44408636e-03 -4.96715489e+01] [ 2.69587263e-03 1.16882588e-05 9.99996366e-01 -2.71241584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.217628 meters 0.012052822816623994 Centerline is valid? [True, True] Translation: X:153.83, Y:-49.71, Z:-0.27 [[ 8.48027824e-01 5.29947561e-01 -2.09581027e-03 1.53828109e+02] [-5.29945892e-01 8.48030413e-01 1.33012540e-03 -4.97149991e+01] [ 2.48220756e-03 -1.73173044e-05 9.99996919e-01 -2.70406268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.277628 meters 0.013829578403915195 Centerline is valid? [True, True] Translation: X:153.87, Y:-49.76, Z:-0.27 [[ 8.53362399e-01 5.21317878e-01 -5.35982741e-04 1.53874921e+02] [-5.21317767e-01 8.53362567e-01 3.40245945e-04 -4.97571590e+01] [ 6.34763901e-04 -1.09357702e-05 9.99999798e-01 -2.67874748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.337628 meters 0.015182725341366788 Centerline is valid? [True, True] Translation: X:153.92, Y:-49.79, Z:-0.27 [[ 8.55736213e-01 5.17411809e-01 -7.44335262e-04 1.53924726e+02] [-5.17411594e-01 8.55736536e-01 4.72527268e-04 -4.97948670e+01] [ 8.81446068e-04 -1.92310002e-05 9.99999611e-01 -2.68293310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.397628 meters 0.016301447428209742 Centerline is valid? [True, True] Translation: X:153.97, Y:-49.83, Z:-0.27 [[ 8.56626088e-01 5.15935149e-01 -1.63345984e-03 1.53973884e+02] [-5.15934109e-01 8.56627644e-01 1.03717978e-03 -4.98304691e+01] [ 1.93438436e-03 -4.57176117e-05 9.99998128e-01 -2.68812583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.457628 meters 0.016020656909151432 Centerline is valid? [True, True] Translation: X:154.03, Y:-49.86, Z:-0.27 [[ 8.55965863e-01 5.17032330e-01 -1.01024570e-04 1.54025973e+02] [-5.17032326e-01 8.55965869e-01 6.46277556e-05 -4.98642039e+01] [ 1.19888223e-04 -3.08618436e-06 9.99999993e-01 -2.67132222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.517628 meters 0.013513692361705203 Centerline is valid? [True, True] Translation: X:154.08, Y:-49.89, Z:-0.27 [[ 8.53892513e-01 5.20449121e-01 5.36732246e-04 1.54081183e+02] [-5.20449010e-01 8.53892682e-01 -3.40592896e-04 -4.98924867e+01] [-6.35573011e-04 1.14879578e-05 9.99999798e-01 -2.66462269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.577628 meters 0.012716218937359478 Centerline is valid? [True, True] Translation: X:154.14, Y:-49.92, Z:-0.27 [[ 8.50205282e-01 5.26451275e-01 1.86226174e-04 1.54135081e+02] [-5.26451261e-01 8.50205302e-01 -1.17997207e-04 -4.99212225e+01] [-2.20450260e-04 2.28284487e-06 9.99999976e-01 -2.68535733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.637628 meters 0.011936912644549973 Centerline is valid? [True, True] Translation: X:154.19, Y:-49.95, Z:-0.27 [[ 8.47712448e-01 5.30455721e-01 -5.77174223e-04 1.54189268e+02] [-5.30455593e-01 8.47712645e-01 3.67639587e-04 -4.99518561e+01] [ 6.84294410e-04 -5.48735966e-06 9.99999766e-01 -2.69778029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.697628 meters 0.011534209069977843 Centerline is valid? [True, True] Translation: X:154.24, Y:-49.98, Z:-0.27 [[ 8.45650600e-01 5.33736118e-01 -9.05058758e-04 1.54243029e+02] [-5.33735806e-01 8.45651084e-01 5.76537470e-04 -4.99830310e+01] [ 1.07308279e-03 -4.48699090e-06 9.99999424e-01 -2.70307934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.75762799999998 meters 0.011384413507786257 Centerline is valid? [True, True] Translation: X:154.30, Y:-50.01, Z:-0.27 [[ 8.43192347e-01 5.37610743e-01 -1.16411733e-03 1.54298160e+02] [-5.37610231e-01 8.43193151e-01 7.41948939e-04 -5.00130500e+01] [ 1.38045548e-03 2.35718586e-07 9.99999047e-01 -2.70724432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.81762799999998 meters 0.011433890402388793 Centerline is valid? [True, True] Translation: X:154.35, Y:-50.04, Z:-0.27 [[ 8.42140449e-01 5.39256570e-01 -1.34764352e-03 1.54352250e+02] [-5.39255886e-01 8.42141527e-01 8.59366608e-04 -5.00448158e+01] [ 1.59832566e-03 3.01731718e-06 9.99998723e-01 -2.71877426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.877628 meters 0.011466184164961694 Centerline is valid? [True, True] Translation: X:154.40, Y:-50.08, Z:-0.27 [[ 8.41727268e-01 5.39900848e-01 -1.51023522e-03 1.54404798e+02] [-5.39899988e-01 8.41728623e-01 9.63490574e-04 -5.00775556e+01] [ 1.79139759e-03 4.37969001e-06 9.99998395e-01 -2.72546528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.937628 meters 0.011468536254002184 Centerline is valid? [True, True] Translation: X:154.46, Y:-50.11, Z:-0.27 [[ 8.41501078e-01 5.40251616e-01 -2.03148085e-03 1.54457876e+02] [-5.40250060e-01 8.41503530e-01 1.29667285e-03 -5.01108994e+01] [ 2.41002792e-03 6.35604953e-06 9.99997096e-01 -2.73560071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.997628 meters 0.011427218896200506 Centerline is valid? [True, True] Translation: X:154.51, Y:-50.15, Z:-0.28 [[ 8.42061293e-01 5.39373116e-01 -3.06931519e-03 1.54509897e+02] [-5.39369555e-01 8.42066886e-01 1.96001034e-03 -5.01460848e+01] [ 3.64174557e-03 5.04633053e-06 9.99993369e-01 -2.75132085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.057628 meters 0.011532854140652086 Centerline is valid? [True, True] Translation: X:154.56, Y:-50.18, Z:-0.28 [[ 8.42709992e-01 5.38347372e-01 -4.68787749e-03 1.54561302e+02] [-5.38339040e-01 8.42723031e-01 2.99521536e-03 -5.01825775e+01] [ 5.56304864e-03 -4.30443046e-07 9.99984526e-01 -2.75583342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.117628 meters 0.011589114772611805 Centerline is valid? [True, True] Translation: X:154.61, Y:-50.22, Z:-0.28 [[ 8.42678060e-01 5.38382801e-01 -6.13570102e-03 1.54612035e+02] [-5.38368516e-01 8.42700397e-01 3.92194900e-03 -5.02173730e+01] [ 7.28206758e-03 -1.67211731e-06 9.99973485e-01 -2.77214307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.177628 meters 0.011707754890411348 Centerline is valid? [True, True] Translation: X:154.66, Y:-50.25, Z:-0.28 [[ 8.42626718e-01 5.38444852e-01 -7.57334648e-03 1.54663661e+02] [-5.38423068e-01 8.42660751e-01 4.84338837e-03 -5.02518956e+01] [ 8.98965937e-03 -3.50400080e-06 9.99959592e-01 -2.79220102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.237628 meters 0.011746539560311903 Centerline is valid? [True, True] Translation: X:154.71, Y:-50.29, Z:-0.28 [[ 8.43619622e-01 5.36873290e-01 -8.54421073e-03 1.54714107e+02] [-5.36845453e-01 8.43662889e-01 5.46718830e-03 -5.02884934e+01] [ 1.01436209e-02 -2.53066524e-05 9.99948552e-01 -2.79761357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.297628 meters 0.01201976294261155 Centerline is valid? [True, True] Translation: X:154.76, Y:-50.33, Z:-0.28 [[ 8.44723571e-01 5.35123250e-01 -9.23013992e-03 1.54764498e+02] [-5.35090625e-01 8.44773996e-01 5.90923868e-03 -5.03256094e+01] [ 1.09595532e-02 -5.27118645e-05 9.99939941e-01 -2.78528725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.357628 meters 0.012110926348212089 Centerline is valid? [True, True] Translation: X:154.82, Y:-50.36, Z:-0.27 [[ 8.46493526e-01 5.32367823e-01 -5.76299395e-03 1.54815571e+02] [-5.32355025e-01 8.46513141e-01 3.69172167e-03 -5.03611361e+01] [ 6.84380394e-03 -5.70597008e-05 9.99976579e-01 -2.73638589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.417628 meters 0.013260700906165145 Centerline is valid? [True, True] Translation: X:154.87, Y:-50.40, Z:-0.27 [[ 8.48926648e-01 5.28502088e-01 -3.01474079e-03 1.54865273e+02] [-5.28498557e-01 8.48932000e-01 1.93236409e-03 -5.03972583e+01] [ 3.58056839e-03 -4.71492134e-05 9.99993589e-01 -2.71253731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.477628 meters 0.015263396137233149 Centerline is valid? [True, True] Translation: X:154.91, Y:-50.43, Z:-0.27 [[ 8.54684774e-01 5.19142953e-01 -2.12858261e-03 1.54914292e+02] [-5.19141162e-01 8.54687422e-01 1.36515490e-03 -5.04341282e+01] [ 2.52798333e-03 -6.17422578e-05 9.99996803e-01 -2.69940411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.53762799999998 meters 0.01782552666879548 Centerline is valid? [True, True] Translation: X:154.96, Y:-50.47, Z:-0.27 [[ 8.58451250e-01 5.12887563e-01 -2.79263173e-03 1.54964097e+02] [-5.12884444e-01 8.58455786e-01 1.79175533e-03 -5.04705056e+01] [ 3.31631989e-03 -1.05837236e-04 9.99994495e-01 -2.70915040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.597628 meters 0.020218117312357366 Centerline is valid? [True, True] Translation: X:155.02, Y:-50.50, Z:-0.27 [[ 8.62529834e-01 5.05996357e-01 -3.15793262e-03 1.55015885e+02] [-5.05992319e-01 8.62535602e-01 2.02707565e-03 -5.05038821e+01] [ 3.74952220e-03 -1.50523577e-04 9.99992959e-01 -2.71044076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.657628 meters 0.02082136208552463 Centerline is valid? [True, True] Translation: X:155.07, Y:-50.53, Z:-0.27 [[ 8.64933217e-01 5.01861246e-01 -5.08129787e-03 1.55070664e+02] [-5.01850712e-01 8.64948100e-01 3.26301565e-03 -5.05323473e+01] [ 6.03264004e-03 -2.72237666e-04 9.99981766e-01 -2.72436167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.717628 meters 0.02152685016048972 Centerline is valid? [True, True] Translation: X:155.12, Y:-50.56, Z:-0.27 [[ 8.65494199e-01 5.00898961e-01 -4.47465954e-03 1.55124856e+02] [-5.00890771e-01 8.65505731e-01 2.87511296e-03 -5.05630294e+01] [ 5.31298457e-03 -2.47077922e-04 9.99985855e-01 -2.72133633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.777628 meters 0.020194417592306554 Centerline is valid? [True, True] Translation: X:155.18, Y:-50.59, Z:-0.27 [[ 8.63093921e-01 5.05037638e-01 -2.42241816e-03 1.55181397e+02] [-5.05035252e-01 8.63097312e-01 1.55707847e-03 -5.05883457e+01] [ 2.87716584e-03 -1.20498389e-04 9.99995854e-01 -2.70084540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.837628 meters 0.01719996540037779 Centerline is valid? [True, True] Translation: X:155.24, Y:-50.61, Z:-0.27 [[ 8.58721940e-01 5.12438553e-01 -1.83261375e-03 1.55240297e+02] [-5.12437204e-01 8.58723893e-01 1.17808716e-03 -5.06112408e+01] [ 2.17740649e-03 -7.25498232e-05 9.99997627e-01 -2.70540808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.897628 meters 0.013721100968965427 Centerline is valid? [True, True] Translation: X:155.30, Y:-50.63, Z:-0.27 [[ 8.50272456e-01 5.26341246e-01 -1.28167980e-03 1.55300120e+02] [-5.26340602e-01 8.50273422e-01 8.24087754e-04 -5.06294956e+01] [ 1.52352964e-03 -2.60990038e-05 9.99998839e-01 -2.72218923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.957628 meters 0.011897699661924343 Centerline is valid? [True, True] Translation: X:155.36, Y:-50.65, Z:-0.27 [[ 8.44980294e-01 5.34795592e-01 -1.40659809e-03 1.55356929e+02] [-5.34794827e-01 8.44981464e-01 9.04447988e-04 -5.06543755e+01] [ 1.67224411e-03 -1.19993433e-05 9.99998602e-01 -2.72216270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.017628 meters 0.011882402364951288 Centerline is valid? [True, True] Translation: X:155.42, Y:-50.68, Z:-0.27 [[ 8.37267949e-01 5.46792583e-01 -5.03534656e-04 1.55417160e+02] [-5.46792487e-01 8.37268100e-01 3.24444772e-04 -5.06755085e+01] [ 5.98997499e-04 3.68175777e-06 9.99999821e-01 -2.72274460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.077628 meters 0.012390103984193237 Centerline is valid? [True, True] Translation: X:155.47, Y:-50.71, Z:-0.27 [[ 8.35093213e-01 5.50108425e-01 -2.13655398e-04 1.55471639e+02] [-5.50108408e-01 8.35093240e-01 1.38008072e-04 -5.07059719e+01] [ 2.54341582e-04 2.28402684e-06 9.99999968e-01 -2.72189193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.137628 meters 0.012633533230928173 Centerline is valid? [True, True] Translation: X:155.52, Y:-50.74, Z:-0.27 [[ 8.33749028e-01 5.52143386e-01 -4.89279363e-04 1.55524754e+02] [-5.52143296e-01 8.33749172e-01 3.15594407e-04 -5.07375305e+01] [ 5.82189628e-04 7.02578994e-06 9.99999831e-01 -2.72574908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.197628 meters 0.012777306959901901 Centerline is valid? [True, True] Translation: X:155.58, Y:-50.77, Z:-0.27 [[ 8.33161048e-01 5.53029183e-01 -1.17949426e-03 1.55577108e+02] [-5.53028661e-01 8.33161882e-01 7.60516281e-04 -5.07704352e+01] [ 1.40329735e-03 1.86615875e-05 9.99999015e-01 -2.73948903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.25762799999998 meters 0.012188028552459807 Centerline is valid? [True, True] Translation: X:155.63, Y:-50.81, Z:-0.28 [[ 8.34444795e-01 5.51084544e-01 -2.77660382e-03 1.55628146e+02] [-5.51081636e-01 8.34449414e-01 1.79064656e-03 -5.08061394e+01] [ 3.30373307e-03 3.59396683e-05 9.99994542e-01 -2.75862979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.31762799999998 meters 0.01186469020834051 Centerline is valid? [True, True] Translation: X:155.68, Y:-50.84, Z:-0.28 [[ 8.36465160e-01 5.48008696e-01 -3.53628482e-03 1.55678718e+02] [-5.48003947e-01 8.36472634e-01 2.28168637e-03 -5.08429094e+01] [ 4.20838945e-03 2.93468844e-05 9.99991144e-01 -2.76610143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.377628 meters 0.011678487634637441 Centerline is valid? [True, True] Translation: X:155.73, Y:-50.88, Z:-0.28 [[ 8.40953942e-01 5.41090129e-01 -4.23554074e-03 1.55726075e+02] [-5.41083220e-01 8.40964608e-01 2.73426498e-03 -5.08833393e+01] [ 5.04142365e-03 -7.61088864e-06 9.99987292e-01 -2.76762077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.437628 meters 0.01218432079580567 Centerline is valid? [True, True] Translation: X:155.78, Y:-50.92, Z:-0.28 [[ 8.44221173e-01 5.35981225e-01 -3.83883243e-03 1.55775286e+02] [-5.35975491e-01 8.44229901e-01 2.47955345e-03 -5.09216641e+01] [ 4.56985122e-03 -3.57714284e-05 9.99989558e-01 -2.76536224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.497628 meters 0.013660411976992583 Centerline is valid? [True, True] Translation: X:155.82, Y:-50.96, Z:-0.28 [[ 8.49158841e-01 5.28118815e-01 -4.44749705e-03 1.55822816e+02] [-5.28111009e-01 8.49170483e-01 2.87269575e-03 -5.09625834e+01] [ 5.29380790e-03 -9.06028364e-05 9.99985984e-01 -2.76319733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.557628 meters 0.015148094762660682 Centerline is valid? [True, True] Translation: X:155.87, Y:-51.00, Z:-0.28 [[ 8.52413066e-01 5.22849483e-01 -4.51477051e-03 1.55871528e+02] [-5.22841364e-01 8.52425013e-01 2.91654058e-03 -5.10013215e+01] [ 5.37341504e-03 -1.25588524e-04 9.99985555e-01 -2.76519599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.617628 meters 0.01537241433356307 Centerline is valid? [True, True] Translation: X:155.92, Y:-51.04, Z:-0.28 [[ 8.52762764e-01 5.22278087e-01 -4.61175622e-03 1.55922958e+02] [-5.22269596e-01 8.52775224e-01 2.98117750e-03 -5.10362133e+01] [ 5.48979512e-03 -1.33657110e-04 9.99984922e-01 -2.76498894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.677628 meters 0.014306467805542077 Centerline is valid? [True, True] Translation: X:155.98, Y:-51.07, Z:-0.28 [[ 8.50265803e-01 5.26334341e-01 -4.49726863e-03 1.55975505e+02] [-5.26326317e-01 8.50277690e-01 2.90820259e-03 -5.10679210e+01] [ 5.35461408e-03 -1.05714376e-04 9.99985658e-01 -2.75268867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.737628 meters 0.014333771946764346 Centerline is valid? [True, True] Translation: X:156.03, Y:-51.10, Z:-0.27 [[ 8.47621266e-01 5.30590151e-01 -3.50450206e-03 1.56026096e+02] [-5.30585311e-01 8.47628508e-01 2.26718484e-03 -5.11012487e+01] [ 4.17346180e-03 -6.22767679e-05 9.99991289e-01 -2.74149482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.797628 meters 0.012431383728989177 Centerline is valid? [True, True] Translation: X:156.08, Y:-51.13, Z:-0.27 [[ 8.44193135e-01 5.36032048e-01 -2.75576443e-03 1.56081479e+02] [-5.36029080e-01 8.44197632e-01 1.78401139e-03 -5.11298559e+01] [ 3.28269708e-03 -2.88802967e-05 9.99994612e-01 -2.72790939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.857628 meters 0.012012809787170217 Centerline is valid? [True, True] Translation: X:156.14, Y:-51.16, Z:-0.27 [[ 8.38660266e-01 5.44650467e-01 -2.19680094e-03 1.56136773e+02] [-5.44648608e-01 8.38663144e-01 1.42303566e-03 -5.11580502e+01] [ 2.61743302e-03 3.04110854e-06 9.99996575e-01 -2.73712062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.917628 meters 0.012279975535079118 Centerline is valid? [True, True] Translation: X:156.19, Y:-51.19, Z:-0.27 [[ 8.35739179e-01 5.49121717e-01 -2.31612132e-03 1.56189983e+02] [-5.49119665e-01 8.35742388e-01 1.50115496e-03 -5.11893605e+01] [ 2.75999755e-03 1.72537489e-05 9.99996191e-01 -2.74000572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.977628 meters 0.012802998568482313 Centerline is valid? [True, True] Translation: X:156.24, Y:-51.22, Z:-0.28 [[ 8.33669475e-01 5.52255790e-01 -2.95777180e-03 1.56241649e+02] [-5.52252462e-01 8.33674722e-01 1.91761120e-03 -5.12210478e+01] [ 3.52483147e-03 3.47828321e-05 9.99993787e-01 -2.75994998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.03762799999998 meters 0.012788532988039406 Centerline is valid? [True, True] Translation: X:156.29, Y:-51.26, Z:-0.28 [[ 8.33635286e-01 5.52301779e-01 -3.86701166e-03 1.56293256e+02] [-5.52296083e-01 8.33644254e-01 2.50871815e-03 -5.12576113e+01] [ 4.60928155e-03 4.43794185e-05 9.99989376e-01 -2.77679000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.097628 meters 0.012292587382180496 Centerline is valid? [True, True] Translation: X:156.34, Y:-51.30, Z:-0.28 [[ 8.36421462e-01 5.48059921e-01 -5.42780363e-03 1.56340994e+02] [-5.48048600e-01 8.36439072e-01 3.52286853e-03 -5.12978764e+01] [ 6.47077008e-03 2.80973356e-05 9.99979064e-01 -2.79102940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.157628 meters 0.012371827361809643 Centerline is valid? [True, True] Translation: X:156.39, Y:-51.34, Z:-0.28 [[ 8.39754830e-01 5.42935690e-01 -5.71511313e-03 1.56390200e+02] [-5.42923002e-01 8.39774277e-01 3.71171914e-03 -5.13384226e+01] [ 6.81462979e-03 -1.40676978e-05 9.99976780e-01 -2.79310303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.217628 meters 0.01301523197176198 Centerline is valid? [True, True] Translation: X:156.44, Y:-51.38, Z:-0.28 [[ 8.43529849e-01 5.37049969e-01 -5.89270899e-03 1.56437696e+02] [-5.37036323e-01 8.43550429e-01 3.82903865e-03 -5.13791215e+01] [ 7.02718229e-03 -6.53096318e-05 9.99975307e-01 -2.79670787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.277628 meters 0.014859546567059068 Centerline is valid? [True, True] Translation: X:156.48, Y:-51.42, Z:-0.28 [[ 8.49141749e-01 5.28135454e-01 -5.58862132e-03 1.56483366e+02] [-5.28122985e-01 8.49160129e-01 3.63162813e-03 -5.14229272e+01] [ 6.66362597e-03 -1.32287688e-04 9.99977789e-01 -2.79279327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.337628 meters 0.01657604395938314 Centerline is valid? [True, True] Translation: X:156.53, Y:-51.46, Z:-0.28 [[ 8.52289013e-01 5.23050385e-01 -4.66194117e-03 1.56530121e+02] [-5.23041621e-01 8.52301751e-01 3.03126470e-03 -5.14640628e+01] [ 5.55888479e-03 -1.45124331e-04 9.99984539e-01 -2.78710425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.397628 meters 0.017209494934546446 Centerline is valid? [True, True] Translation: X:156.58, Y:-51.50, Z:-0.28 [[ 8.52442673e-01 5.22794464e-01 -5.23813054e-03 1.56579151e+02] [-5.22783386e-01 8.52458750e-01 3.40753117e-03 -5.15004995e+01] [ 6.24672865e-03 -1.66317354e-04 9.99980475e-01 -2.78849797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.457628 meters 0.016247083214567644 Centerline is valid? [True, True] Translation: X:156.63, Y:-51.53, Z:-0.28 [[ 8.50049773e-01 5.26657837e-01 -6.84887552e-03 1.56630495e+02] [-5.26639007e-01 8.50077343e-01 4.45717874e-03 -5.15336995e+01] [ 8.16948202e-03 -1.81938770e-04 9.99966613e-01 -2.80068818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.517628 meters 0.014903864681292645 Centerline is valid? [True, True] Translation: X:156.68, Y:-51.56, Z:-0.28 [[ 8.47078924e-01 5.31412874e-01 -7.59305173e-03 1.56682970e+02] [-5.31389900e-01 8.47112941e-01 4.94367018e-03 -5.15647839e+01] [ 9.05930235e-03 -1.52807814e-04 9.99958952e-01 -2.80829376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.577628 meters 0.01346256989203222 Centerline is valid? [True, True] Translation: X:156.74, Y:-51.59, Z:-0.28 [[ 8.43279917e-01 5.37404480e-01 -8.68365251e-03 1.56738215e+02] [-5.37374741e-01 8.43324620e-01 5.65452012e-03 -5.15946476e+01] [ 1.03619024e-02 -1.01967746e-04 9.99946309e-01 -2.82955452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.637628 meters 0.012811946062284337 Centerline is valid? [True, True] Translation: X:156.79, Y:-51.63, Z:-0.28 [[ 8.40955878e-01 5.41044436e-01 -8.00808710e-03 1.56791533e+02] [-5.41019278e-01 8.40994005e-01 5.21777744e-03 -5.16267726e+01] [ 9.55780269e-03 -5.53911032e-05 9.99954322e-01 -2.82005677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.697628 meters 0.012756972808966186 Centerline is valid? [True, True] Translation: X:156.84, Y:-51.66, Z:-0.28 [[ 8.40706763e-01 5.41449590e-01 -6.66927696e-03 1.56843561e+02] [-5.41432135e-01 8.40733215e-01 4.34789623e-03 -5.16612403e+01] [ 7.96124930e-03 -4.43449102e-05 9.99968308e-01 -2.80558397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.75762799999998 meters 0.012708168616482572 Centerline is valid? [True, True] Translation: X:156.89, Y:-51.70, Z:-0.28 [[ 8.40938069e-01 5.41115473e-01 -4.14833073e-03 1.56894044e+02] [-5.41108712e-01 8.40948300e-01 2.70521201e-03 -5.16954298e+01] [ 4.95236375e-03 -3.02178706e-05 9.99987737e-01 -2.78355982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.81762799999998 meters 0.012972039079048345 Centerline is valid? [True, True] Translation: X:156.95, Y:-51.73, Z:-0.28 [[ 8.41680754e-01 5.39971427e-01 -2.08957556e-03 1.56945655e+02] [-5.39969705e-01 8.41683347e-01 1.36378546e-03 -5.17301377e+01] [ 2.49516613e-03 -1.95644753e-05 9.99996887e-01 -2.76829364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.877628 meters 0.01340197156364807 Centerline is valid? [True, True] Translation: X:157.00, Y:-51.77, Z:-0.28 [[ 8.42836374e-01 5.38168809e-01 -1.08612929e-03 1.56996371e+02] [-5.38168341e-01 8.42837074e-01 7.09444187e-04 -5.17653339e+01] [ 1.29723077e-03 -1.34249677e-05 9.99999159e-01 -2.76042558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.937628 meters 0.013586528096098715 Centerline is valid? [True, True] Translation: X:157.05, Y:-51.80, Z:-0.28 [[ 8.44168602e-01 5.36073761e-01 -2.07236044e-03 1.57047511e+02] [-5.36072052e-01 8.44171145e-01 1.35397008e-03 -5.18007177e+01] [ 2.47525472e-03 -3.20445154e-05 9.99996936e-01 -2.76487893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.997628 meters 0.013801907480492658 Centerline is valid? [True, True] Translation: X:157.10, Y:-51.83, Z:-0.28 [[ 8.44767849e-01 5.35118789e-01 -3.89393565e-03 1.57098984e+02] [-5.35112741e-01 8.44776821e-01 2.54490460e-03 -5.18345183e+01] [ 4.65133285e-03 -6.61590074e-05 9.99989180e-01 -2.78925573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.057628 meters 0.013976835087434568 Centerline is valid? [True, True] Translation: X:157.15, Y:-51.87, Z:-0.28 [[ 8.44751575e-01 5.35137419e-01 -4.76651204e-03 1.57151876e+02] [-5.35128347e-01 8.44765018e-01 3.11708955e-03 -5.18681813e+01] [ 5.69465389e-03 -8.24705977e-05 9.99983782e-01 -2.80817516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.117628 meters 0.013882264964656877 Centerline is valid? [True, True] Translation: X:157.20, Y:-51.90, Z:-0.28 [[ 8.44502817e-01 5.35520621e-01 -5.71453592e-03 1.57204548e+02] [-5.35507576e-01 8.44522146e-01 3.73925638e-03 -5.19028254e+01] [ 6.82850103e-03 -9.76352722e-05 9.99976681e-01 -2.81139584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.177628 meters 0.013790335939057746 Centerline is valid? [True, True] Translation: X:157.26, Y:-51.94, Z:-0.28 [[ 8.44062126e-01 5.36208107e-01 -6.32396287e-03 1.57257125e+02] [-5.36192131e-01 8.44085810e-01 4.14053018e-03 -5.19374667e+01] [ 7.55815317e-03 -1.04005580e-04 9.99971431e-01 -2.81510382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.237628 meters 0.015467267279193344 Centerline is valid? [True, True] Translation: X:157.31, Y:-51.97, Z:-0.28 [[ 8.42555316e-01 5.38566161e-01 -6.85777311e-03 1.57309820e+02] [-5.38547433e-01 8.42583219e-01 4.49234231e-03 -5.19702145e+01] [ 8.19766810e-03 -9.18107894e-05 9.99966394e-01 -2.83997110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.297628 meters 0.012670710656680578 Centerline is valid? [True, True] Translation: X:157.36, Y:-52.00, Z:-0.28 [[ 8.38741521e-01 5.44517761e-01 -3.61504867e-03 1.57363477e+02] [-5.44512605e-01 8.38749312e-01 2.36963226e-03 -5.20015426e+01] [ 4.32242643e-03 -1.90693995e-05 9.99990658e-01 -2.79041097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.357628 meters 0.012472352881644146 Centerline is valid? [True, True] Translation: X:157.42, Y:-52.03, Z:-0.28 [[ 8.36122511e-01 5.48535797e-01 -2.76154298e-03 1.57417115e+02] [-5.48532807e-01 8.36127071e-01 1.81126182e-03 -5.20333768e+01] [ 3.30254279e-03 3.60138926e-07 9.99994547e-01 -2.77825548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.417628 meters 0.01282010601285482 Centerline is valid? [True, True] Translation: X:157.47, Y:-52.06, Z:-0.28 [[ 8.32864716e-01 5.53468763e-01 -2.94849621e-03 1.57470401e+02] [-5.53465381e-01 8.32869935e-01 1.93476166e-03 -5.20641092e+01] [ 3.52654399e-03 2.04958568e-05 9.99993782e-01 -2.78931515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.477628 meters 0.015499861668108253 Centerline is valid? [True, True] Translation: X:157.52, Y:-52.10, Z:-0.28 [[ 8.31931824e-01 5.54868084e-01 -3.29400388e-03 1.57523072e+02] [-5.54863869e-01 8.31938344e-01 2.16288591e-03 -5.20993459e+01] [ 3.94052450e-03 2.83501185e-05 9.99992236e-01 -2.81026392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.53762799999998 meters 0.013022050007922356 Centerline is valid? [True, True] Translation: X:157.57, Y:-52.13, Z:-0.28 [[ 8.31321830e-01 5.55774576e-01 -4.31691448e-03 1.57574364e+02] [-5.55767343e-01 8.31333037e-01 2.83583360e-03 -5.21336605e+01] [ 5.16487784e-03 4.17097145e-05 9.99986661e-01 -2.80561114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.597628 meters 0.015789125955409836 Centerline is valid? [True, True] Translation: X:157.63, Y:-52.17, Z:-0.29 [[ 8.32188913e-01 5.54453393e-01 -6.56103695e-03 1.57626100e+02] [-5.54436624e-01 8.32214775e-01 4.31250184e-03 -5.21701975e+01] [ 7.85127317e-03 4.88629589e-05 9.99969177e-01 -2.85617962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.657628 meters 0.012695634382980521 Centerline is valid? [True, True] Translation: X:157.68, Y:-52.21, Z:-0.28 [[ 8.33840998e-01 5.51971368e-01 -6.06615670e-03 1.57676454e+02] [-5.51956952e-01 8.33863063e-01 3.98935801e-03 -5.22072561e+01] [ 7.26035540e-03 2.17670919e-05 9.99973643e-01 -2.81825860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.717628 meters 0.012680994275990978 Centerline is valid? [True, True] Translation: X:157.73, Y:-52.24, Z:-0.28 [[ 8.34222795e-01 5.51396150e-01 -5.88332452e-03 1.57728578e+02] [-5.51382558e-01 8.34243541e-01 3.87159646e-03 -5.22417854e+01] [ 7.04290886e-03 1.41885028e-05 9.99975198e-01 -2.81516198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.777628 meters 0.012876796957237062 Centerline is valid? [True, True] Translation: X:157.78, Y:-52.28, Z:-0.28 [[ 8.37033221e-01 5.47127648e-01 -5.16940171e-03 1.57780195e+02] [-5.47117060e-01 8.37049184e-01 3.40398434e-03 -5.22769970e+01] [ 6.18945743e-03 -2.09801089e-05 9.99980845e-01 -2.81295653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.837628 meters 0.013388816773668554 Centerline is valid? [True, True] Translation: X:157.83, Y:-52.31, Z:-0.28 [[ 8.40192650e-01 5.42271970e-01 -4.17387219e-03 1.57829108e+02] [-5.42265004e-01 8.40203016e-01 2.74904441e-03 -5.23143093e+01] [ 4.99762973e-03 -4.63820950e-05 9.99987511e-01 -2.80071348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.897628 meters 0.014725331302694345 Centerline is valid? [True, True] Translation: X:157.88, Y:-52.35, Z:-0.28 [[ 8.45070888e-01 5.34652050e-01 -1.54293277e-03 1.57878788e+02] [-5.34651085e-01 8.45072295e-01 1.01642498e-03 -5.23517284e+01] [ 1.84732344e-03 -3.40204825e-05 9.99998293e-01 -2.76521346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.957628 meters 0.01599690079656353 Centerline is valid? [True, True] Translation: X:157.93, Y:-52.39, Z:-0.28 [[ 8.48231048e-01 5.29624428e-01 -1.43353951e-03 1.57928764e+02] [-5.29623586e-01 8.48232258e-01 9.45147750e-04 -5.23873291e+01] [ 1.71654779e-03 -4.24673319e-05 9.99998526e-01 -2.76493077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.017628 meters 0.01710894366355019 Centerline is valid? [True, True] Translation: X:157.98, Y:-52.42, Z:-0.28 [[ 8.51297832e-01 5.24675869e-01 -2.68954619e-03 1.57980071e+02] [-5.24672883e-01 8.51302075e-01 1.77294513e-03 -5.24212396e+01] [ 3.21983778e-03 -9.81723957e-05 9.99994811e-01 -2.78433428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.077628 meters 0.01790602168599224 Centerline is valid? [True, True] Translation: X:158.03, Y:-52.45, Z:-0.28 [[ 8.52256307e-01 5.23112827e-01 -3.48663520e-03 1.58032545e+02] [-5.23107789e-01 8.52263428e-01 2.29988292e-03 -5.24547851e+01] [ 4.17462992e-03 -1.36203689e-04 9.99991277e-01 -2.79449303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.137628 meters 0.017569550047027663 Centerline is valid? [True, True] Translation: X:158.09, Y:-52.49, Z:-0.28 [[ 8.51833024e-01 5.23801476e-01 -3.53728351e-03 1.58086094e+02] [-5.23796292e-01 8.51840358e-01 2.33455527e-03 -5.24867813e+01] [ 4.23604434e-03 -1.35835289e-04 9.99991019e-01 -2.79588269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.197628 meters 0.016951630083316727 Centerline is valid? [True, True] Translation: X:158.14, Y:-52.52, Z:-0.28 [[ 8.50313191e-01 5.26266955e-01 -3.25114036e-03 1.58139956e+02] [-5.26262589e-01 8.50319398e-01 2.14690718e-03 -5.25177336e+01] [ 3.89435402e-03 -1.14589955e-04 9.99992410e-01 -2.79658398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.25762799999998 meters 0.015351129620448673 Centerline is valid? [True, True] Translation: X:158.19, Y:-52.55, Z:-0.28 [[ 8.46100137e-01 5.33018132e-01 -2.49593964e-03 1.58193994e+02] [-5.33015587e-01 8.46103816e-01 1.64839840e-03 -5.25450538e+01] [ 2.99045029e-03 -6.43353773e-05 9.99995527e-01 -2.79657889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.31762799999998 meters 0.013953114590776847 Centerline is valid? [True, True] Translation: X:158.25, Y:-52.57, Z:-0.28 [[ 8.42733908e-01 5.38326326e-01 -2.08015910e-03 1.58248564e+02] [-5.38324572e-01 8.42736474e-01 1.37454795e-03 -5.25734605e+01] [ 2.49298129e-03 -3.85774072e-05 9.99996892e-01 -2.80334552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.377628 meters 0.012637515461517113 Centerline is valid? [True, True] Translation: X:158.30, Y:-52.60, Z:-0.28 [[ 8.38115257e-01 5.45492123e-01 -1.07686574e-03 1.58303922e+02] [-5.45491658e-01 8.38115949e-01 7.12037855e-04 -5.26003666e+01] [ 1.29094939e-03 -9.34851110e-06 9.99999167e-01 -2.80568910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.437628 meters 0.01221641686089181 Centerline is valid? [True, True] Translation: X:158.36, Y:-52.63, Z:-0.28 [[ 8.35025212e-01 5.50211353e-01 -6.01146050e-04 1.58357982e+02] [-5.50211209e-01 8.35025429e-01 3.97994939e-04 -5.26311349e+01] [ 7.20953572e-04 -1.57851284e-06 9.99999740e-01 -2.80601081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.497628 meters 0.012263358342962187 Centerline is valid? [True, True] Translation: X:158.41, Y:-52.66, Z:-0.28 [[ 8.31467176e-01 5.55573303e-01 -8.00537753e-04 1.58411960e+02] [-5.55573050e-01 8.31467561e-01 5.30170616e-04 -5.26613361e+01] [ 9.60169813e-04 3.93773603e-06 9.99999539e-01 -2.81504799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.557628 meters 0.012434036468749103 Centerline is valid? [True, True] Translation: X:158.46, Y:-52.69, Z:-0.28 [[ 8.30300482e-01 5.57314443e-01 -1.31233815e-03 1.58464789e+02] [-5.57313765e-01 8.30301519e-01 8.69291492e-04 -5.26945961e+01] [ 1.57410506e-03 9.61097032e-06 9.99998761e-01 -2.83026172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.617628 meters 0.012355939250668828 Centerline is valid? [True, True] Translation: X:158.52, Y:-52.73, Z:-0.28 [[ 8.30818430e-01 5.56540955e-01 -1.70357227e-03 1.58516093e+02] [-5.56539810e-01 8.30820176e-01 1.12901797e-03 -5.27316312e+01] [ 2.04370695e-03 1.00968553e-05 9.99997912e-01 -2.83919391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.677628 meters 0.012203282534221566 Centerline is valid? [True, True] Translation: X:158.57, Y:-52.77, Z:-0.28 [[ 8.32791243e-01 5.53585707e-01 -1.26899750e-03 1.58566621e+02] [-5.53585068e-01 8.32792210e-01 8.40924362e-04 -5.27687924e+01] [ 1.52233494e-03 2.18362118e-06 9.99998841e-01 -2.84136346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.737628 meters 0.012244423211988688 Centerline is valid? [True, True] Translation: X:158.62, Y:-52.81, Z:-0.29 [[ 8.34621712e-01 5.50822169e-01 -1.23973326e-03 1.58616781e+02] [-5.50821555e-01 8.34622632e-01 8.22345723e-04 -5.28058742e+01] [ 1.48767569e-03 -3.47579472e-06 9.99998893e-01 -2.85157219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.797628 meters 0.013083020384322663 Centerline is valid? [True, True] Translation: X:158.66, Y:-52.85, Z:-0.29 [[ 8.38933816e-01 5.44230751e-01 -1.71505643e-03 1.58663635e+02] [-5.44229562e-01 8.38935569e-01 1.13799517e-03 -5.28477103e+01] [ 2.05815380e-03 -2.13182178e-05 9.99997882e-01 -2.85598930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.857628 meters 0.014772870732938143 Centerline is valid? [True, True] Translation: X:158.71, Y:-52.89, Z:-0.29 [[ 8.42664262e-01 5.38434296e-01 -2.33456226e-03 1.58710107e+02] [-5.38432070e-01 8.42667495e-01 1.54911026e-03 -5.28874024e+01] [ 2.80135382e-03 -4.83766683e-05 9.99996075e-01 -2.86325887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.917628 meters 0.017201329720795067 Centerline is valid? [True, True] Translation: X:158.76, Y:-52.93, Z:-0.29 [[ 8.46988895e-01 5.31603222e-01 -2.79744689e-03 1.58757579e+02] [-5.31599988e-01 8.46993511e-01 1.85639087e-03 -5.29272183e+01] [ 3.35628273e-03 -8.52197158e-05 9.99994364e-01 -2.87891709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.977628 meters 0.024600424330276798 Centerline is valid? [True, True] Translation: X:158.80, Y:-52.97, Z:-0.29 [[ 8.54496529e-01 5.19439124e-01 -4.32178948e-03 1.58800746e+02] [-5.19431244e-01 8.54507433e-01 2.86854762e-03 -5.29714548e+01] [ 5.18303710e-03 -2.06291504e-04 9.99986547e-01 -2.92493114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.03762799999998 meters 0.021089664697588124 Centerline is valid? [True, True] Translation: X:158.85, Y:-53.00, Z:-0.29 [[ 8.57378828e-01 5.14677079e-01 -3.00816461e-03 1.58853841e+02] [-5.14673228e-01 8.57384090e-01 1.99791365e-03 -5.30020464e+01] [ 3.60743284e-03 -1.64747074e-04 9.99993480e-01 -2.87931629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.097628 meters 0.02522458295911622 Centerline is valid? [True, True] Translation: X:158.90, Y:-53.04, Z:-0.29 [[ 8.61894095e-01 5.07079292e-01 -3.02670124e-03 1.58904348e+02] [-5.07075346e-01 8.61899387e-01 2.01016238e-03 -5.30380264e+01] [ 3.62802366e-03 -1.97781509e-04 9.99993399e-01 -2.90683780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.157628 meters 0.025862465328787096 Centerline is valid? [True, True] Translation: X:158.96, Y:-53.07, Z:-0.29 [[ 8.63219598e-01 5.04826921e-01 -1.30580870e-03 1.58955067e+02] [-5.04826184e-01 8.63220581e-01 8.67553045e-04 -5.30720040e+01] [ 1.56516507e-03 -8.96823688e-05 9.99998771e-01 -2.86569590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.217628 meters 0.02426606287241877 Centerline is valid? [True, True] Translation: X:159.01, Y:-53.10, Z:-0.29 [[ 8.61994868e-01 5.06916993e-01 1.01074961e-04 1.59010886e+02] [-5.06916988e-01 8.61994874e-01 -6.70398615e-05 -5.30999355e+01] [-1.21109743e-04 6.55140197e-06 9.99999993e-01 -2.86312010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.277628 meters 0.019589146538013066 Centerline is valid? [True, True] Translation: X:159.07, Y:-53.12, Z:-0.28 [[ 8.57263383e-01 5.14872013e-01 2.51035506e-03 1.59070779e+02] [-5.14869330e-01 8.57267048e-01 -1.66779039e-03 -5.31218341e+01] [-3.01074326e-03 1.37230807e-04 9.99995458e-01 -2.84041786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.337628 meters 0.021113723161484042 Centerline is valid? [True, True] Translation: X:159.12, Y:-53.15, Z:-0.28 [[ 8.52546725e-01 5.22633240e-01 4.31029217e-03 1.59123106e+02] [-5.22625423e-01 8.52557600e-01 -2.86478061e-03 -5.31529244e+01] [-5.17200192e-03 1.89691059e-04 9.99986607e-01 -2.81790217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.397628 meters 0.015931711804070013 Centerline is valid? [True, True] Translation: X:159.18, Y:-53.17, Z:-0.28 [[ 8.47708293e-01 5.30444420e-01 4.40076212e-03 1.59182113e+02] [-5.30436368e-01 8.47719704e-01 -2.92627931e-03 -5.31746906e+01] [-5.28284130e-03 1.46306961e-04 9.99986035e-01 -2.82898762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.457628 meters 0.013156935176506231 Centerline is valid? [True, True] Translation: X:159.24, Y:-53.20, Z:-0.28 [[ 8.41881293e-01 5.39646054e-01 4.24550408e-03 1.59241017e+02] [-5.39638671e-01 8.41891994e-01 -2.82410380e-03 -5.31963713e+01] [-5.09827236e-03 8.65219826e-05 9.99987000e-01 -2.84670740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.517628 meters 0.012362654462943514 Centerline is valid? [True, True] Translation: X:159.30, Y:-53.22, Z:-0.29 [[ 8.38860902e-01 5.44331241e-01 3.98582266e-03 1.59295982e+02] [-5.44324781e-01 8.38870370e-01 -2.65251756e-03 -5.32239980e+01] [-4.78743671e-03 5.55112289e-05 9.99988539e-01 -2.85552606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.577628 meters 0.012405004915844621 Centerline is valid? [True, True] Translation: X:159.35, Y:-53.26, Z:-0.29 [[ 8.38362295e-01 5.45098207e-01 4.07511322e-03 1.59349584e+02] [-5.45091455e-01 8.38372198e-01 -2.71349813e-03 -5.32564747e+01] [-4.89558459e-03 5.35851276e-05 9.99988015e-01 -2.85828680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.637628 meters 0.012168312124165064 Centerline is valid? [True, True] Translation: X:159.40, Y:-53.29, Z:-0.29 [[ 8.38279147e-01 5.45220741e-01 4.73445732e-03 1.59403200e+02] [-5.45211619e-01 8.38292514e-01 -3.15457469e-03 -5.32889634e+01] [-5.68879968e-03 6.31330378e-05 9.99983817e-01 -2.85708400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.697628 meters 0.012200499335372617 Centerline is valid? [True, True] Translation: X:159.46, Y:-53.32, Z:-0.29 [[ 8.37917980e-01 5.45766961e-01 5.64641460e-03 1.59456638e+02] [-5.45753982e-01 8.37937001e-01 -3.76465130e-03 -5.33229969e+01] [-6.78596202e-03 7.29157619e-05 9.99976972e-01 -2.85329070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.75762799999998 meters 0.01189102957270764 Centerline is valid? [True, True] Translation: X:159.51, Y:-53.36, Z:-0.29 [[ 8.36383362e-01 5.48115047e-01 5.72426350e-03 1.59509723e+02] [-5.48101747e-01 8.36402949e-01 -3.81870068e-03 -5.33555482e+01] [-6.88087817e-03 5.64188861e-05 9.99976325e-01 -2.86001600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.81762799999998 meters 0.011628138275042256 Centerline is valid? [True, True] Translation: X:159.56, Y:-53.39, Z:-0.29 [[ 8.34971442e-01 5.50268822e-01 5.18800275e-03 1.59561972e+02] [-5.50257927e-01 8.34987558e-01 -3.46276802e-03 -5.33894591e+01] [-6.23737103e-03 3.65727622e-05 9.99980547e-01 -2.86850167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.877628 meters 0.011430300773806468 Centerline is valid? [True, True] Translation: X:159.61, Y:-53.42, Z:-0.29 [[ 8.33528129e-01 5.52464378e-01 3.73753832e-03 1.59614032e+02] [-5.52458740e-01 8.33536509e-01 -2.49583057e-03 -5.34239560e+01] [-4.49423212e-03 1.55092701e-05 9.99989901e-01 -2.89257265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.937628 meters 0.01143458789355097 Centerline is valid? [True, True] Translation: X:159.67, Y:-53.46, Z:-0.29 [[ 8.33510132e-01 5.52500321e-01 2.06305228e-03 1.59665619e+02] [-5.52498602e-01 8.33512685e-01 -1.37819876e-03 -5.34606727e+01] [-2.48103550e-03 8.90913210e-06 9.99996922e-01 -2.92019011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.997628 meters 0.015243340888952706 Centerline is valid? [True, True] Translation: X:159.71, Y:-53.50, Z:-0.30 [[ 8.36797996e-01 5.47507555e-01 -2.14247912e-03 1.59712975e+02] [-5.47505681e-01 8.36800739e-01 1.43302880e-03 -5.35007088e+01] [ 2.57742220e-03 -2.61361422e-05 9.99996678e-01 -2.98616426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.057628 meters 0.014162733408419587 Centerline is valid? [True, True] Translation: X:159.76, Y:-53.55, Z:-0.30 [[ 8.42549820e-01 5.38614761e-01 -1.98486711e-03 1.59757090e+02] [-5.38613128e-01 8.42552157e-01 1.32746232e-03 -5.35457978e+01] [ 2.38734486e-03 -4.93776605e-05 9.99997149e-01 -2.96014059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.117628 meters 0.016985289369239404 Centerline is valid? [True, True] Translation: X:159.80, Y:-53.59, Z:-0.29 [[ 8.47195958e-01 5.31279169e-01 -1.20539924e-03 1.59802865e+02] [-5.31278558e-01 8.47196815e-01 8.06883143e-04 -5.35880420e+01] [ 1.44989061e-03 -4.31853660e-05 9.99998948e-01 -2.94913444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.177628 meters 0.01935501187764403 Centerline is valid? [True, True] Translation: X:159.85, Y:-53.63, Z:-0.29 [[ 8.52576455e-01 5.22601879e-01 -8.14880642e-04 1.59848730e+02] [-5.22601596e-01 8.52576844e-01 5.45340648e-04 -5.36301145e+01] [ 9.79744413e-04 -3.90866720e-05 9.99999519e-01 -2.94031464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.237628 meters 0.02066920966781948 Centerline is valid? [True, True] Translation: X:159.90, Y:-53.67, Z:-0.30 [[ 8.54799818e-01 5.18956405e-01 -1.23315424e-03 1.59897038e+02] [-5.18955752e-01 8.54800705e-01 8.25330967e-04 -5.36689495e+01] [ 1.48241190e-03 -6.55402761e-05 9.99998899e-01 -2.95098666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.297628 meters 0.021428782190689034 Centerline is valid? [True, True] Translation: X:159.95, Y:-53.70, Z:-0.30 [[ 8.53594335e-01 5.20936609e-01 -1.32681223e-03 1.59946951e+02] [-5.20935855e-01 8.53595364e-01 8.88729167e-04 -5.37039844e+01] [ 1.59553233e-03 -6.74301165e-05 9.99998725e-01 -2.96277978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.357628 meters 0.01613823288272722 Centerline is valid? [True, True] Translation: X:160.00, Y:-53.73, Z:-0.30 [[ 8.45316801e-01 5.34261365e-01 -2.07358048e-03 1.60000169e+02] [-5.34259564e-01 8.45319342e-01 1.38889926e-03 -5.37327424e+01] [ 2.49487290e-03 -6.62296725e-05 9.99996886e-01 -2.96236767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.417628 meters 0.013026825154689725 Centerline is valid? [True, True] Translation: X:160.05, Y:-53.76, Z:-0.30 [[ 8.40003364e-01 5.42562949e-01 -4.44922762e-03 1.60053567e+02] [-5.42554772e-01 8.40015142e-01 2.97996821e-03 -5.37630327e+01] [ 5.35423891e-03 -8.92336418e-05 9.99985662e-01 -2.97710307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.477628 meters 0.012998230382852485 Centerline is valid? [True, True] Translation: X:160.10, Y:-53.80, Z:-0.30 [[ 8.38596562e-01 5.44728959e-01 -5.11545371e-03 1.60104116e+02] [-5.44718177e-01 8.38612159e-01 3.42842500e-03 -5.37981086e+01] [ 6.15744406e-03 -8.85847943e-05 9.99981039e-01 -2.98592460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.53762799999998 meters 0.012765086917881046 Centerline is valid? [True, True] Translation: X:160.16, Y:-53.83, Z:-0.30 [[ 8.37775780e-01 5.45988743e-01 -5.29478923e-03 1.60155234e+02] [-5.45977205e-01 8.37792507e-01 3.55045444e-03 -5.38329112e+01] [ 6.37444290e-03 -8.36505107e-05 9.99979680e-01 -2.98936263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.597628 meters 0.01266839242820301 Centerline is valid? [True, True] Translation: X:160.21, Y:-53.87, Z:-0.30 [[ 8.37692321e-01 5.46126138e-01 -4.22089110e-03 1.60206203e+02] [-5.46118798e-01 8.37702952e-01 2.83225071e-03 -5.38700657e+01] [ 5.08261908e-03 -6.74466983e-05 9.99987081e-01 -2.97840543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.657628 meters 0.01346506755069422 Centerline is valid? [True, True] Translation: X:160.25, Y:-53.91, Z:-0.29 [[ 8.40239465e-01 5.42214594e-01 -9.87508784e-04 1.60253552e+02] [-5.42214188e-01 8.40240045e-01 6.63351954e-04 -5.39110031e+01] [ 1.18942354e-03 -2.19332175e-05 9.99999292e-01 -2.94144463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.717628 meters 0.015379896701837585 Centerline is valid? [True, True] Translation: X:160.30, Y:-53.95, Z:-0.29 [[ 8.44305870e-01 5.35861332e-01 -4.79581097e-04 1.60300020e+02] [-5.35861235e-01 8.44306006e-01 3.22522418e-04 -5.39523343e+01] [ 5.77740493e-04 -1.53186515e-05 9.99999833e-01 -2.93303795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.777628 meters 0.016927652642263067 Centerline is valid? [True, True] Translation: X:160.35, Y:-53.99, Z:-0.29 [[ 8.46730867e-01 5.32020797e-01 -8.43271772e-04 1.60349325e+02] [-5.32020496e-01 8.46731286e-01 5.66521501e-04 -5.39902292e+01] [ 1.01542581e-03 -3.10533751e-05 9.99999484e-01 -2.94611922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.837628 meters 0.01656111926286805 Centerline is valid? [True, True] Translation: X:160.40, Y:-54.02, Z:-0.30 [[ 8.47606235e-01 5.30623980e-01 -1.36453589e-03 1.60401533e+02] [-5.30623189e-01 8.47607332e-01 9.17504414e-04 -5.40240633e+01] [ 1.64344047e-03 -5.36280757e-05 9.99998648e-01 -2.95553009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.897628 meters 0.018842875533360174 Centerline is valid? [True, True] Translation: X:160.45, Y:-54.06, Z:-0.30 [[ 8.47637716e-01 5.30555150e-01 -4.64067569e-03 1.60454277e+02] [-5.30546003e-01 8.47650399e-01 3.12081745e-03 -5.40573438e+01] [ 5.58943637e-03 -1.83230637e-04 9.99984362e-01 -3.01219818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.957628 meters 0.01752375858941709 Centerline is valid? [True, True] Translation: X:160.51, Y:-54.09, Z:-0.30 [[ 8.47603251e-01 5.30600223e-01 -5.66854728e-03 1.60506163e+02] [-5.30586563e-01 8.47622175e-01 3.81397578e-03 -5.40921612e+01] [ 6.82848278e-03 -2.25083250e-04 9.99976660e-01 -2.99983597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.017628 meters 0.018454306766692654 Centerline is valid? [True, True] Translation: X:160.56, Y:-54.13, Z:-0.30 [[ 8.48575901e-01 5.29043281e-01 -5.66978872e-03 1.60557718e+02] [-5.29029567e-01 8.48594808e-01 3.81682485e-03 -5.41264134e+01] [ 6.83061882e-03 -2.39379711e-04 9.99976642e-01 -3.01022317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.077628 meters 0.01858081550583363 Centerline is valid? [True, True] Translation: X:160.61, Y:-54.16, Z:-0.30 [[ 8.48381764e-01 5.29355813e-01 -5.55029840e-03 1.60610050e+02] [-5.29342662e-01 8.48399887e-01 3.73871350e-03 -5.41607851e+01] [ 6.68798226e-03 -2.33846628e-04 9.99977608e-01 -3.00644546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.137628 meters 0.01850458752008668 Centerline is valid? [True, True] Translation: X:160.66, Y:-54.20, Z:-0.30 [[ 8.46649976e-01 5.32090324e-01 -7.98160231e-03 1.60661898e+02] [-5.32063224e-01 8.46687541e-01 5.37891337e-03 -5.41952777e+01] [ 9.61999100e-03 -3.07339812e-04 9.99953680e-01 -3.01722114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.197628 meters 0.017886791958014358 Centerline is valid? [True, True] Translation: X:160.71, Y:-54.23, Z:-0.30 [[ 8.44470514e-01 5.35511780e-01 -9.83284740e-03 1.60713314e+02] [-5.35470855e-01 8.44527692e-01 6.62873017e-03 -5.42282601e+01] [ 1.18538750e-02 -3.32563969e-04 9.99929685e-01 -3.04237101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.25762799999998 meters 0.01445007339914754 Centerline is valid? [True, True] Translation: X:160.77, Y:-54.26, Z:-0.30 [[ 8.39582042e-01 5.43177865e-01 -7.73318542e-03 1.60767540e+02] [-5.43152856e-01 8.39617636e-01 5.21542514e-03 -5.42573014e+01] [ 9.32582235e-03 -1.78475540e-04 9.99956498e-01 -3.02209311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.31762799999998 meters 0.012752283744535712 Centerline is valid? [True, True] Translation: X:160.82, Y:-54.29, Z:-0.30 [[ 8.35856056e-01 5.48924312e-01 -5.17247759e-03 1.60820484e+02] [-5.48913229e-01 8.35872056e-01 3.48889202e-03 -5.42882860e+01] [ 6.23866713e-03 -7.69701468e-05 9.99980536e-01 -2.98984158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.377628 meters 0.011458275137313435 Centerline is valid? [True, True] Translation: X:160.87, Y:-54.32, Z:-0.29 [[ 8.30343888e-01 5.57247834e-01 -1.96956143e-03 1.60873621e+02] [-5.57246249e-01 8.30346224e-01 1.32931536e-03 -5.43189007e+01] [ 2.37617600e-03 -6.25816333e-06 9.99997177e-01 -2.94735107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.437628 meters 0.011568432178392365 Centerline is valid? [True, True] Translation: X:160.93, Y:-54.35, Z:-0.29 [[ 8.25914901e-01 5.63793655e-01 -1.13609912e-03 1.60926671e+02] [-5.63793133e-01 8.25915682e-01 7.67241167e-04 -5.43518924e+01] [ 1.37088778e-03 6.84897105e-06 9.99999060e-01 -2.92997429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.497628 meters 0.011820489048872519 Centerline is valid? [True, True] Translation: X:160.98, Y:-54.39, Z:-0.29 [[ 8.24765135e-01 5.65474426e-01 -1.07074556e-03 1.60978483e+02] [-5.65473963e-01 8.24765830e-01 7.23717292e-04 -5.43855417e+01] [ 1.29235797e-03 8.58194550e-06 9.99999165e-01 -2.93858890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.557628 meters 0.012309014464749914 Centerline is valid? [True, True] Translation: X:161.03, Y:-54.42, Z:-0.29 [[ 8.23328719e-01 5.67561519e-01 -1.93436421e-03 1.61029862e+02] [-5.67560013e-01 8.23330991e-01 1.30754305e-03 -5.44187996e+01] [ 2.33473312e-03 2.13300316e-05 9.99997274e-01 -2.94978063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.617628 meters 0.011898010784196413 Centerline is valid? [True, True] Translation: X:161.08, Y:-54.46, Z:-0.30 [[ 8.23705378e-01 5.67009137e-01 -3.17633238e-03 1.61080437e+02] [-5.67005068e-01 8.23711502e-01 2.14823487e-03 -5.44560359e+01] [ 3.83445031e-03 3.14839401e-05 9.99992648e-01 -2.96156387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.677628 meters 0.011550236256913498 Centerline is valid? [True, True] Translation: X:161.13, Y:-54.50, Z:-0.30 [[ 8.27381463e-01 5.61618215e-01 -4.98953033e-03 1.61127753e+02] [-5.61608070e-01 8.27396507e-01 3.37577078e-03 -5.44957666e+01] [ 6.02421433e-03 9.11032790e-06 9.99981854e-01 -2.98681502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.737628 meters 0.011855025925312184 Centerline is valid? [True, True] Translation: X:161.18, Y:-54.54, Z:-0.30 [[ 8.30994437e-01 5.56259117e-01 -4.90308848e-03 1.61175766e+02] [-5.56249213e-01 8.31008901e-01 3.31941477e-03 -5.45364015e+01] [ 5.92096490e-03 -3.10760996e-05 9.99982470e-01 -2.98191473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.797628 meters 0.013585930284915037 Centerline is valid? [True, True] Translation: X:161.22, Y:-54.58, Z:-0.30 [[ 8.36548377e-01 5.47865302e-01 -5.51575217e-03 1.61221683e+02] [-5.47852585e-01 8.36566555e-01 3.73425115e-03 -5.45792042e+01] [ 6.66016042e-03 -1.02062653e-04 9.99977816e-01 -2.97955979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.857628 meters 0.015094383895637295 Centerline is valid? [True, True] Translation: X:161.27, Y:-54.62, Z:-0.30 [[ 8.39343471e-01 5.43574276e-01 -5.43548356e-03 1.61270923e+02] [-5.43561832e-01 8.39361060e-01 3.68045225e-03 -5.46173256e+01] [ 6.56293241e-03 -1.34642164e-04 9.99978455e-01 -2.98202447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.917628 meters 0.01518232828012437 Centerline is valid? [True, True] Translation: X:161.32, Y:-54.65, Z:-0.30 [[ 8.40878206e-01 5.41211010e-01 -3.80595213e-03 1.61322675e+02] [-5.41204877e-01 8.40886812e-01 2.57883863e-03 -5.46517680e+01] [ 4.59607081e-03 -1.08689340e-04 9.99989432e-01 -2.96218464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.97762799999998 meters 0.015232630216506728 Centerline is valid? [True, True] Translation: X:161.38, Y:-54.69, Z:-0.30 [[ 8.41183288e-01 5.40737922e-01 -3.62979241e-03 1.61375493e+02] [-5.40732333e-01 8.41191113e-01 2.46081348e-03 -5.46852777e+01] [ 4.38400429e-03 -1.07249053e-04 9.99990384e-01 -2.96291393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.03762799999998 meters 0.017449598737322766 Centerline is valid? [True, True] Translation: X:161.43, Y:-54.72, Z:-0.30 [[ 8.41961015e-01 5.39525896e-01 -3.66823742e-03 1.61425467e+02] [-5.39520172e-01 8.41968998e-01 2.48804180e-03 -5.47206064e+01] [ 4.43090517e-03 -1.15746119e-04 9.99990177e-01 -2.96937035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.097628 meters 0.016544741315563983 Centerline is valid? [True, True] Translation: X:161.48, Y:-54.75, Z:-0.30 [[ 8.42220735e-01 5.39118308e-01 -3.96022345e-03 1.61479318e+02] [-5.39111625e-01 8.42230036e-01 2.68748202e-03 -5.47525912e+01] [ 4.78428990e-03 -1.28450585e-04 9.99988547e-01 -2.96561767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.157628 meters 0.017632982074454524 Centerline is valid? [True, True] Translation: X:161.53, Y:-54.78, Z:-0.30 [[ 8.42486519e-01 5.38694012e-01 -5.02257636e-03 1.61532324e+02] [-5.38683245e-01 8.42501474e-01 3.40986864e-03 -5.47836545e+01] [ 6.06840380e-03 -1.67190625e-04 9.99981573e-01 -2.99163403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.217628 meters 0.017912483612931632 Centerline is valid? [True, True] Translation: X:161.59, Y:-54.82, Z:-0.30 [[ 8.42767479e-01 5.38256173e-01 -4.82376710e-03 1.61585397e+02] [-5.38246226e-01 8.42781267e-01 3.27659803e-03 -5.48167814e+01] [ 5.82902967e-03 -1.65035830e-04 9.99982997e-01 -2.99375452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.277628 meters 0.017988597269508303 Centerline is valid? [True, True] Translation: X:161.64, Y:-54.85, Z:-0.30 [[ 8.42155353e-01 5.39223902e-01 -3.45611968e-03 1.61638628e+02] [-5.39218799e-01 8.42162437e-01 2.34890452e-03 -5.48485999e+01] [ 4.17719963e-03 -1.14537807e-04 9.99991269e-01 -2.97615916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.337628 meters 0.015218689428300562 Centerline is valid? [True, True] Translation: X:161.69, Y:-54.88, Z:-0.30 [[ 8.40432415e-01 5.41910060e-01 -2.61596393e-03 1.61694659e+02] [-5.41907145e-01 8.40436482e-01 1.77899392e-03 -5.48771530e+01] [ 3.16260622e-03 -7.75146122e-05 9.99994996e-01 -2.95886858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.397628 meters 0.014016661202790987 Centerline is valid? [True, True] Translation: X:161.75, Y:-54.90, Z:-0.30 [[ 8.37181931e-01 5.46920549e-01 -2.08026226e-03 1.61750718e+02] [-5.46918722e-01 8.37184514e-01 1.41455737e-03 -5.49049545e+01] [ 2.51521384e-03 -4.65074894e-05 9.99996836e-01 -2.95946367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.457628 meters 0.012649189495192495 Centerline is valid? [True, True] Translation: X:161.81, Y:-54.93, Z:-0.30 [[ 8.32916066e-01 5.53393400e-01 -2.56334092e-03 1.61805213e+02] [-5.53390656e-01 8.32920010e-01 1.74315872e-03 -5.49325559e+01] [ 3.09971048e-03 -3.33759956e-05 9.99995195e-01 -2.96993071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.517628 meters 0.01188337182858034 Centerline is valid? [True, True] Translation: X:161.86, Y:-54.96, Z:-0.30 [[ 8.30031264e-01 5.57707291e-01 -3.26773600e-03 1.61860200e+02] [-5.57702858e-01 8.30037696e-01 2.22367441e-03 -5.49618114e+01] [ 3.95250349e-03 -2.32935756e-05 9.99992189e-01 -2.99027975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.577628 meters 0.011444760789314638 Centerline is valid? [True, True] Translation: X:161.92, Y:-54.99, Z:-0.30 [[ 8.26236245e-01 5.63306705e-01 -4.38440995e-03 1.61917114e+02] [-5.63298795e-01 8.26247878e-01 2.98519349e-03 -5.49904686e+01] [ 5.30418893e-03 3.25778591e-06 9.99985933e-01 -3.01540924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.637628 meters 0.01156999794985406 Centerline is valid? [True, True] Translation: X:161.97, Y:-55.02, Z:-0.30 [[ 8.24511575e-01 5.65827428e-01 -4.47047700e-03 1.61970771e+02] [-5.65819231e-01 8.24523694e-01 3.04569754e-03 -5.50240330e+01] [ 5.40935341e-03 1.82689839e-05 9.99985369e-01 -3.00815646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.697628 meters 0.011736785600155255 Centerline is valid? [True, True] Translation: X:162.02, Y:-55.06, Z:-0.30 [[ 8.23478872e-01 5.67332062e-01 -4.10848046e-03 1.62022893e+02] [-5.67325148e-01 8.23489120e-01 2.80086722e-03 -5.50585775e+01] [ 4.97231073e-03 2.43893099e-05 9.99987638e-01 -2.99851837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.75762799999998 meters 0.011704123444398406 Centerline is valid? [True, True] Translation: X:162.07, Y:-55.09, Z:-0.30 [[ 8.23112482e-01 5.67865861e-01 -3.76897911e-03 1.62074196e+02] [-5.67860042e-01 8.23121111e-01 2.57089682e-03 -5.50935966e+01] [ 4.56225081e-03 2.41153730e-05 9.99989593e-01 -2.99077975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.81762799999998 meters 0.011762199600089925 Centerline is valid? [True, True] Translation: X:162.13, Y:-55.13, Z:-0.30 [[ 8.22972576e-01 5.68066764e-01 -4.03619525e-03 1.62125750e+02] [-5.68060085e-01 8.22982473e-01 2.75482184e-03 -5.51296044e+01] [ 4.88664068e-03 2.56585885e-05 9.99988060e-01 -2.99483261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.877628 meters 0.011747155070335899 Centerline is valid? [True, True] Translation: X:162.18, Y:-55.17, Z:-0.30 [[ 8.23063792e-01 5.67915682e-01 -6.14589099e-03 1.62176586e+02] [-5.67900178e-01 8.23086737e-01 4.19661664e-03 -5.51652969e+01] [ 7.44192576e-03 3.61693823e-05 9.99972308e-01 -3.01719735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.937628 meters 0.011639463576625087 Centerline is valid? [True, True] Translation: X:162.23, Y:-55.20, Z:-0.30 [[ 8.23828059e-01 5.66799242e-01 -6.77854513e-03 1.62228187e+02] [-5.66780320e-01 8.23855945e-01 4.63148429e-03 -5.52015851e+01] [ 8.20966649e-03 2.63992671e-05 9.99966300e-01 -3.02762875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.997628 meters 0.011764891677630712 Centerline is valid? [True, True] Translation: X:162.28, Y:-55.24, Z:-0.30 [[ 8.27021861e-01 5.62117375e-01 -7.67445019e-03 1.62276971e+02] [-5.62092889e-01 8.27057468e-01 5.24672589e-03 -5.52410492e+01] [ 9.29648713e-03 -2.54031315e-05 9.99956786e-01 -3.03226824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.057628 meters 0.012504867626177122 Centerline is valid? [True, True] Translation: X:162.33, Y:-55.28, Z:-0.30 [[ 8.30750734e-01 5.56593777e-01 -7.52235658e-03 1.62325034e+02] [-5.56570000e-01 8.30784786e-01 5.14539386e-03 -5.52812552e+01] [ 9.11335360e-03 -8.78217274e-05 9.99958469e-01 -3.03252409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.117628 meters 0.014623396278632786 Centerline is valid? [True, True] Translation: X:162.37, Y:-55.32, Z:-0.30 [[ 8.37510090e-01 5.46388330e-01 -6.05334833e-03 1.62370720e+02] [-5.46372650e-01 8.37531950e-01 4.14257519e-03 -5.53229909e+01] [ 7.33332737e-03 -1.62064550e-04 9.99973098e-01 -3.02621241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.177628 meters 0.017760655936279526 Centerline is valid? [True, True] Translation: X:162.42, Y:-55.36, Z:-0.30 [[ 8.41773440e-01 5.39804474e-01 -5.34842126e-03 1.62416398e+02] [-5.39792096e-01 8.41790408e-01 3.66077662e-03 -5.53632717e+01] [ 6.47835331e-03 -1.94509006e-04 9.99978996e-01 -3.02380233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.237628 meters 0.02003718638305682 Centerline is valid? [True, True] Translation: X:162.46, Y:-55.40, Z:-0.30 [[ 8.45815388e-01 5.33461360e-01 -3.91252001e-03 1.62463860e+02] [-5.33454661e-01 8.45824418e-01 2.67944735e-03 -5.54029354e+01] [ 4.73868659e-03 -1.79165764e-04 9.99988756e-01 -3.00325183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.297628 meters 0.019740233591768238 Centerline is valid? [True, True] Translation: X:162.52, Y:-55.44, Z:-0.30 [[ 8.46466436e-01 5.32429241e-01 -3.69809195e-03 1.62515792e+02] [-5.32423240e-01 8.46474496e-01 2.53401820e-03 -5.54370884e+01] [ 4.47952591e-03 -1.76011260e-04 9.99989951e-01 -3.00482554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.357628 meters 0.019569199644201826 Centerline is valid? [True, True] Translation: X:162.57, Y:-55.47, Z:-0.30 [[ 8.45255420e-01 5.34336930e-01 -5.22698082e-03 1.62568489e+02] [-5.34324967e-01 8.45271548e-01 3.58330285e-03 -5.54696200e+01] [ 6.33290921e-03 -2.35899806e-04 9.99979919e-01 -3.03056058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.417628 meters 0.017489721852235695 Centerline is valid? [True, True] Translation: X:162.62, Y:-55.50, Z:-0.30 [[ 8.44237434e-01 5.35938404e-01 -5.76034490e-03 1.62622503e+02] [-5.35923898e-01 8.44257049e-01 3.95104249e-03 -5.55012909e+01] [ 6.98072719e-03 -2.48511484e-04 9.99975604e-01 -3.02808195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.47762799999998 meters 0.017651965028029477 Centerline is valid? [True, True] Translation: X:162.67, Y:-55.54, Z:-0.30 [[ 8.43771274e-01 5.36674627e-01 -5.51198680e-03 1.62673995e+02] [-5.36661346e-01 8.43789245e-01 3.78273616e-03 -5.55359246e+01] [ 6.68105370e-03 -2.33693850e-04 9.99977654e-01 -3.02935919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.53762799999998 meters 0.017167863512073323 Centerline is valid? [True, True] Translation: X:162.73, Y:-55.57, Z:-0.30 [[ 8.42054873e-01 5.39358944e-01 -5.95994509e-03 1.62727391e+02] [-5.39343483e-01 8.42075933e-01 4.09038232e-03 -5.55676123e+01] [ 7.22491061e-03 -2.29868817e-04 9.99973874e-01 -3.03560637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.597628 meters 0.01656954526907267 Centerline is valid? [True, True] Translation: X:162.78, Y:-55.60, Z:-0.30 [[ 8.40519286e-01 5.41753458e-01 -5.52447998e-03 1.62780128e+02] [-5.41740209e-01 8.40537419e-01 3.79388687e-03 -5.56009307e+01] [ 6.69888347e-03 -1.96002144e-04 9.99977543e-01 -3.03241593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.657628 meters 0.015119922789925267 Centerline is valid? [True, True] Translation: X:162.83, Y:-55.63, Z:-0.30 [[ 8.37490485e-01 5.46421860e-01 -5.73049389e-03 1.62833875e+02] [-5.46407711e-01 8.37510074e-01 3.93570542e-03 -5.56310640e+01] [ 6.94990184e-03 -1.64929792e-04 9.99975836e-01 -3.04153455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.717628 meters 0.0145264717135641 Centerline is valid? [True, True] Translation: X:162.88, Y:-55.66, Z:-0.30 [[ 8.35025635e-01 5.50174752e-01 -6.31919138e-03 1.62884708e+02] [-5.50157644e-01 8.35049532e-01 4.34128280e-03 -5.56631557e+01] [ 7.66530199e-03 -1.48530987e-04 9.99970610e-01 -3.04907361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.777628 meters 0.012921031178934898 Centerline is valid? [True, True] Translation: X:162.94, Y:-55.69, Z:-0.30 [[ 8.31887465e-01 5.54907067e-01 -6.43367178e-03 1.62938041e+02] [-5.54889472e-01 8.31912336e-01 4.42028701e-03 -5.56943649e+01] [ 7.80509942e-03 -1.07204620e-04 9.99969534e-01 -3.04154026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.837628 meters 0.01263235050469702 Centerline is valid? [True, True] Translation: X:162.99, Y:-55.73, Z:-0.30 [[ 8.30376776e-01 5.57172558e-01 -5.75768948e-03 1.62988831e+02] [-5.57158504e-01 8.30396733e-01 3.95815614e-03 -5.57281869e+01] [ 6.98654251e-03 -7.88152825e-05 9.99975591e-01 -3.04186471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.897628 meters 0.01221800692643185 Centerline is valid? [True, True] Translation: X:163.04, Y:-55.76, Z:-0.30 [[ 8.29040708e-01 5.59165119e-01 -5.08660345e-03 1.63040024e+02] [-5.59154176e-01 8.29056311e-01 3.49874103e-03 -5.57626528e+01] [ 6.17345463e-03 -5.64031821e-05 9.99980942e-01 -3.03968983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.957628 meters 0.01219469377762871 Centerline is valid? [True, True] Translation: X:163.09, Y:-55.80, Z:-0.30 [[ 8.28389469e-01 5.60131164e-01 -4.89550967e-03 1.63089238e+02] [-5.60121035e-01 8.28403933e-01 3.36889700e-03 -5.57983152e+01] [ 5.94248367e-03 -4.86808493e-05 9.99982342e-01 -3.03643229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.017628 meters 0.011942448820614677 Centerline is valid? [True, True] Translation: X:163.14, Y:-55.84, Z:-0.30 [[ 8.27625827e-01 5.61248578e-01 -5.96021913e-03 1.63139806e+02] [-5.61233574e-01 8.27647287e-01 4.10408992e-03 -5.58356520e+01] [ 7.23637383e-03 -5.15757308e-05 9.99973816e-01 -3.03769526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.077628 meters 0.011863517419558208 Centerline is valid? [True, True] Translation: X:163.19, Y:-55.87, Z:-0.31 [[ 8.26867264e-01 5.62347565e-01 -7.46610983e-03 1.63190617e+02] [-5.62324040e-01 8.26900969e-01 5.14402403e-03 -5.58721995e+01] [ 9.06646284e-03 -5.50520349e-05 9.99958897e-01 -3.05337459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.137628 meters 0.011987985167816734 Centerline is valid? [True, True] Translation: X:163.24, Y:-55.91, Z:-0.31 [[ 8.26594082e-01 5.62729513e-01 -8.81581778e-03 1.63238208e+02] [-5.62696720e-01 8.26641090e-01 6.07529624e-03 -5.59115309e+01] [ 1.07062657e-02 -6.11721685e-05 9.99942684e-01 -3.07168780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.197628 meters 0.014016668519261883 Centerline is valid? [True, True] Translation: X:163.29, Y:-55.95, Z:-0.31 [[ 8.26734269e-01 5.62502877e-01 -1.00479567e-02 1.63286208e+02] [-5.62460214e-01 8.26795324e-01 6.92823438e-03 -5.59504963e+01] [ 1.22047554e-02 -7.62329331e-05 9.99925516e-01 -3.08936131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.25762799999998 meters 0.012391057338851083 Centerline is valid? [True, True] Translation: X:163.33, Y:-55.99, Z:-0.31 [[ 8.27445674e-01 5.61450183e-01 -1.03608531e-02 1.63332115e+02] [-5.61404697e-01 8.27510533e-01 7.14735332e-03 -5.59923488e+01] [ 1.25865979e-02 -9.74149869e-05 9.99920781e-01 -3.08948898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.31762799999998 meters 0.012380929726413265 Centerline is valid? [True, True] Translation: X:163.38, Y:-56.03, Z:-0.31 [[ 8.28467554e-01 5.59963508e-01 -9.07642451e-03 1.63379876e+02] [-5.59928500e-01 8.28517265e-01 6.26225622e-03 -5.60334293e+01] [ 1.10266094e-02 -1.05927332e-04 9.99939199e-01 -3.07220450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.377628 meters 0.012988960847477736 Centerline is valid? [True, True] Translation: X:163.42, Y:-56.08, Z:-0.30 [[ 8.29307683e-01 5.58754309e-01 -6.51066697e-03 1.63424527e+02] [-5.58736239e-01 8.29333235e-01 4.49450194e-03 -5.60770313e+01] [ 7.91083483e-03 -8.95794159e-05 9.99968705e-01 -3.04417159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.437628 meters 0.012501741734961222 Centerline is valid? [True, True] Translation: X:163.47, Y:-56.12, Z:-0.30 [[ 8.29737936e-01 5.58124313e-01 -5.67524866e-03 1.63473567e+02] [-5.58110551e-01 8.29757340e-01 3.92038295e-03 -5.61161987e+01] [ 6.89714027e-03 -8.54743010e-05 9.99976211e-01 -3.01976453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.497628 meters 0.012482120830201669 Centerline is valid? [True, True] Translation: X:163.52, Y:-56.16, Z:-0.30 [[ 8.29629724e-01 5.58298991e-01 -4.09369168e-03 1.63520601e+02] [-5.58291831e-01 8.29639822e-01 2.82816081e-03 -5.61582533e+01] [ 4.97524896e-03 -6.08516495e-05 9.99987622e-01 -3.00882264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.557628 meters 0.012255248198260916 Centerline is valid? [True, True] Translation: X:163.57, Y:-56.19, Z:-0.30 [[ 8.28302590e-01 5.60270009e-01 -3.51242201e-03 1.63570487e+02] [-5.60264749e-01 8.28310036e-01 2.42819062e-03 -5.61947472e+01] [ 4.26981678e-03 -4.33903422e-05 9.99990883e-01 -2.99839045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.617628 meters 0.01163107962304629 Centerline is valid? [True, True] Translation: X:163.62, Y:-56.23, Z:-0.30 [[ 8.24772956e-01 5.65445648e-01 -4.55968751e-03 1.63623599e+02] [-5.65436854e-01 8.24785559e-01 3.15365456e-03 -5.62272679e+01] [ 5.54398466e-03 -2.28336315e-05 9.99984632e-01 -3.01556670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.677628 meters 0.011556977594143918 Centerline is valid? [True, True] Translation: X:163.68, Y:-56.26, Z:-0.30 [[ 8.23290288e-01 5.67597108e-01 -5.15989519e-03 1.63675936e+02] [-5.67585875e-01 8.23306457e-01 3.57096065e-03 -5.62613077e+01] [ 6.27504197e-03 -1.12535936e-05 9.99980312e-01 -3.01529890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.737628 meters 0.011558223987573347 Centerline is valid? [True, True] Translation: X:163.73, Y:-56.30, Z:-0.30 [[ 8.24393313e-01 5.65990417e-01 -5.52380598e-03 1.63726998e+02] [-5.65977493e-01 8.24411819e-01 3.82508617e-03 -5.62979522e+01] [ 6.71885305e-03 -2.70256015e-05 9.99977428e-01 -3.02379058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.797628 meters 0.012250949879482836 Centerline is valid? [True, True] Translation: X:163.78, Y:-56.34, Z:-0.30 [[ 8.27311659e-01 5.61715521e-01 -5.57608651e-03 1.63776379e+02] [-5.61702240e-01 8.27330447e-01 3.86322014e-03 -5.63358826e+01] [ 6.78329686e-03 -6.39867768e-05 9.99976991e-01 -3.01847616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.857628 meters 0.015160225609264142 Centerline is valid? [True, True] Translation: X:163.82, Y:-56.38, Z:-0.30 [[ 8.35021130e-01 5.50206032e-01 -3.61030959e-03 1.63822765e+02] [-5.50200355e-01 8.35028929e-01 2.50158717e-03 -5.63767709e+01] [ 4.39110129e-03 -1.02484528e-04 9.99990354e-01 -2.99834351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.917628 meters 0.019167984732171815 Centerline is valid? [True, True] Translation: X:163.87, Y:-56.42, Z:-0.30 [[ 8.40414924e-01 5.41938171e-01 -2.40294661e-03 1.63869242e+02] [-5.41935621e-01 8.40418354e-01 1.66546954e-03 -5.64169183e+01] [ 2.92206195e-03 -9.74430948e-05 9.99995726e-01 -2.98463072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.97762799999998 meters 0.02049971919255446 Centerline is valid? [True, True] Translation: X:163.92, Y:-56.45, Z:-0.30 [[ 8.47195778e-01 5.31278267e-01 -1.64819699e-03 1.63919353e+02] [-5.31277045e-01 8.47197376e-01 1.14324538e-03 -5.64523076e+01] [ 2.00372959e-03 -9.29034271e-05 9.99997988e-01 -2.98314048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.03762799999998 meters 0.02353389839887849 Centerline is valid? [True, True] Translation: X:163.97, Y:-56.49, Z:-0.30 [[ 8.49440867e-01 5.27676952e-01 -2.69236828e-03 1.63967985e+02] [-5.27673673e-01 8.49445117e-01 1.86743870e-03 -5.64877777e+01] [ 3.27242345e-03 -1.65586887e-04 9.99994632e-01 -2.99488177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.097628 meters 0.02231733934479136 Centerline is valid? [True, True] Translation: X:164.02, Y:-56.52, Z:-0.30 [[ 8.49255455e-01 5.27962632e-01 -4.54207281e-03 1.64023775e+02] [-5.27953294e-01 8.49267556e-01 3.15249225e-03 -5.65181065e+01] [ 5.52183318e-03 -2.79268938e-04 9.99984716e-01 -3.00508001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.157628 meters 0.022138603156463543 Centerline is valid? [True, True] Translation: X:164.08, Y:-56.55, Z:-0.30 [[ 8.46572696e-01 5.32249768e-01 -4.98543149e-03 1.64078064e+02] [-5.32238585e-01 8.46587330e-01 3.46133170e-03 -5.65465726e+01] [ 6.06289613e-03 -2.76829908e-04 9.99981582e-01 -3.01203333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.217628 meters 0.019166725363020363 Centerline is valid? [True, True] Translation: X:164.13, Y:-56.57, Z:-0.30 [[ 8.44354008e-01 5.35759827e-01 -5.26463415e-03 1.64133287e+02] [-5.35747424e-01 8.44370379e-01 3.65529232e-03 -5.65748167e+01] [ 6.40365992e-03 -2.65846542e-04 9.99979461e-01 -3.00311799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.277628 meters 0.017955925922804303 Centerline is valid? [True, True] Translation: X:164.19, Y:-56.60, Z:-0.30 [[ 8.40540851e-01 5.41726014e-01 -4.89932092e-03 1.64188165e+02] [-5.41715361e-01 8.40555104e-01 3.40359728e-03 -5.66037035e+01] [ 5.96196639e-03 -2.06825153e-04 9.99982206e-01 -3.00662982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.337628 meters 0.01774432153965744 Centerline is valid? [True, True] Translation: X:164.24, Y:-56.64, Z:-0.30 [[ 8.38785664e-01 5.44433951e-01 -5.50304254e-03 1.64239216e+02] [-5.44420558e-01 8.38803689e-01 3.82462960e-03 -5.66367491e+01] [ 6.69823058e-03 -2.12074984e-04 9.99977544e-01 -3.01120534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.397628 meters 0.015339878327782016 Centerline is valid? [True, True] Translation: X:164.29, Y:-56.67, Z:-0.30 [[ 8.35070396e-01 5.50110114e-01 -6.02458184e-03 1.64294062e+02] [-5.50094209e-01 8.35092108e-01 4.18714696e-03 -5.66657769e+01] [ 7.33447264e-03 -1.82474891e-04 9.99973086e-01 -3.01982867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.457628 meters 0.013137706434877994 Centerline is valid? [True, True] Translation: X:164.35, Y:-56.69, Z:-0.30 [[ 8.28684646e-01 5.59671080e-01 -7.07387390e-03 1.64349055e+02] [-5.59649486e-01 8.28714830e-01 4.91772373e-03 -5.66928686e+01] [ 8.61453195e-03 -1.16352256e-04 9.99962887e-01 -3.03679324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.517628 meters 0.011976098184103773 Centerline is valid? [True, True] Translation: X:164.40, Y:-56.72, Z:-0.30 [[ 8.25444621e-01 5.64459175e-01 -5.19788529e-03 1.64402763e+02] [-5.64447597e-01 8.25460985e-01 3.61576124e-03 -5.67248610e+01] [ 6.33160112e-03 -5.06768036e-05 9.99979954e-01 -3.01210085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.577628 meters 0.011623816681755376 Centerline is valid? [True, True] Translation: X:164.45, Y:-56.76, Z:-0.30 [[ 8.23750768e-01 5.66944862e-01 -2.86286395e-03 1.64454656e+02] [-5.66941360e-01 8.23755743e-01 1.99274355e-03 -5.67591504e+01] [ 3.48807633e-03 -1.84480491e-05 9.99993916e-01 -2.97988645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.637628 meters 0.011474637342053104 Centerline is valid? [True, True] Translation: X:164.51, Y:-56.79, Z:-0.30 [[ 8.22606111e-01 5.68610355e-01 -1.20429004e-03 1.64506248e+02] [-5.68609736e-01 8.22606992e-01 8.39006449e-04 -5.67935590e+01] [ 1.46772516e-03 -5.40078885e-06 9.99998923e-01 -2.97549474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.697628 meters 0.011357874990866693 Centerline is valid? [True, True] Translation: X:164.56, Y:-56.83, Z:-0.30 [[ 8.21359966e-01 5.70409586e-01 -8.43123592e-04 1.64556923e+02] [-5.70409283e-01 8.21360398e-01 5.87979040e-04 -5.68303412e+01] [ 1.02789721e-03 -2.01692039e-06 9.99999472e-01 -2.97531853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.75762799999998 meters 0.011517365518065507 Centerline is valid? [True, True] Translation: X:164.61, Y:-56.87, Z:-0.30 [[ 8.20726607e-01 5.71315814e-01 -2.46521349e-03 1.64608490e+02] [-5.71313228e-01 8.20730309e-01 1.71910230e-03 -5.68672035e+01] [ 3.00542575e-03 -2.50392054e-06 9.99995484e-01 -2.99820756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.81762799999998 meters 0.011641591900415929 Centerline is valid? [True, True] Translation: X:164.66, Y:-56.91, Z:-0.30 [[ 8.19899843e-01 5.72470867e-01 -6.43064654e-03 1.64656098e+02] [-5.72453295e-01 8.19925061e-01 4.48549297e-03 -5.69051022e+01] [ 7.84046231e-03 3.58981265e-06 9.99969263e-01 -3.04902104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.877628 meters 0.011750182936637764 Centerline is valid? [True, True] Translation: X:164.71, Y:-56.94, Z:-0.31 [[ 8.18812930e-01 5.73999127e-01 -8.38975261e-03 1.64705439e+02] [-5.73969265e-01 8.18855910e-01 5.85501139e-03 -5.69429606e+01] [ 1.02307699e-02 2.13011149e-05 9.99947664e-01 -3.06488397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.937628 meters 0.012191136925710368 Centerline is valid? [True, True] Translation: X:164.75, Y:-56.98, Z:-0.31 [[ 8.17234231e-01 5.76219185e-01 -9.98306092e-03 1.64752743e+02] [-5.76177049e-01 8.17295202e-01 6.96857004e-03 -5.69820374e+01] [ 1.21745315e-02 5.70565986e-05 9.99925886e-01 -3.09400456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.997628 meters 0.012017976870142121 Centerline is valid? [True, True] Translation: X:164.80, Y:-57.02, Z:-0.31 [[ 8.16584574e-01 5.77151310e-01 -9.27352516e-03 1.64801426e+02] [-5.77114964e-01 8.16637227e-01 6.47745199e-03 -5.70214315e+01] [ 1.13115758e-02 6.25027582e-05 9.99936020e-01 -3.08224314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.057628 meters 0.01195125013948588 Centerline is valid? [True, True] Translation: X:164.85, Y:-57.06, Z:-0.30 [[ 8.16666609e-01 5.77080145e-01 -5.84427751e-03 1.64847223e+02] [-5.77065691e-01 8.16687520e-01 4.08444787e-03 -5.70638763e+01] [ 7.13000227e-03 3.68998501e-05 9.99974581e-01 -3.04208949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.117628 meters 0.011883134696855353 Centerline is valid? [True, True] Translation: X:164.89, Y:-57.11, Z:-0.30 [[ 8.17777413e-01 5.75527029e-01 -2.95665587e-03 1.64892993e+02] [-5.75523315e-01 8.17782757e-01 2.06769097e-03 -5.71068897e+01] [ 3.60791423e-03 1.07134229e-05 9.99993491e-01 -3.01154474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.177628 meters 0.011990666236253587 Centerline is valid? [True, True] Translation: X:164.94, Y:-57.14, Z:-0.30 [[ 8.17733204e-01 5.75596111e-01 -1.23400838e-03 1.64942045e+02] [-5.75595464e-01 8.17734136e-01 8.63307821e-04 -5.71440308e+01] [ 1.50600740e-03 4.33415788e-06 9.99998866e-01 -2.99423124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.237628 meters 0.012119113178708427 Centerline is valid? [True, True] Translation: X:164.99, Y:-57.18, Z:-0.30 [[ 8.16414198e-01 5.77457960e-01 -3.18785412e-03 1.64994329e+02] [-5.77453650e-01 8.16420421e-01 2.23119206e-03 -5.71770758e+01] [ 3.89104882e-03 1.92611219e-05 9.99992430e-01 -3.02247229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.297628 meters 0.012262947923330795 Centerline is valid? [True, True] Translation: X:165.05, Y:-57.21, Z:-0.31 [[ 8.16219336e-01 5.77716379e-01 -5.45718635e-03 1.65046194e+02] [-5.77703743e-01 8.16237578e-01 3.82114296e-03 -5.72106063e+01] [ 6.66189745e-03 3.37462110e-05 9.99977809e-01 -3.05530104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.357628 meters 0.015437630129421294 Centerline is valid? [True, True] Translation: X:165.10, Y:-57.25, Z:-0.31 [[ 8.16501173e-01 5.77294131e-01 -7.57105434e-03 1.65097339e+02] [-5.77269767e-01 8.16536273e-01 5.30388281e-03 -5.72452709e+01] [ 9.24394091e-03 3.99142372e-05 9.99957273e-01 -3.10188539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.417628 meters 0.014888564564672914 Centerline is valid? [True, True] Translation: X:165.15, Y:-57.28, Z:-0.31 [[ 8.16997514e-01 5.76601153e-01 -6.79501994e-03 1.65148254e+02] [-5.76581482e-01 8.17025771e-01 4.76281160e-03 -5.72803824e+01] [ 8.29794906e-03 2.66774329e-05 9.99965571e-01 -3.08799571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.47762799999998 meters 0.012100227201701192 Centerline is valid? [True, True] Translation: X:165.20, Y:-57.32, Z:-0.31 [[ 8.17781909e-01 5.75508886e-01 -4.71915792e-03 1.65198829e+02] [-5.75499370e-01 8.17795526e-01 3.30964964e-03 -5.73170667e+01] [ 5.76403902e-03 9.30080717e-06 9.99983388e-01 -3.05163407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.53762799999998 meters 0.012163939885699224 Centerline is valid? [True, True] Translation: X:165.25, Y:-57.36, Z:-0.30 [[ 8.20903913e-01 5.71061651e-01 -2.31425204e-03 1.65247632e+02] [-5.71059342e-01 8.20907175e-01 1.62414687e-03 -5.73557487e+01] [ 2.82727410e-03 -1.16932692e-05 9.99996003e-01 -3.03277984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.597628 meters 0.01386379368467354 Centerline is valid? [True, True] Translation: X:165.30, Y:-57.39, Z:-0.30 [[ 8.23505269e-01 5.67308201e-01 -6.90705744e-04 1.65295798e+02] [-5.67307993e-01 8.23505559e-01 4.85357295e-04 -5.73944187e+01] [ 8.44147193e-04 -7.85140036e-06 9.99999644e-01 -3.03457665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.657628 meters 0.01261112383158599 Centerline is valid? [True, True] Translation: X:165.35, Y:-57.43, Z:-0.30 [[ 8.23233596e-01 5.67702515e-01 5.49015957e-04 1.65346287e+02] [-5.67702385e-01 8.23233779e-01 -3.85064265e-04 -5.74304621e+01] [-6.70570433e-04 5.32017133e-06 9.99999775e-01 -3.01388062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.717628 meters 0.012200481260440519 Centerline is valid? [True, True] Translation: X:165.40, Y:-57.46, Z:-0.30 [[ 8.20764755e-01 5.71266074e-01 -5.37240066e-04 1.65399036e+02] [-5.71265949e-01 8.20764931e-01 3.78046351e-04 -5.74626676e+01] [ 6.56912861e-04 -3.38016460e-06 9.99999784e-01 -3.03647394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.777628 meters 0.012086606012269754 Centerline is valid? [True, True] Translation: X:165.45, Y:-57.50, Z:-0.31 [[ 8.18452178e-01 5.74567517e-01 -2.86369485e-03 1.65452135e+02] [-5.74563986e-01 8.18457188e-01 2.01419703e-03 -5.74966608e+01] [ 3.50110382e-03 -3.14801539e-06 9.99993871e-01 -3.06686494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.837628 meters 0.012081629714924685 Centerline is valid? [True, True] Translation: X:165.50, Y:-57.53, Z:-0.31 [[ 8.17076710e-01 5.76515565e-01 -3.93096020e-03 1.65504490e+02] [-5.76508928e-01 8.17086166e-01 2.76632385e-03 -5.75323482e+01] [ 4.80676195e-03 5.93486095e-06 9.99988447e-01 -3.08100716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.897628 meters 0.012095053384648804 Centerline is valid? [True, True] Translation: X:165.56, Y:-57.57, Z:-0.31 [[ 8.15756799e-01 5.78384606e-01 -3.47750499e-03 1.65556850e+02] [-5.78379422e-01 8.15764211e-01 2.44876812e-03 -5.75677454e+01] [ 4.25315389e-03 1.37180858e-05 9.99990955e-01 -3.07816847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.957628 meters 0.012155708313257517 Centerline is valid? [True, True] Translation: X:165.61, Y:-57.60, Z:-0.31 [[ 8.14398931e-01 5.80299910e-01 -2.52879232e-03 1.65609213e+02] [-5.80297174e-01 8.14402857e-01 1.78194744e-03 -5.76022663e+01] [ 3.09351963e-03 1.62349422e-05 9.99995215e-01 -3.07790086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.017628 meters 0.012286579826127218 Centerline is valid? [True, True] Translation: X:165.66, Y:-57.64, Z:-0.31 [[ 8.13315567e-01 5.81822603e-01 -4.96590007e-04 1.65662042e+02] [-5.81822498e-01 8.13315719e-01 3.50601891e-04 -5.76371527e+01] [ 6.07872564e-04 3.77726227e-06 9.99999815e-01 -3.06851957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.077628 meters 0.012177323965424081 Centerline is valid? [True, True] Translation: X:165.71, Y:-57.67, Z:-0.31 [[ 8.13430163e-01 5.81661436e-01 1.15910659e-03 1.65713405e+02] [-5.81660863e-01 8.13430989e-01 -8.16916605e-04 -5.76739404e+01] [-1.41802211e-03 -9.70233245e-06 9.99998995e-01 -3.06016418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.137628 meters 0.011869590275899419 Centerline is valid? [True, True] Translation: X:165.76, Y:-57.71, Z:-0.31 [[ 8.15147376e-01 5.79253619e-01 6.95753648e-06 1.65763520e+02] [-5.79253619e-01 8.15147376e-01 -4.40950626e-06 -5.77109487e+01] [-8.22564009e-06 -4.35780721e-07 1.00000000e+00 -3.07631693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.197628 meters 0.011747341965898364 Centerline is valid? [True, True] Translation: X:165.81, Y:-57.75, Z:-0.31 [[ 8.16211396e-01 5.77749744e-01 -2.04695967e-03 1.65813806e+02] [-5.77747936e-01 8.16213963e-01 1.44531541e-03 -5.77474955e+01] [ 2.50578767e-03 2.94381094e-06 9.99996861e-01 -3.10884769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.25762799999998 meters 0.0117779336352392 Centerline is valid? [True, True] Translation: X:165.86, Y:-57.78, Z:-0.31 [[ 8.16859756e-01 5.76826019e-01 -3.44717488e-03 1.65863521e+02] [-5.76820878e-01 8.16867030e-01 2.43521649e-03 -5.77843367e+01] [ 4.22057973e-03 -8.27902881e-07 9.99991093e-01 -3.12516923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.31762799999998 meters 0.011717434058864553 Centerline is valid? [True, True] Translation: X:165.92, Y:-57.82, Z:-0.31 [[ 8.16883172e-01 5.76791115e-01 -3.72738409e-03 1.65915416e+02] [-5.76785097e-01 8.16891676e-01 2.63473714e-03 -5.78206464e+01] [ 4.56456201e-03 -2.37283286e-06 9.99989582e-01 -3.12134253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.377628 meters 0.01181545094206147 Centerline is valid? [True, True] Translation: X:165.97, Y:-57.86, Z:-0.31 [[ 8.18137047e-01 5.75016041e-01 -2.88507891e-03 1.65965550e+02] [-5.75012421e-01 8.18142134e-01 2.04054705e-03 -5.78564917e+01] [ 3.53375191e-03 -1.04909256e-05 9.99993756e-01 -3.12553051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.437628 meters 0.012173651867663953 Centerline is valid? [True, True] Translation: X:166.02, Y:-57.89, Z:-0.31 [[ 8.19924221e-01 5.72468843e-01 -1.92226477e-03 1.66015912e+02] [-5.72467226e-01 8.19926475e-01 1.36050851e-03 -5.78946744e+01] [ 2.35496451e-03 -1.50802955e-05 9.99997227e-01 -3.11649293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.497628 meters 0.012473175353262572 Centerline is valid? [True, True] Translation: X:166.06, Y:-57.93, Z:-0.31 [[ 8.22254682e-01 5.69119298e-01 -6.79317346e-04 1.66064915e+02] [-5.69119095e-01 8.22254963e-01 4.81308570e-04 -5.79321004e+01] [ 8.32494054e-04 -9.14575254e-06 9.99999653e-01 -3.09416113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.557628 meters 0.012599987662317205 Centerline is valid? [True, True] Translation: X:166.12, Y:-57.97, Z:-0.31 [[ 8.22476331e-01 5.68799336e-01 -2.73574759e-05 1.66116419e+02] [-5.68799336e-01 8.22476331e-01 1.99481001e-05 -5.79685040e+01] [ 3.38473425e-05 -8.45926082e-07 9.99999999e-01 -3.08790574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.617628 meters 0.012231616741186615 Centerline is valid? [True, True] Translation: X:166.17, Y:-58.00, Z:-0.31 [[ 8.21368631e-01 5.70397290e-01 -7.09603881e-04 1.66169789e+02] [-5.70397068e-01 8.21368938e-01 5.03344478e-04 -5.80013179e+01] [ 8.69952912e-04 -8.67539216e-06 9.99999622e-01 -3.11257545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.677628 meters 0.011978162741028132 Centerline is valid? [True, True] Translation: X:166.22, Y:-58.04, Z:-0.31 [[ 8.19842324e-01 5.72585788e-01 -2.01974086e-03 1.66222053e+02] [-5.72583997e-01 8.19844812e-01 1.43247212e-03 -5.80356419e+01] [ 2.47608724e-03 -1.79299749e-05 9.99996934e-01 -3.12432588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.737628 meters 0.011711934025600378 Centerline is valid? [True, True] Translation: X:166.27, Y:-58.07, Z:-0.31 [[ 8.17467852e-01 5.75965506e-01 -3.16949365e-03 1.66273433e+02] [-5.75961116e-01 8.17473997e-01 2.24881113e-03 -5.80698253e+01] [ 3.88621628e-03 -1.28257071e-05 9.99992449e-01 -3.13104203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.797628 meters 0.011616249855713322 Centerline is valid? [True, True] Translation: X:166.33, Y:-58.10, Z:-0.31 [[ 8.16448869e-01 5.77408066e-01 -3.34220974e-03 1.66325406e+02] [-5.77403190e-01 8.16455709e-01 2.37282422e-03 -5.81049134e+01] [ 4.09885407e-03 -7.48708564e-06 9.99991600e-01 -3.13334194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.857628 meters 0.011657480015157512 Centerline is valid? [True, True] Translation: X:166.38, Y:-58.14, Z:-0.31 [[ 8.15368060e-01 5.78936464e-01 -2.73818691e-03 1.66377957e+02] [-5.78933196e-01 8.15372658e-01 1.94526997e-03 -5.81401489e+01] [ 3.35883046e-03 -8.83696738e-07 9.99994359e-01 -3.12999161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.917628 meters 0.011650318367572804 Centerline is valid? [True, True] Translation: X:166.43, Y:-58.18, Z:-0.31 [[ 8.15067770e-01 5.79362638e-01 -1.86150286e-03 1.66429341e+02] [-5.79361126e-01 8.15069895e-01 1.32342854e-03 -5.81767970e+01] [ 2.28399999e-03 -2.01556285e-07 9.99997392e-01 -3.12161937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.97762799999998 meters 0.011645956489210876 Centerline is valid? [True, True] Translation: X:166.48, Y:-58.22, Z:-0.31 [[ 8.15909695e-01 5.78179153e-01 4.85920728e-04 1.66478134e+02] [-5.78179050e-01 8.15909840e-01 -3.44937022e-04 -5.82160767e+01] [-5.95902898e-04 4.88275524e-07 9.99999822e-01 -3.09917272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.03762799999998 meters 0.011726967705918455 Centerline is valid? [True, True] Translation: X:166.53, Y:-58.25, Z:-0.31 [[ 8.16707986e-01 5.77049378e-01 1.44234454e-03 1.66528394e+02] [-5.77048467e-01 8.16709260e-01 -1.02563609e-03 -5.82534995e+01] [-1.76981882e-03 5.34248076e-06 9.99998434e-01 -3.09216620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.097628 meters 0.012095074755776014 Centerline is valid? [True, True] Translation: X:166.58, Y:-58.29, Z:-0.31 [[ 8.18456693e-01 5.74567544e-01 8.82827200e-04 1.66577580e+02] [-5.74567201e-01 8.18457169e-01 -6.27949954e-04 -5.82913992e+01] [-1.08335591e-03 6.70628996e-06 9.99999413e-01 -3.10619439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.157628 meters 0.012397111386840985 Centerline is valid? [True, True] Translation: X:166.63, Y:-58.33, Z:-0.31 [[ 8.20164786e-01 5.72125427e-01 -1.48974553e-03 1.66626957e+02] [-5.72124442e-01 8.20166139e-01 1.06155114e-03 -5.83293852e+01] [ 1.82917924e-03 -1.83270387e-05 9.99998327e-01 -3.12435127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.217628 meters 0.012992354491620974 Centerline is valid? [True, True] Translation: X:166.68, Y:-58.37, Z:-0.31 [[ 8.21613484e-01 5.70040344e-01 -2.29999061e-03 1.66677096e+02] [-5.70037987e-01 8.21616702e-01 1.63947785e-03 -5.83658067e+01] [ 2.82427921e-03 -3.59350895e-05 9.99996011e-01 -3.13407245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.277628 meters 0.014955268650814136 Centerline is valid? [True, True] Translation: X:166.73, Y:-58.40, Z:-0.32 [[ 8.26269583e-01 5.63266503e-01 -3.06961267e-03 1.66725993e+02] [-5.63262256e-01 8.26275281e-01 2.18888469e-03 -5.84031809e+01] [ 3.76927049e-03 -7.96118825e-05 9.99992893e-01 -3.15468250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.337628 meters 0.016019718989947213 Centerline is valid? [True, True] Translation: X:166.78, Y:-58.44, Z:-0.32 [[ 8.30029737e-01 5.57709159e-01 -3.33629124e-03 1.66775712e+02] [-5.57704096e-01 8.30036434e-01 2.37902316e-03 -5.84403890e+01] [ 4.09604629e-03 -1.13996678e-04 9.99991605e-01 -3.15805236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.397628 meters 0.017893944025061625 Centerline is valid? [True, True] Translation: X:166.82, Y:-58.48, Z:-0.32 [[ 8.33619828e-01 5.52329754e-01 -3.13439295e-03 1.66824805e+02] [-5.52325247e-01 8.33625710e-01 2.23536383e-03 -5.84786247e+01] [ 3.84756851e-03 -1.32239253e-04 9.99992589e-01 -3.16139330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.457628 meters 0.02173937826551785 Centerline is valid? [True, True] Translation: X:166.87, Y:-58.52, Z:-0.32 [[ 8.37989567e-01 5.45681115e-01 -2.36775416e-03 1.66872653e+02] [-5.45678513e-01 8.37992903e-01 1.68963617e-03 -5.85164394e+01] [ 2.90616373e-03 -1.23864913e-04 9.99995769e-01 -3.16737854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.517628 meters 0.021498012498298233 Centerline is valid? [True, True] Translation: X:166.92, Y:-58.55, Z:-0.32 [[ 8.39206338e-01 5.43809866e-01 -1.88462204e-03 1.66924641e+02] [-5.43808211e-01 8.39208448e-01 1.34565968e-03 -5.85496218e+01] [ 2.31337374e-03 -1.04413192e-04 9.99997319e-01 -3.16887165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.577628 meters 0.022797170505691976 Centerline is valid? [True, True] Translation: X:166.97, Y:-58.58, Z:-0.32 [[ 8.37902159e-01 5.45815951e-01 -2.21806849e-03 1.66974688e+02] [-5.45813665e-01 8.37905087e-01 1.58393006e-03 -5.85834233e+01] [ 2.72306517e-03 -1.16526324e-04 9.99996286e-01 -3.17690828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.637628 meters 0.018971550592340822 Centerline is valid? [True, True] Translation: X:167.03, Y:-58.61, Z:-0.32 [[ 8.35597234e-01 5.49334980e-01 -2.88814380e-03 1.67030025e+02] [-5.49331126e-01 8.35602214e-01 2.06240606e-03 -5.86125224e+01] [ 3.54629114e-03 -1.36793512e-04 9.99993703e-01 -3.18649995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.697628 meters 0.0168510386541814 Centerline is valid? [True, True] Translation: X:167.08, Y:-58.64, Z:-0.32 [[ 8.31452449e-01 5.55591605e-01 -2.18940827e-03 1.67084237e+02] [-5.55589408e-01 8.31455327e-01 1.56455272e-03 -5.86429112e+01] [ 2.68964753e-03 -8.44391471e-05 9.99996379e-01 -3.18993474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.75762799999998 meters 0.014546719984665753 Centerline is valid? [True, True] Translation: X:167.14, Y:-58.67, Z:-0.32 [[ 8.27608982e-01 5.61304877e-01 -4.55410007e-04 1.67137731e+02] [-5.61304783e-01 8.27609108e-01 3.25480884e-04 -5.86745815e+01] [ 5.59595477e-04 -1.37470882e-05 9.99999843e-01 -3.17411643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.81762799999998 meters 0.012507734452460338 Centerline is valid? [True, True] Translation: X:167.19, Y:-58.71, Z:-0.32 [[ 8.20612728e-01 5.71482263e-01 1.66542283e-03 1.67189508e+02] [-5.71481024e-01 8.20614418e-01 -1.18997269e-03 -5.87057549e+01] [-2.04671827e-03 2.47491900e-05 9.99997905e-01 -3.15684032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.877628 meters 0.011534117236810191 Centerline is valid? [True, True] Translation: X:167.24, Y:-58.74, Z:-0.32 [[ 8.14018217e-01 5.80835635e-01 2.07539288e-03 1.67244325e+02] [-5.80833740e-01 8.14020863e-01 -1.48360969e-03 -5.87363956e+01] [-2.55114648e-03 2.22711260e-06 9.99996746e-01 -3.16956189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.937628 meters 0.011664596881934929 Centerline is valid? [True, True] Translation: X:167.30, Y:-58.77, Z:-0.32 [[ 8.10572080e-01 5.85637127e-01 1.43498776e-03 1.67297085e+02] [-5.85636228e-01 8.10573350e-01 -1.02620042e-03 -5.87710244e+01] [-1.76414390e-03 -8.57140989e-06 9.99998444e-01 -3.18409553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.997628 meters 0.01219905963193665 Centerline is valid? [True, True] Translation: X:167.35, Y:-58.81, Z:-0.32 [[ 8.07651330e-01 5.89660239e-01 3.62367433e-04 1.67346844e+02] [-5.89660183e-01 8.07651411e-01 -2.58935246e-04 -5.88073822e+01] [-4.45350388e-04 -4.54425032e-06 9.99999901e-01 -3.20729141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.057628 meters 0.012515106718310288 Centerline is valid? [True, True] Translation: X:167.40, Y:-58.84, Z:-0.32 [[ 8.06911931e-01 5.90671494e-01 -5.67892187e-04 1.67395668e+02] [-5.90671354e-01 8.06912130e-01 4.07221762e-04 -5.88436905e+01] [ 6.98773380e-04 6.84554875e-06 9.99999756e-01 -3.22225614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.117628 meters 0.012277799969193079 Centerline is valid? [True, True] Translation: X:167.44, Y:-58.88, Z:-0.32 [[ 8.07175486e-01 5.90307949e-01 -2.06384559e-03 1.67444066e+02] [-5.90306095e-01 8.07178124e-01 1.47967769e-03 -5.88834673e+01] [ 2.53935652e-03 2.39410696e-05 9.99996776e-01 -3.24332627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.177628 meters 0.012042863890978379 Centerline is valid? [True, True] Translation: X:167.49, Y:-58.92, Z:-0.33 [[ 8.08798109e-01 5.88070602e-01 -4.31112496e-03 1.67489964e+02] [-5.88062477e-01 8.08809598e-01 3.09159165e-03 -5.89235946e+01] [ 5.30495341e-03 3.47373481e-05 9.99985928e-01 -3.26793339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.237628 meters 0.01183104743146368 Centerline is valid? [True, True] Translation: X:167.54, Y:-58.96, Z:-0.33 [[ 8.10527999e-01 5.85677403e-01 -5.13243319e-03 1.67538193e+02] [-5.85665825e-01 8.10544249e-01 3.68275068e-03 -5.89634446e+01] [ 6.31696806e-03 2.09181747e-05 9.99980048e-01 -3.27553145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.297628 meters 0.011937664780434303 Centerline is valid? [True, True] Translation: X:167.59, Y:-59.00, Z:-0.33 [[ 8.11750951e-01 5.83983372e-01 -4.87999371e-03 1.67589647e+02] [-5.83972861e-01 8.11765620e-01 3.50375780e-03 -5.89990838e+01] [ 6.00754741e-03 5.60515480e-06 9.99981955e-01 -3.27481949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.357628 meters 0.0125427695132766 Centerline is valid? [True, True] Translation: X:167.64, Y:-59.04, Z:-0.33 [[ 8.14968534e-01 5.79489480e-01 -4.26991451e-03 1.67639072e+02] [-5.79481365e-01 8.14979719e-01 3.06671387e-03 -5.90365155e+01] [ 5.25702215e-03 -2.49394152e-05 9.99986181e-01 -3.27838609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.417628 meters 0.014674599041546263 Centerline is valid? [True, True] Translation: X:167.68, Y:-59.08, Z:-0.32 [[ 8.22970700e-01 5.68083158e-01 -8.68154498e-04 1.67683929e+02] [-5.68082815e-01 8.22971157e-01 6.24197222e-04 -5.90797049e+01] [ 1.06906204e-03 -2.05123733e-05 9.99999428e-01 -3.22488670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.47762799999998 meters 0.016789371206953646 Centerline is valid? [True, True] Translation: X:167.73, Y:-59.12, Z:-0.32 [[ 8.28371851e-01 5.60178602e-01 -1.06843128e-04 1.67732531e+02] [-5.60178596e-01 8.28371857e-01 7.72589320e-05 -5.91175251e+01] [ 1.31784641e-04 -4.14789074e-06 9.99999991e-01 -3.21882180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.53762799999998 meters 0.022134494565251055 Centerline is valid? [True, True] Translation: X:167.78, Y:-59.16, Z:-0.33 [[ 8.34636506e-01 5.50796051e-01 -2.36898872e-03 1.67779836e+02] [-5.50793430e-01 8.34639860e-01 1.70335793e-03 -5.91563045e+01] [ 2.91545524e-03 -1.16861293e-04 9.99995743e-01 -3.25306011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.597628 meters 0.0231324348961604 Centerline is valid? [True, True] Translation: X:167.83, Y:-59.19, Z:-0.33 [[ 8.36943755e-01 5.47274501e-01 -3.97119168e-03 1.67832671e+02] [-5.47267088e-01 8.36953149e-01 2.85682910e-03 -5.91880905e+01] [ 4.88717110e-03 -2.17702772e-04 9.99988034e-01 -3.27156685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.657628 meters 0.02157960226237872 Centerline is valid? [True, True] Translation: X:167.89, Y:-59.22, Z:-0.32 [[ 8.36453336e-01 5.48030064e-01 -2.97740288e-03 1.67885253e+02] [-5.48025897e-01 8.36458620e-01 2.14317798e-03 -5.92209675e+01] [ 3.66500027e-03 -1.60974490e-04 9.99993271e-01 -3.24422496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.717628 meters 0.018172994261438258 Centerline is valid? [True, True] Translation: X:167.94, Y:-59.25, Z:-0.32 [[ 8.32779854e-01 5.53603114e-01 -1.14336460e-03 1.67941816e+02] [-5.53602505e-01 8.32780637e-01 8.23088947e-04 -5.92480120e+01] [ 1.40783651e-03 -5.24823842e-05 9.99999008e-01 -3.22442291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.777628 meters 0.01661963833216234 Centerline is valid? [True, True] Translation: X:168.00, Y:-59.28, Z:-0.32 [[ 8.28871500e-01 5.59439037e-01 1.53909613e-05 1.67995224e+02] [-5.59439037e-01 8.28871500e-01 -1.06794463e-05 -5.92788935e+01] [-1.87316284e-05 2.41584142e-07 1.00000000e+00 -3.21900263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.837628 meters 0.013715809399864054 Centerline is valid? [True, True] Translation: X:168.05, Y:-59.31, Z:-0.32 [[ 8.21499280e-01 5.70209508e-01 2.22440717e-04 1.68050079e+02] [-5.70209486e-01 8.21499310e-01 -1.59824086e-04 -5.93068589e+01] [-2.73868109e-04 4.45756508e-06 9.99999962e-01 -3.21350014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.897628 meters 0.012114033967751164 Centerline is valid? [True, True] Translation: X:168.10, Y:-59.34, Z:-0.32 [[ 8.16698830e-01 5.77063856e-01 -5.71791091e-04 1.68104098e+02] [-5.77063709e-01 8.16699030e-01 4.12045764e-04 -5.93371104e+01] [ 7.04757947e-04 -6.55740522e-06 9.99999752e-01 -3.22657825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.957628 meters 0.011497309275348165 Centerline is valid? [True, True] Translation: X:168.16, Y:-59.37, Z:-0.32 [[ 8.10040014e-01 5.86372171e-01 -1.68896101e-03 1.68158836e+02] [-5.86370906e-01 8.10041775e-01 1.21793012e-03 -5.93668917e+01] [ 2.08228930e-03 3.78546133e-06 9.99997832e-01 -3.24094583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.017628 meters 0.011652631841763872 Centerline is valid? [True, True] Translation: X:168.21, Y:-59.40, Z:-0.32 [[ 8.07698630e-01 5.89591823e-01 -2.09862619e-03 1.68210455e+02] [-5.89589880e-01 8.07701357e-01 1.51402907e-03 -5.94017180e+01] [ 2.58772238e-03 1.44495574e-05 9.99996652e-01 -3.24720208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.077628 meters 0.011385883574350771 Centerline is valid? [True, True] Translation: X:168.26, Y:-59.44, Z:-0.32 [[ 8.08764174e-01 5.88125138e-01 -3.05481935e-03 1.68258952e+02] [-5.88121005e-01 8.08769944e-01 2.20502714e-03 -5.94421828e+01] [ 3.76747796e-03 1.32564733e-05 9.99992903e-01 -3.24167057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.137628 meters 0.011347206163121825 Centerline is valid? [True, True] Translation: X:168.31, Y:-59.48, Z:-0.32 [[ 8.11950631e-01 5.83719867e-01 -2.69996394e-03 1.68306902e+02] [-5.83716610e-01 8.11955120e-01 1.95010740e-03 -5.94840230e+01] [ 3.33056598e-03 -7.37713424e-06 9.99994454e-01 -3.23814580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.197628 meters 0.012668819241220585 Centerline is valid? [True, True] Translation: X:168.35, Y:-59.53, Z:-0.32 [[ 8.18081134e-01 5.75097143e-01 -2.55616654e-03 1.68350502e+02] [-5.75094181e-01 8.18085127e-01 1.84611706e-03 -5.95295869e+01] [ 3.15285847e-03 -4.02370336e-05 9.99995029e-01 -3.23113324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.25762799999998 meters 0.014174032659632203 Centerline is valid? [True, True] Translation: X:168.40, Y:-59.57, Z:-0.32 [[ 8.21783514e-01 5.69790695e-01 -3.22802409e-03 1.68396701e+02] [-5.69785929e-01 8.21789850e-01 2.33165063e-03 -5.95717636e+01] [ 3.98131027e-03 -7.68293408e-05 9.99992072e-01 -3.23572162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.31762799999998 meters 0.015683086427893397 Centerline is valid? [True, True] Translation: X:168.44, Y:-59.61, Z:-0.33 [[ 8.25173487e-01 5.64854193e-01 -5.33453145e-03 1.68442208e+02] [-5.64841073e-01 8.25190713e-01 3.85356633e-03 -5.96144787e+01] [ 6.57870891e-03 -1.66698300e-04 9.99978346e-01 -3.25263711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.377628 meters 0.016382474720113713 Centerline is valid? [True, True] Translation: X:168.49, Y:-59.65, Z:-0.33 [[ 8.25856750e-01 5.63843248e-01 -6.43578169e-03 1.68489390e+02] [-5.63824100e-01 8.25881799e-01 4.65162803e-03 -5.96544892e+01] [ 7.93798402e-03 -2.12929589e-04 9.99968471e-01 -3.26191181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.437628 meters 0.015918211200840637 Centerline is valid? [True, True] Translation: X:168.54, Y:-59.69, Z:-0.33 [[ 8.24411882e-01 5.65917241e-01 -9.09529412e-03 1.68537966e+02] [-5.65879088e-01 8.24462007e-01 6.57706811e-03 -5.96928920e+01] [ 1.12208007e-02 -2.75376362e-04 9.99937007e-01 -3.28430608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.497628 meters 0.014885933481341278 Centerline is valid? [True, True] Translation: X:168.59, Y:-59.73, Z:-0.33 [[ 8.22285719e-01 5.68992725e-01 -9.66820878e-03 1.68588001e+02] [-5.68949783e-01 8.22342517e-01 6.99493484e-03 -5.97293905e+01] [ 1.19306462e-02 -2.51109738e-04 9.99928796e-01 -3.28880656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.557628 meters 0.013386477428186251 Centerline is valid? [True, True] Translation: X:168.64, Y:-59.77, Z:-0.33 [[ 8.18998523e-01 5.73702255e-01 -1.03508790e-02 1.68638209e+02] [-5.73653403e-01 8.19063907e-01 7.48925758e-03 -5.97651827e+01] [ 1.27746353e-02 -1.95873942e-04 9.99918382e-01 -3.29636828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.617628 meters 0.012871238678688753 Centerline is valid? [True, True] Translation: X:168.69, Y:-59.80, Z:-0.33 [[ 8.16858441e-01 5.76763630e-01 -9.27376000e-03 1.68687599e+02] [-5.76724569e-01 8.16911070e-01 6.71378023e-03 -5.98018623e+01] [ 1.14481015e-02 -1.35802814e-04 9.99934459e-01 -3.29194447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.677628 meters 0.01186588858572393 Centerline is valid? [True, True] Translation: X:168.74, Y:-59.84, Z:-0.33 [[ 8.13988879e-01 5.80839977e-01 -6.85754501e-03 1.68737992e+02] [-5.80818740e-01 8.14017762e-01 4.96729820e-03 -5.98383823e+01] [ 8.46736882e-03 -6.03348489e-05 9.99964149e-01 -3.25340366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.737628 meters 0.011531855718101678 Centerline is valid? [True, True] Translation: X:168.79, Y:-59.88, Z:-0.32 [[ 8.12757665e-01 5.82577156e-01 -5.36994033e-03 1.68787526e+02] [-5.82564157e-01 8.12775403e-01 3.89188343e-03 -5.98759933e+01] [ 6.63187779e-03 -3.48233268e-05 9.99978008e-01 -3.22871933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.797628 meters 0.01153912573963893 Centerline is valid? [True, True] Translation: X:168.84, Y:-59.91, Z:-0.32 [[ 8.13193530e-01 5.81975301e-01 -4.58607179e-03 1.68837829e+02] [-5.81965798e-01 8.13206461e-01 3.32594876e-03 -5.99134028e+01] [ 5.66504324e-03 -3.57030815e-05 9.99983953e-01 -3.22368071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.857628 meters 0.012255401312193312 Centerline is valid? [True, True] Translation: X:168.89, Y:-59.95, Z:-0.33 [[ 8.14410927e-01 5.80269459e-01 -4.71131525e-03 1.68886245e+02] [-5.80259398e-01 8.14424553e-01 3.41742880e-03 -5.99504682e+01] [ 5.82004037e-03 -4.94064064e-05 9.99983062e-01 -3.25085158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.917628 meters 0.013223742072470951 Centerline is valid? [True, True] Translation: X:168.93, Y:-59.99, Z:-0.32 [[ 8.18624288e-01 5.74305440e-01 -5.24754895e-03 1.68934582e+02] [-5.74292832e-01 8.18641100e-01 3.80679413e-03 -5.99897308e+01] [ 6.48212182e-03 -1.02704383e-04 9.99978986e-01 -3.24660113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.97762799999998 meters 0.01502250674621236 Centerline is valid? [True, True] Translation: X:168.98, Y:-60.03, Z:-0.33 [[ 8.22251342e-01 5.69096481e-01 -5.65025098e-03 1.68982688e+02] [-5.69081725e-01 8.22270740e-01 4.10114861e-03 -6.00285952e+01] [ 6.97998530e-03 -1.56720376e-04 9.99975627e-01 -3.25371361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.03762799999998 meters 0.016688582725028104 Centerline is valid? [True, True] Translation: X:169.03, Y:-60.07, Z:-0.33 [[ 8.25994667e-01 5.63650439e-01 -5.56711813e-03 1.69031361e+02] [-5.63635977e-01 8.26013403e-01 4.04271550e-03 -6.00661106e+01] [ 6.87719256e-03 -2.01433372e-04 9.99976332e-01 -3.25610297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.097628 meters 0.02115884640770046 Centerline is valid? [True, True] Translation: X:169.08, Y:-60.10, Z:-0.33 [[ 8.29441124e-01 5.58546135e-01 -7.32367023e-03 1.69080412e+02] [-5.58520905e-01 8.29473394e-01 5.31849432e-03 -6.01041917e+01] [ 9.04541405e-03 -3.20954988e-04 9.99959038e-01 -3.29326669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.157628 meters 0.020542331632982025 Centerline is valid? [True, True] Translation: X:169.13, Y:-60.14, Z:-0.33 [[ 8.33370814e-01 5.52650335e-01 -8.40791662e-03 1.69130445e+02] [-5.52616752e-01 8.33413109e-01 6.10869164e-03 -6.01392986e+01] [ 1.03832384e-02 -4.44449756e-04 9.99945994e-01 -3.28647099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.217628 meters 0.02111665703187867 Centerline is valid? [True, True] Translation: X:169.18, Y:-60.17, Z:-0.33 [[ 8.34487320e-01 5.50964937e-01 -8.27953192e-03 1.69181712e+02] [-5.50932282e-01 8.34528266e-01 6.01605903e-03 -6.01745048e+01] [ 1.02241410e-02 -4.58863554e-04 9.99947627e-01 -3.28280266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.277628 meters 0.01905963307056832 Centerline is valid? [True, True] Translation: X:169.24, Y:-60.20, Z:-0.33 [[ 8.32358632e-01 5.54189119e-01 -7.31629416e-03 1.69237350e+02] [-5.54163739e-01 8.32390703e-01 5.31671212e-03 -6.02034006e+01] [ 9.03647924e-03 -3.70986298e-04 9.99959101e-01 -3.26896330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.337628 meters 0.018333313017185007 Centerline is valid? [True, True] Translation: X:169.29, Y:-60.23, Z:-0.33 [[ 8.28556175e-01 5.59861064e-01 -7.08896688e-03 1.69289094e+02] [-5.59837426e-01 8.28586446e-01 5.15355288e-03 -6.02347774e+01] [ 8.75909547e-03 -3.01339094e-04 9.99961593e-01 -3.26727749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.397628 meters 0.016120211694607114 Centerline is valid? [True, True] Translation: X:169.34, Y:-60.26, Z:-0.33 [[ 8.21755349e-01 5.69803872e-01 -6.45716191e-03 1.69342847e+02] [-5.69784559e-01 8.21780698e-01 4.69468544e-03 -6.02630083e+01] [ 7.98142096e-03 -1.78691724e-04 9.99968132e-01 -3.26949316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.457628 meters 0.012615030089937678 Centerline is valid? [True, True] Translation: X:169.40, Y:-60.29, Z:-0.33 [[ 8.16063857e-01 5.77918388e-01 -7.07940661e-03 1.69398918e+02] [-5.77895467e-01 8.16094556e-01 5.14823368e-03 -6.02900130e+01] [ 8.75272410e-03 -1.10130449e-04 9.99961688e-01 -3.26919610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.517628 meters 0.011336720169713679 Centerline is valid? [True, True] Translation: X:169.46, Y:-60.32, Z:-0.33 [[ 8.08010291e-01 5.89139364e-01 -5.84627031e-03 1.69455387e+02] [-5.89124020e-01 8.08031441e-01 4.25190502e-03 -6.03175834e+01] [ 7.22893484e-03 8.59525631e-06 9.99973871e-01 -3.25423206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.577628 meters 0.011678691310675306 Centerline is valid? [True, True] Translation: X:169.51, Y:-60.35, Z:-0.32 [[ 8.03977001e-01 5.94635817e-01 -5.40624854e-03 1.69508223e+02] [-5.94622804e-01 8.03995176e-01 3.93434441e-03 -6.03505035e+01] [ 6.68609985e-03 5.15562432e-05 9.99977646e-01 -3.24833372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.637628 meters 0.012378494717024692 Centerline is valid? [True, True] Translation: X:169.56, Y:-60.39, Z:-0.33 [[ 8.01867806e-01 5.97477516e-01 -5.35150958e-03 1.69558139e+02] [-5.97464816e-01 8.01885660e-01 3.89632657e-03 -6.03850112e+01] [ 6.61926632e-03 7.29998480e-05 9.99978090e-01 -3.25599723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.697628 meters 0.015235145625570079 Centerline is valid? [True, True] Translation: X:169.61, Y:-60.43, Z:-0.33 [[ 8.02839872e-01 5.96163085e-01 -6.14129728e-03 1.69605233e+02] [-5.96146304e-01 8.02863358e-01 4.47363176e-03 -6.04254962e+01] [ 7.59763667e-03 6.95017196e-05 9.99971135e-01 -3.27252961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.75762799999998 meters 0.011941137322248578 Centerline is valid? [True, True] Translation: X:169.65, Y:-60.46, Z:-0.32 [[ 8.03517825e-01 5.95248164e-01 -6.22315518e-03 1.69652777e+02] [-5.95230888e-01 8.03541921e-01 4.53556055e-03 -6.04649895e+01] [ 7.70035016e-03 5.98104326e-05 9.99970350e-01 -3.24884732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.81762799999998 meters 0.011726477587230973 Centerline is valid? [True, True] Translation: X:169.70, Y:-60.51, Z:-0.33 [[ 8.05048832e-01 5.93163897e-01 -7.27796360e-03 1.69701325e+02] [-5.93140154e-01 8.05081728e-01 5.30737344e-03 -6.05056544e+01] [ 9.00749782e-03 4.41576616e-05 9.99959431e-01 -3.27377956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.877628 meters 0.01170176413067777 Centerline is valid? [True, True] Translation: X:169.75, Y:-60.55, Z:-0.33 [[ 8.05729568e-01 5.92232477e-01 -7.78184031e-03 1.69749413e+02] [-5.92205258e-01 8.05767145e-01 5.67800565e-03 -6.05462947e+01] [ 9.63305060e-03 3.35097162e-05 9.99953601e-01 -3.28177136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.937628 meters 0.01184893082980366 Centerline is valid? [True, True] Translation: X:169.80, Y:-60.59, Z:-0.33 [[ 8.06575559e-01 5.91064091e-01 -8.89425258e-03 1.69795743e+02] [-5.91028430e-01 8.06624597e-01 6.49271275e-03 -6.05876125e+01] [ 1.10119323e-02 1.98927195e-05 9.99939367e-01 -3.28403804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.997628 meters 0.012071154537845586 Centerline is valid? [True, True] Translation: X:169.84, Y:-60.63, Z:-0.33 [[ 8.08440788e-01 5.88505479e-01 -9.20838292e-03 1.69842621e+02] [-5.88467048e-01 8.08493229e-01 6.72553044e-03 -6.06290805e+01] [ 1.14029267e-02 -1.83632190e-05 9.99934984e-01 -3.29010920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.057628 meters 0.01261024436536975 Centerline is valid? [True, True] Translation: X:169.89, Y:-60.67, Z:-0.33 [[ 8.10747602e-01 5.85320180e-01 -9.41337606e-03 1.69888668e+02] [-5.85279766e-01 8.10802246e-01 6.87848614e-03 -6.06708305e+01] [ 1.16585032e-02 -6.72576078e-05 9.99932035e-01 -3.28682753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.117628 meters 0.01419563352476097 Centerline is valid? [True, True] Translation: X:169.93, Y:-60.72, Z:-0.33 [[ 8.15897712e-01 5.78123624e-01 -9.16507336e-03 1.69931787e+02] [-5.78084822e-01 8.15949169e-01 6.70010471e-03 -6.07159780e+01] [ 1.13517228e-02 -1.68410300e-04 9.99935553e-01 -3.26809130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.177628 meters 0.016492126679258833 Centerline is valid? [True, True] Translation: X:169.98, Y:-60.76, Z:-0.33 [[ 8.19855624e-01 5.72506064e-01 -8.57686932e-03 1.69977100e+02] [-5.72471769e-01 8.19900454e-01 6.27059544e-03 -6.07588020e+01] [ 1.06221330e-02 -2.30967391e-04 9.99943557e-01 -3.25797941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.237628 meters 0.019347057390470792 Centerline is valid? [True, True] Translation: X:170.02, Y:-60.80, Z:-0.32 [[ 8.23444432e-01 5.67355118e-01 -6.88742673e-03 1.70022377e+02] [-5.67332802e-01 8.23473201e-01 5.03788431e-03 -6.07997067e+01] [ 8.52988078e-03 -2.40954684e-04 9.99963591e-01 -3.22981972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.297628 meters 0.01846116774372489 Centerline is valid? [True, True] Translation: X:170.07, Y:-60.83, Z:-0.32 [[ 8.24267668e-01 5.66158423e-01 -6.88844381e-03 1.70073034e+02] [-5.66136038e-01 8.24296412e-01 5.04098803e-03 -6.08349499e+01] [ 8.53211735e-03 -2.55327161e-04 9.99963568e-01 -3.21018544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.357628 meters 0.021513866266561505 Centerline is valid? [True, True] Translation: X:170.12, Y:-60.87, Z:-0.32 [[ 8.24561285e-01 5.65732248e-01 -6.76103882e-03 1.70119919e+02] [-5.65710650e-01 8.24588963e-01 4.95000092e-03 -6.08742186e+01] [ 8.37545313e-03 -2.56787453e-04 9.99964892e-01 -3.21936704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.417628 meters 0.018014699451761762 Centerline is valid? [True, True] Translation: X:170.17, Y:-60.90, Z:-0.32 [[ 8.23758793e-01 5.66906297e-01 -6.22103883e-03 1.70174464e+02] [-5.66888026e-01 8.23782252e-01 4.55699889e-03 -6.09045471e+01] [ 7.70817275e-03 -2.27235478e-04 9.99970266e-01 -3.20041247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.47762799999998 meters 0.01759503139034904 Centerline is valid? [True, True] Translation: X:170.23, Y:-60.94, Z:-0.32 [[ 8.22283444e-01 5.69039834e-01 -6.60339023e-03 1.70227365e+02] [-5.69019299e-01 8.22309928e-01 4.83942077e-03 -6.09373346e+01] [ 8.18385654e-03 -2.21919104e-04 9.99966487e-01 -3.21371648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.53762799999998 meters 0.017561714832845923 Centerline is valid? [True, True] Translation: X:170.28, Y:-60.97, Z:-0.32 [[ 8.19694961e-01 5.72742183e-01 -8.15855251e-03 1.70283185e+02] [-5.72710988e-01 8.19735529e-01 5.98220372e-03 -6.09666450e+01] [ 1.01141158e-02 -2.31089580e-04 9.99948824e-01 -3.23662814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.597628 meters 0.013597943383161079 Centerline is valid? [True, True] Translation: X:170.34, Y:-61.00, Z:-0.32 [[ 8.16444538e-01 5.77342874e-01 -9.67072641e-03 1.70335595e+02] [-5.77299357e-01 8.16501784e-01 7.09145041e-03 -6.09999617e+01] [ 1.19903637e-02 -2.06871812e-04 9.99928092e-01 -3.22815605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.657628 meters 0.013382779121683737 Centerline is valid? [True, True] Translation: X:170.39, Y:-61.04, Z:-0.32 [[ 8.14742109e-01 5.79739242e-01 -9.88474579e-03 1.70385337e+02] [-5.79693907e-01 8.14802049e-01 7.25221490e-03 -6.10353098e+01] [ 1.22585047e-02 -1.78557953e-04 9.99924846e-01 -3.23406965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.717628 meters 0.015707347975134973 Centerline is valid? [True, True] Translation: X:170.44, Y:-61.07, Z:-0.33 [[ 8.12371913e-01 5.83054102e-01 -9.98944264e-03 1.70437828e+02] [-5.83008004e-01 8.12433318e-01 7.33283499e-03 -6.10693670e+01] [ 1.23911955e-02 -1.33064181e-04 9.99923217e-01 -3.25200778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.777628 meters 0.012289018953924083 Centerline is valid? [True, True] Translation: X:170.49, Y:-61.11, Z:-0.32 [[ 8.10873143e-01 5.85157001e-01 -8.71955494e-03 1.70487657e+02] [-5.85121964e-01 8.10920018e-01 6.40403036e-03 -6.11058959e+01] [ 1.08182248e-02 -9.08531158e-05 9.99941477e-01 -3.22025531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.837628 meters 0.012090905831653608 Centerline is valid? [True, True] Translation: X:170.54, Y:-61.14, Z:-0.32 [[ 8.10132688e-01 5.86177453e-01 -9.00116549e-03 1.70537045e+02] [-5.86140134e-01 8.10182687e-01 6.61486789e-03 -6.11445353e+01] [ 1.11700749e-02 -8.29763530e-05 9.99937609e-01 -3.21071699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.897628 meters 0.011925061899487912 Centerline is valid? [True, True] Translation: X:170.59, Y:-61.18, Z:-0.32 [[ 8.09824046e-01 5.86606563e-01 -8.81787329e-03 1.70587018e+02] [-5.86570731e-01 8.09872048e-01 6.48410095e-03 -6.11819778e+01] [ 1.09449653e-02 -7.86744821e-05 9.99940099e-01 -3.21108218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.957628 meters 0.012342291656972327 Centerline is valid? [True, True] Translation: X:170.63, Y:-61.22, Z:-0.32 [[ 8.09984083e-01 5.86389998e-01 -8.51795645e-03 1.70634911e+02] [-5.86356513e-01 8.10028866e-01 6.26703049e-03 -6.12207527e+01] [ 1.05747146e-02 -8.16356986e-05 9.99944083e-01 -3.22296466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.017628 meters 0.015126498081862208 Centerline is valid? [True, True] Translation: X:170.68, Y:-61.26, Z:-0.32 [[ 8.11384340e-01 5.84437498e-01 -9.39484509e-03 1.70682478e+02] [-5.84396593e-01 8.11438720e-01 6.91569340e-03 -6.12614585e+01] [ 1.16651316e-02 -1.20969864e-04 9.99931953e-01 -3.23076792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.077628 meters 0.01265420885326418 Centerline is valid? [True, True] Translation: X:170.73, Y:-61.30, Z:-0.32 [[ 8.11473814e-01 5.84307503e-01 -9.74636733e-03 1.70731172e+02] [-5.84263417e-01 8.11532331e-01 7.17874539e-03 -6.13015767e+01] [ 1.21040870e-02 -1.30918017e-04 9.99926734e-01 -3.21445755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.137628 meters 0.012828702959557585 Centerline is valid? [True, True] Translation: X:170.78, Y:-61.34, Z:-0.32 [[ 8.11529911e-01 5.84215262e-01 -1.05703114e-02 1.70779472e+02] [-5.84163348e-01 8.11598735e-01 7.78947444e-03 -6.13409622e+01] [ 1.31295812e-02 -1.46602976e-04 9.99913793e-01 -3.22325510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.197628 meters 0.012846792215078121 Centerline is valid? [True, True] Translation: X:170.83, Y:-61.38, Z:-0.32 [[ 8.11211727e-01 5.84636224e-01 -1.16627447e-02 1.70827054e+02] [-5.84573005e-01 8.11295545e-01 8.59890010e-03 -6.13809809e+01] [ 1.44891613e-02 -1.57802876e-04 9.99895014e-01 -3.22907620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.25762799999998 meters 0.012932340186105047 Centerline is valid? [True, True] Translation: X:170.88, Y:-61.42, Z:-0.32 [[ 8.08889214e-01 5.87880871e-01 -9.71184883e-03 1.70875615e+02] [-5.87837226e-01 8.08947510e-01 7.16393038e-03 -6.14175587e+01] [ 1.20679136e-02 -8.58397432e-05 9.99927176e-01 -3.20462397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.31762799999998 meters 0.01293665882380564 Centerline is valid? [True, True] Translation: X:170.93, Y:-61.45, Z:-0.32 [[ 8.07900492e-01 5.89258237e-01 -8.45724436e-03 1.70925614e+02] [-5.89225180e-01 8.07944755e-01 6.24178956e-03 -6.14540921e+01] [ 1.05110121e-02 -5.95235275e-05 9.99944756e-01 -3.18052687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.377628 meters 0.013309043245761978 Centerline is valid? [True, True] Translation: X:170.98, Y:-61.49, Z:-0.32 [[ 8.06693335e-01 5.90932847e-01 -6.65084615e-03 1.70976022e+02] [-5.90912440e-01 8.06720750e-01 4.91119004e-03 -6.14907707e+01] [ 8.26755911e-03 -3.17565448e-05 9.99965823e-01 -3.17766429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.437628 meters 0.013291345584663066 Centerline is valid? [True, True] Translation: X:171.03, Y:-61.53, Z:-0.32 [[ 8.05858019e-01 5.92073843e-01 -6.43568390e-03 1.71026381e+02] [-5.92054747e-01 8.05883716e-01 4.75517596e-03 -6.15284764e+01] [ 8.00182816e-03 -2.17194766e-05 9.99967985e-01 -3.16862183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.497628 meters 0.013734249865601506 Centerline is valid? [True, True] Translation: X:171.08, Y:-61.56, Z:-0.32 [[ 8.04630748e-01 5.93731334e-01 -7.24308064e-03 1.71078142e+02] [-5.93707186e-01 8.04663348e-01 5.35474538e-03 -6.15638086e+01] [ 9.00752163e-03 -8.32375568e-06 9.99959431e-01 -3.18125616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.557628 meters 0.013922084410803932 Centerline is valid? [True, True] Translation: X:171.13, Y:-61.60, Z:-0.32 [[ 8.03641109e-01 5.95068487e-01 -7.38001581e-03 1.71129256e+02] [-5.95043444e-01 8.03674994e-01 5.45927571e-03 -6.15999755e+01] [ 9.17977710e-03 4.13163672e-06 9.99957865e-01 -3.16969838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.617628 meters 0.014397225839356471 Centerline is valid? [True, True] Translation: X:171.18, Y:-61.64, Z:-0.32 [[ 8.03231558e-01 5.95622036e-01 -7.31125215e-03 1.71179108e+02] [-5.95597454e-01 8.03264832e-01 5.41136852e-03 -6.16371692e+01] [ 9.09600207e-03 7.98119649e-06 9.99958630e-01 -3.17669159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.677628 meters 0.014300144042210724 Centerline is valid? [True, True] Translation: X:171.23, Y:-61.68, Z:-0.32 [[ 8.03535568e-01 5.95204614e-01 -7.87771110e-03 1.71228709e+02] [-5.95176022e-01 8.03574183e-01 5.83405137e-03 -6.16752667e+01] [ 9.80277956e-03 7.56972344e-07 9.99951952e-01 -3.16903911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.737628 meters 0.01434109822707208 Centerline is valid? [True, True] Translation: X:171.28, Y:-61.71, Z:-0.32 [[ 8.04875727e-01 5.93376051e-01 -8.94010557e-03 1.71277790e+02] [-5.93339077e-01 8.04925376e-01 6.62407837e-03 -6.17139524e+01] [ 1.11266873e-02 -2.70459142e-05 9.99938096e-01 -3.18845571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.797628 meters 0.014499864623078397 Centerline is valid? [True, True] Translation: X:171.33, Y:-61.75, Z:-0.32 [[ 8.06186439e-01 5.91601915e-01 -8.40238094e-03 1.71325822e+02] [-5.91569122e-01 8.06230223e-01 6.22909129e-03 -6.17526743e+01] [ 1.04593958e-02 -5.12198075e-05 9.99945298e-01 -3.19525606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.857628 meters 0.01492674646128353 Centerline is valid? [True, True] Translation: X:171.37, Y:-61.79, Z:-0.32 [[ 8.08215414e-01 5.88850089e-01 -6.58923705e-03 1.71373948e+02] [-5.88829806e-01 8.08242270e-01 4.88787867e-03 -6.17931279e+01] [ 8.20392770e-03 -7.05197048e-05 9.99966345e-01 -3.18190381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.917628 meters 0.01511072488207339 Centerline is valid? [True, True] Translation: X:171.42, Y:-61.83, Z:-0.32 [[ 8.09090824e-01 5.87656151e-01 -5.68211293e-03 1.71424344e+02] [-5.87641022e-01 8.09110773e-01 4.21749787e-03 -6.18307899e+01] [ 7.07589735e-03 -7.32961765e-05 9.99974963e-01 -3.18426588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.97762799999998 meters 0.01506141305801781 Centerline is valid? [True, True] Translation: X:171.47, Y:-61.87, Z:-0.32 [[ 8.10240838e-01 5.86076837e-01 -4.87085446e-03 1.71474673e+02] [-5.86065679e-01 8.10255475e-01 3.61723192e-03 -6.18678337e+01] [ 6.06661233e-03 -7.61883940e-05 9.99981595e-01 -3.18134034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.03762799999998 meters 0.015150085329695999 Centerline is valid? [True, True] Translation: X:171.52, Y:-61.91, Z:-0.32 [[ 8.10734248e-01 5.85399751e-01 -4.13654870e-03 1.71524873e+02] [-5.85391685e-01 8.10744797e-01 3.07388542e-03 -6.19055198e+01] [ 5.15313710e-03 -7.06029725e-05 9.99986720e-01 -3.17019014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.097628 meters 0.015621518692414427 Centerline is valid? [True, True] Translation: X:171.58, Y:-61.94, Z:-0.32 [[ 8.10545070e-01 5.85661855e-01 -4.10870278e-03 1.71575302e+02] [-5.85653892e-01 8.10555480e-01 3.05481866e-03 -6.19421306e+01] [ 5.11942232e-03 -6.97904219e-05 9.99986893e-01 -3.18474546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.157628 meters 0.015792397379296868 Centerline is valid? [True, True] Translation: X:171.63, Y:-61.98, Z:-0.32 [[ 8.09868022e-01 5.86595011e-01 -4.48118416e-03 1.71626974e+02] [-5.86585542e-01 8.09880416e-01 3.33367084e-03 -6.19785337e+01] [ 5.58473798e-03 -7.12355704e-05 9.99984403e-01 -3.19797642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.217628 meters 0.015672237655067454 Centerline is valid? [True, True] Translation: X:171.68, Y:-62.01, Z:-0.32 [[ 8.09035171e-01 5.87738570e-01 -5.04627760e-03 1.71678063e+02] [-5.87726572e-01 8.09050906e-01 3.75621085e-03 -6.20147165e+01] [ 6.29036546e-03 -7.30752502e-05 9.99980213e-01 -3.19382683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.277628 meters 0.015656412690059785 Centerline is valid? [True, True] Translation: X:171.73, Y:-62.05, Z:-0.32 [[ 8.08759383e-01 5.88113844e-01 -5.51066450e-03 1.71728461e+02] [-5.88099528e-01 8.08778153e-01 4.10421503e-03 -6.20518092e+01] [ 6.87065073e-03 -7.85032262e-05 9.99976394e-01 -3.19408094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.337628 meters 0.015160421574365255 Centerline is valid? [True, True] Translation: X:171.78, Y:-62.09, Z:-0.32 [[ 8.07677337e-01 5.89607618e-01 -4.49179099e-03 1.71780267e+02] [-5.89598120e-01 8.07689825e-01 3.34717056e-03 -6.20855058e+01] [ 5.60149114e-03 -5.50822856e-05 9.99984310e-01 -3.18135325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.397628 meters 0.014996970869129685 Centerline is valid? [True, True] Translation: X:171.83, Y:-62.12, Z:-0.32 [[ 8.06841485e-01 5.90754395e-01 -4.00778137e-03 1.71829930e+02] [-5.90746841e-01 8.06851438e-01 2.98793322e-03 -6.21204669e+01] [ 4.99881885e-03 -4.32042898e-05 9.99987505e-01 -3.17602525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.457628 meters 0.014808130721623597 Centerline is valid? [True, True] Translation: X:171.88, Y:-62.16, Z:-0.32 [[ 8.06192191e-01 5.91645604e-01 -3.10325782e-03 1.71882036e+02] [-5.91641079e-01 8.06198163e-01 2.31411073e-03 -6.21553571e+01] [ 3.87097420e-03 -2.96031940e-05 9.99992507e-01 -3.17346136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.517628 meters 0.014898938718418374 Centerline is valid? [True, True] Translation: X:171.93, Y:-62.19, Z:-0.32 [[ 8.05922687e-01 5.92009576e-01 -3.64474391e-03 1.71933526e+02] [-5.92003330e-01 8.05930928e-01 2.71970509e-03 -6.21922856e+01] [ 4.54750330e-03 -3.41715089e-05 9.99989659e-01 -3.17890919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.577628 meters 0.015111391141784749 Centerline is valid? [True, True] Translation: X:171.98, Y:-62.23, Z:-0.32 [[ 8.07153612e-01 5.90322233e-01 -4.76528790e-03 1.71982988e+02] [-5.90311517e-01 8.07167677e-01 3.55729808e-03 -6.22289168e+01] [ 5.94633851e-03 -5.82816689e-05 9.99982319e-01 -3.18277429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.637628 meters 0.015639441583406678 Centerline is valid? [True, True] Translation: X:172.03, Y:-62.27, Z:-0.32 [[ 8.08775518e-01 5.88104932e-01 -3.84064828e-03 1.72031453e+02] [-5.88097939e-01 8.08784635e-01 2.86863669e-03 -6.22674149e+01] [ 4.79331670e-03 -6.14057886e-05 9.99988510e-01 -3.17211379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.697628 meters 0.01646543467687538 Centerline is valid? [True, True] Translation: X:172.08, Y:-62.31, Z:-0.32 [[ 8.11642529e-01 5.84150648e-01 -2.10396950e-03 1.72078475e+02] [-5.84148533e-01 8.11645254e-01 1.57242856e-03 -6.23074442e+01] [ 2.62621202e-03 -4.72191983e-05 9.99996550e-01 -3.15658896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.75762799999998 meters 0.016905119218331408 Centerline is valid? [True, True] Translation: X:172.13, Y:-62.35, Z:-0.32 [[ 8.12564857e-01 5.82860085e-01 -3.53193848e-03 1.72126142e+02] [-5.82854110e-01 8.12572528e-01 2.64055567e-03 -6.23464901e+01] [ 4.40903068e-03 -8.70178770e-05 9.99990276e-01 -3.16666714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.81762799999998 meters 0.01636225109226251 Centerline is valid? [True, True] Translation: X:172.18, Y:-62.38, Z:-0.32 [[ 8.11429669e-01 5.84421663e-01 -5.76297483e-03 1.72175627e+02] [-5.84405781e-01 8.11450123e-01 4.31046627e-03 -6.23844865e+01] [ 7.19549650e-03 -1.29724413e-04 9.99974104e-01 -3.18354957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.877628 meters 0.016143661472675045 Centerline is valid? [True, True] Translation: X:172.22, Y:-62.42, Z:-0.32 [[ 8.10571454e-01 5.85602466e-01 -6.60836955e-03 1.72224997e+02] [-5.85581601e-01 8.10598380e-01 4.94522325e-03 -6.24215244e+01] [ 8.25266857e-03 -1.38717175e-04 9.99965937e-01 -3.18758019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.937628 meters 0.01582739146866982 Centerline is valid? [True, True] Translation: X:172.28, Y:-62.46, Z:-0.32 [[ 8.09639127e-01 5.86875947e-01 -7.81712017e-03 1.72276110e+02] [-5.86846778e-01 8.09676849e-01 5.85314563e-03 -6.24586536e+01] [ 9.76441161e-03 -1.51483937e-04 9.99952316e-01 -3.20016510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.997628 meters 0.01591004477134035 Centerline is valid? [True, True] Translation: X:172.33, Y:-62.50, Z:-0.32 [[ 8.08936727e-01 5.87838309e-01 -8.21548257e-03 1.72325157e+02] [-5.87806108e-01 8.08978430e-01 6.15464858e-03 -6.24965274e+01] [ 1.02640864e-02 -1.49610447e-04 9.99947312e-01 -3.19418734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.057628 meters 0.01598444974843634 Centerline is valid? [True, True] Translation: X:172.37, Y:-62.53, Z:-0.32 [[ 8.09098486e-01 5.87635266e-01 -6.66594661e-03 1.72372925e+02] [-5.87614041e-01 8.09125935e-01 4.99609419e-03 -6.25347329e+01] [ 8.32947142e-03 -1.25328417e-04 9.99965301e-01 -3.17529442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.117628 meters 0.015344519798093249 Centerline is valid? [True, True] Translation: X:172.42, Y:-62.57, Z:-0.31 [[ 8.09668030e-01 5.86857034e-01 -6.04171474e-03 1.72422879e+02] [-5.86839555e-01 8.09690562e-01 4.53107596e-03 -6.25728703e+01] [ 7.55101320e-03 -1.23150161e-04 9.99971483e-01 -3.14716330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.177628 meters 0.01581240568189704 Centerline is valid? [True, True] Translation: X:172.47, Y:-62.61, Z:-0.31 [[ 8.10739224e-01 5.85385253e-01 -5.10059265e-03 1.72470893e+02] [-5.85372761e-01 8.10755260e-01 3.82610139e-03 -6.26107102e+01] [ 6.37507565e-03 -1.16222472e-04 9.99979672e-01 -3.14663635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.237628 meters 0.015412902140736253 Centerline is valid? [True, True] Translation: X:172.52, Y:-62.65, Z:-0.31 [[ 8.10752957e-01 5.85372068e-01 -4.38006218e-03 1.72521999e+02] [-5.85362843e-01 8.10764782e-01 3.28788300e-03 -6.26478384e+01] [ 5.47583503e-03 -1.01735208e-04 9.99985002e-01 -3.13438648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.297628 meters 0.014924849534714188 Centerline is valid? [True, True] Translation: X:172.57, Y:-62.68, Z:-0.31 [[ 8.09637247e-01 5.86918950e-01 -3.69775145e-03 1.72572418e+02] [-5.86912385e-01 8.09645688e-01 2.77714839e-03 -6.26847637e+01] [ 4.62382953e-03 -7.82266541e-05 9.99989307e-01 -3.12096887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.357628 meters 0.01475136508181881 Centerline is valid? [True, True] Translation: X:172.62, Y:-62.72, Z:-0.31 [[ 8.08512234e-01 5.88463459e-01 -4.32727513e-03 1.72621268e+02] [-5.88454483e-01 8.08523809e-01 3.25133513e-03 -6.27207606e+01] [ 5.41199689e-03 -8.23397786e-05 9.99985352e-01 -3.12530642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.417628 meters 0.014165180807831367 Centerline is valid? [True, True] Translation: X:172.67, Y:-62.76, Z:-0.31 [[ 8.06361082e-01 5.91396171e-01 -5.68983070e-03 1.72672205e+02] [-5.91380710e-01 8.06381152e-01 4.27713517e-03 -6.27556689e+01] [ 7.11765360e-03 -8.40592235e-05 9.99974666e-01 -3.14443130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.47762799999998 meters 0.013563321985486662 Centerline is valid? [True, True] Translation: X:172.72, Y:-62.79, Z:-0.32 [[ 8.04408377e-01 5.94036426e-01 -6.92017004e-03 1.72723708e+02] [-5.94013630e-01 8.04438139e-01 5.20459745e-03 -6.27905010e+01] [ 8.65856917e-03 -7.59464565e-05 9.99962511e-01 -3.15080970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.53762799999998 meters 0.01344103980955486 Centerline is valid? [True, True] Translation: X:172.77, Y:-62.83, Z:-0.32 [[ 8.02995264e-01 5.95943996e-01 -7.02569420e-03 1.72774747e+02] [-5.95920549e-01 8.03025996e-01 5.28663804e-03 -6.28264503e+01] [ 8.79235528e-03 -5.83897577e-05 9.99961345e-01 -3.16061152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.597628 meters 0.013217095480868071 Centerline is valid? [True, True] Translation: X:172.83, Y:-62.86, Z:-0.32 [[ 8.01990392e-01 5.97305380e-01 -6.13956389e-03 1.72825428e+02] [-5.97287497e-01 8.02013891e-01 4.62227112e-03 -6.28618837e+01] [ 7.68492293e-03 -3.99322773e-05 9.99970470e-01 -3.15735707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.657628 meters 0.013263530557299298 Centerline is valid? [True, True] Translation: X:172.88, Y:-62.90, Z:-0.31 [[ 8.02308368e-01 5.96885595e-01 -5.37299821e-03 1.72875063e+02] [-5.96871872e-01 8.02326358e-01 4.04765260e-03 -6.29001272e+01] [ 6.72688362e-03 -4.04740556e-05 9.99977373e-01 -3.14361169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.717628 meters 0.01384010746812835 Centerline is valid? [True, True] Translation: X:172.92, Y:-62.94, Z:-0.31 [[ 8.04355237e-01 5.94134366e-01 -4.12403428e-03 1.72921809e+02] [-5.94126237e-01 8.04365808e-01 3.10823476e-03 -6.29389481e+01] [ 5.16394126e-03 -4.99279380e-05 9.99986666e-01 -3.13947289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.777628 meters 0.014277322269361058 Centerline is valid? [True, True] Translation: X:172.97, Y:-62.98, Z:-0.31 [[ 8.05884155e-01 5.92054555e-01 -4.70462477e-03 1.72970504e+02] [-5.92043931e-01 8.05897884e-01 3.54755702e-03 -6.29780513e+01] [ 5.89179444e-03 -7.35754477e-05 9.99982641e-01 -3.13957703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.837628 meters 0.015087273548990296 Centerline is valid? [True, True] Translation: X:173.02, Y:-63.02, Z:-0.31 [[ 8.07624415e-01 5.89671764e-01 -5.47858094e-03 1.73017869e+02] [-5.89657290e-01 8.07642990e-01 4.13293401e-03 -6.30175299e+01] [ 6.86181198e-03 -1.07373218e-04 9.99976452e-01 -3.14359332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.897628 meters 0.01620232282529558 Centerline is valid? [True, True] Translation: X:173.07, Y:-63.06, Z:-0.32 [[ 8.10424542e-01 5.85801258e-01 -6.99635723e-03 1.73066008e+02] [-5.85777505e-01 8.10454721e-01 5.27822620e-03 -6.30572176e+01] [ 8.76222229e-03 -1.79295357e-04 9.99961595e-01 -3.16309678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.957628 meters 0.01827416706532078 Centerline is valid? [True, True] Translation: X:173.11, Y:-63.10, Z:-0.32 [[ 8.12579305e-01 5.82807379e-01 -7.10161605e-03 1.73111748e+02] [-5.82782768e-01 8.12610308e-01 5.36039774e-03 -6.30979588e+01] [ 8.89492576e-03 -2.17048807e-04 9.99960416e-01 -3.16969948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.017628 meters 0.01707478831852546 Centerline is valid? [True, True] Translation: X:173.16, Y:-63.13, Z:-0.31 [[ 8.13189390e-01 5.81971727e-01 -5.65027415e-03 1.73161765e+02] [-5.81956111e-01 8.13208999e-01 4.26720663e-03 -6.31341947e+01] [ 7.07824740e-03 -1.81835586e-04 9.99974932e-01 -3.14647020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.077628 meters 0.01687742683970679 Centerline is valid? [True, True] Translation: X:173.21, Y:-63.17, Z:-0.31 [[ 8.11851419e-01 5.83849334e-01 -4.15075196e-03 1.73211217e+02] [-5.83840923e-01 8.11862020e-01 3.13627823e-03 -6.31699244e+01] [ 5.20095182e-03 -1.22813075e-04 9.99986467e-01 -3.13124701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.137628 meters 0.016104377030556505 Centerline is valid? [True, True] Translation: X:173.26, Y:-63.20, Z:-0.31 [[ 8.09651026e-01 5.86897909e-01 -4.00749918e-03 1.73262762e+02] [-5.86890106e-01 8.09660938e-01 3.02815789e-03 -6.32048081e+01] [ 5.02193508e-03 -9.97895280e-05 9.99987385e-01 -3.13257616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.197628 meters 0.014857268632706384 Centerline is valid? [True, True] Translation: X:173.31, Y:-63.24, Z:-0.31 [[ 8.06394247e-01 5.91361659e-01 -4.43927974e-03 1.73313695e+02] [-5.91352146e-01 8.06406462e-01 3.35516048e-03 -6.32373632e+01] [ 5.56397713e-03 -8.04045065e-05 9.99984518e-01 -3.14100005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.25762799999998 meters 0.014178320971715206 Centerline is valid? [True, True] Translation: X:173.37, Y:-63.27, Z:-0.31 [[ 8.04109067e-01 5.94463217e-01 -4.70023920e-03 1.73365272e+02] [-5.94452595e-01 8.04122801e-01 3.55435254e-03 -6.32724864e+01] [ 5.89250136e-03 -6.40177162e-05 9.99982637e-01 -3.14777905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.31762799999998 meters 0.013324131520611782 Centerline is valid? [True, True] Translation: X:173.42, Y:-63.31, Z:-0.31 [[ 8.01454377e-01 5.98040631e-01 -4.27606237e-03 1.73417503e+02] [-5.98031882e-01 8.01465784e-01 3.23515170e-03 -6.33062325e+01] [ 5.36186984e-03 -3.56048629e-05 9.99985624e-01 -3.14864172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.377628 meters 0.013048801087870923 Centerline is valid? [True, True] Translation: X:173.47, Y:-63.34, Z:-0.31 [[ 7.99949440e-01 6.00060990e-01 -2.77526688e-03 1.73468089e+02] [-6.00057313e-01 7.99954254e-01 2.10083163e-03 -6.33428394e+01] [ 3.48071365e-03 -1.52398981e-05 9.99993942e-01 -3.12696733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.437628 meters 0.01280181875911188 Centerline is valid? [True, True] Translation: X:173.52, Y:-63.38, Z:-0.31 [[ 7.99335246e-01 6.00883222e-01 -1.58678267e-03 1.73516929e+02] [-6.00882021e-01 7.99336821e-01 1.20147459e-03 -6.33798895e+01] [ 1.99031974e-03 -6.91180769e-06 9.99998019e-01 -3.11100941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.497628 meters 0.012813096101274311 Centerline is valid? [True, True] Translation: X:173.57, Y:-63.42, Z:-0.31 [[ 7.99623974e-01 6.00499579e-01 -1.32506853e-03 1.73567049e+02] [-6.00498740e-01 7.99625072e-01 1.00415820e-03 -6.34185510e+01] [ 1.66255459e-03 -7.24699085e-06 9.99998618e-01 -3.11023505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.557628 meters 0.01322293377568689 Centerline is valid? [True, True] Translation: X:173.61, Y:-63.46, Z:-0.31 [[ 8.00893322e-01 5.98806505e-01 -8.10723189e-04 1.73614460e+02] [-5.98806189e-01 8.00893732e-01 6.14462102e-04 -6.34568231e+01] [ 1.01724702e-03 -6.65253039e-06 9.99999483e-01 -3.11747413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.617628 meters 0.01358118211505503 Centerline is valid? [True, True] Translation: X:173.66, Y:-63.50, Z:-0.31 [[ 8.01669196e-01 5.97765588e-01 -1.67390509e-03 1.73663211e+02] [-5.97764240e-01 8.01670944e-01 1.26918135e-03 -6.34959589e+01] [ 2.10059401e-03 -1.68629899e-05 9.99997794e-01 -3.13477058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.677628 meters 0.014522157968430129 Centerline is valid? [True, True] Translation: X:173.71, Y:-63.54, Z:-0.32 [[ 8.03045616e-01 5.95903756e-01 -4.05619753e-03 1.73710708e+02] [-5.95895819e-01 8.03055858e-01 3.07605987e-03 -6.35354078e+01] [ 5.09038882e-03 -5.31452385e-05 9.99987042e-01 -3.17058263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.737628 meters 0.014896994107324311 Centerline is valid? [True, True] Translation: X:173.76, Y:-63.57, Z:-0.32 [[ 8.03318369e-01 5.95529605e-01 -4.90795251e-03 1.73759412e+02] [-5.95517968e-01 8.03333358e-01 3.72358552e-03 -6.35738159e+01] [ 6.16022739e-03 -6.84507351e-05 9.99981023e-01 -3.18295138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.797628 meters 0.01683899536788669 Centerline is valid? [True, True] Translation: X:173.80, Y:-63.61, Z:-0.32 [[ 8.05514558e-01 5.92538710e-01 -6.64630573e-03 1.73804423e+02] [-5.92517269e-01 8.05541968e-01 5.04222177e-03 -6.36149746e+01] [ 8.34158978e-03 -1.23532118e-04 9.99965201e-01 -3.20457225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.857628 meters 0.018520838028421045 Centerline is valid? [True, True] Translation: X:173.85, Y:-63.66, Z:-0.32 [[ 8.08036930e-01 5.89093004e-01 -6.76407431e-03 1.73850564e+02] [-5.89070670e-01 8.08065224e-01 5.13226986e-03 -6.36568563e+01] [ 8.48919750e-03 -1.62545797e-04 9.99963953e-01 -3.19764227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.917628 meters 0.024174651509295108 Centerline is valid? [True, True] Translation: X:173.89, Y:-63.70, Z:-0.32 [[ 8.13924416e-01 5.80949089e-01 -5.01994497e-03 1.73891914e+02] [-5.80936629e-01 8.13939876e-01 3.80944296e-03 -6.37026041e+01] [ 6.29902580e-03 -1.84328728e-04 9.99980144e-01 -3.17670892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.97762799999998 meters 0.02451615601535953 Centerline is valid? [True, True] Translation: X:173.94, Y:-63.74, Z:-0.31 [[ 8.18864898e-01 5.73976430e-01 -3.36697437e-03 1.73938866e+02] [-5.73970763e-01 8.18871805e-01 2.55556340e-03 -6.37415618e+01] [ 4.22395354e-03 -1.60116316e-04 9.99991066e-01 -3.14318110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.03762799999998 meters 0.03178809638553047 Centerline is valid? [True, True] Translation: X:173.98, Y:-63.79, Z:-0.31 [[ 8.26209360e-01 5.63360539e-01 -1.73108295e-03 1.73979292e+02] [-5.63359017e-01 8.26211166e-01 1.31418087e-03 -6.37882770e+01] [ 2.17059770e-03 -1.10567345e-04 9.99997638e-01 -3.11676043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.097628 meters 0.03722414531924046 Centerline is valid? [True, True] Translation: X:174.02, Y:-63.83, Z:-0.31 [[ 8.30707740e-01 5.56708141e-01 -8.33975256e-04 1.74023837e+02] [-5.56707784e-01 8.30708157e-01 6.33460136e-04 -6.38299040e+01] [ 1.04544246e-03 -6.19397217e-05 9.99999452e-01 -3.10454254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.157628 meters 0.03863289787777034 Centerline is valid? [True, True] Translation: X:174.07, Y:-63.87, Z:-0.31 [[ 8.30678486e-01 5.56748048e-01 -2.20533683e-03 1.74074213e+02] [-5.56745551e-01 8.30681397e-01 1.67562085e-03 -6.38657055e+01] [ 2.76483091e-03 -1.64090721e-04 9.99996164e-01 -3.12769765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.217628 meters 0.032223394339296295 Centerline is valid? [True, True] Translation: X:174.13, Y:-63.89, Z:-0.32 [[ 8.28826705e-01 5.59485401e-01 -4.73068808e-03 1.74131518e+02] [-5.59473950e-01 8.28840138e-01 3.59507683e-03 -6.38912975e+01] [ 5.93237717e-03 -3.32998936e-04 9.99982348e-01 -3.17563946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.277628 meters 0.020685914046726293 Centerline is valid? [True, True] Translation: X:174.19, Y:-63.91, Z:-0.31 [[ 8.23153770e-01 5.67797581e-01 -4.87630816e-03 1.74193476e+02] [-5.67785547e-01 8.23168164e-01 3.70759203e-03 -6.39116164e+01] [ 6.11918342e-03 -2.83221065e-04 9.99981238e-01 -3.12951135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.337628 meters 0.02694972899993727 Centerline is valid? [True, True] Translation: X:174.24, Y:-63.95, Z:-0.31 [[ 8.19722968e-01 5.72749626e-01 -3.48172804e-03 1.74239423e+02] [-5.72743530e-01 8.19730343e-01 2.64839005e-03 -6.39508800e+01] [ 4.37094253e-03 -1.76808944e-04 9.99990432e-01 -3.13412910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.397628 meters 0.017349211359820878 Centerline is valid? [True, True] Translation: X:174.30, Y:-63.97, Z:-0.31 [[ 8.15613167e-01 5.78591433e-01 -2.66736984e-03 1.74301444e+02] [-5.78587886e-01 8.15617521e-01 2.02911627e-03 -6.39705585e+01] [ 3.34958287e-03 -1.11666067e-04 9.99994384e-01 -3.10787191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.457628 meters 0.017082731927702998 Centerline is valid? [True, True] Translation: X:174.35, Y:-64.00, Z:-0.31 [[ 8.13915887e-01 5.80980238e-01 -1.70065897e-03 1.74353577e+02] [-5.80978801e-01 8.13917661e-01 1.29387501e-03 -6.40038884e+01] [ 2.13591218e-03 -6.50586211e-05 9.99997717e-01 -3.10387571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.517628 meters 0.017913937501777857 Centerline is valid? [True, True] Translation: X:174.41, Y:-64.04, Z:-0.31 [[ 8.14137057e-01 5.80671911e-01 -9.91624681e-04 1.74405618e+02] [-5.80671421e-01 8.14137660e-01 7.55202220e-04 -6.40365756e+01] [ 1.24584371e-03 -3.90299996e-05 9.99999223e-01 -3.10443149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.577628 meters 0.018373416544074483 Centerline is valid? [True, True] Translation: X:174.46, Y:-64.07, Z:-0.31 [[ 8.15642166e-01 5.78553824e-01 -1.82443233e-03 1.74456495e+02] [-5.78552161e-01 8.15644203e-01 1.38971345e-03 -6.40714525e+01] [ 2.29211168e-03 -7.79796192e-05 9.99997370e-01 -3.11204323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.637628 meters 0.01938328512713703 Centerline is valid? [True, True] Translation: X:174.51, Y:-64.11, Z:-0.31 [[ 8.18525954e-01 5.74463629e-01 -2.60790694e-03 1.74507941e+02] [-5.74460210e-01 8.18530099e-01 1.98617838e-03 -6.41059653e+01] [ 3.27563756e-03 -1.27599785e-04 9.99994627e-01 -3.13078787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.697628 meters 0.021560761725111004 Centerline is valid? [True, True] Translation: X:174.56, Y:-64.14, Z:-0.31 [[ 8.20242173e-01 5.72009033e-01 -2.90597979e-03 1.74555567e+02] [-5.72004769e-01 8.20247306e-01 2.21380743e-03 -6.41429946e+01] [ 3.64993994e-03 -1.53623915e-04 9.99993327e-01 -3.13840990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.75762799999998 meters 0.021856741139618812 Centerline is valid? [True, True] Translation: X:174.61, Y:-64.18, Z:-0.31 [[ 8.21553120e-01 5.70124704e-01 -2.87975234e-03 1.74606514e+02] [-5.70120505e-01 8.21558152e-01 2.19405883e-03 -6.41788500e+01] [ 3.61677115e-03 -1.60730015e-04 9.99993447e-01 -3.14069552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.81762799999998 meters 0.02213243843741475 Centerline is valid? [True, True] Translation: X:174.66, Y:-64.21, Z:-0.31 [[ 8.23950887e-01 5.66653987e-01 -2.86264034e-03 1.74657523e+02] [-5.66649815e-01 8.23955842e-01 2.18137422e-03 -6.42134260e+01] [ 3.59477363e-03 -1.75230605e-04 9.99993523e-01 -3.13298114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.877628 meters 0.024448195224901773 Centerline is valid? [True, True] Translation: X:174.71, Y:-64.25, Z:-0.32 [[ 8.26445929e-01 5.63009668e-01 -2.69080645e-03 1.74707428e+02] [-5.63005959e-01 8.26450289e-01 2.05165945e-03 -6.42493859e+01] [ 3.37892187e-03 -1.80645540e-04 9.99994275e-01 -3.16154032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.937628 meters 0.025208191161228417 Centerline is valid? [True, True] Translation: X:174.76, Y:-64.29, Z:-0.31 [[ 8.29652008e-01 5.58273690e-01 -2.83416240e-03 1.74757000e+02] [-5.58269548e-01 8.29656822e-01 2.16076992e-03 -6.42859329e+01] [ 3.55768317e-03 -2.10460533e-04 9.99993649e-01 -3.13898290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.997628 meters 0.02770667352493305 Centerline is valid? [True, True] Translation: X:174.81, Y:-64.32, Z:-0.31 [[ 8.31591084e-01 5.55378369e-01 -3.33719032e-03 1.74807120e+02] [-5.55372600e-01 8.31597738e-01 2.54488342e-03 -6.43203835e+01] [ 4.18857312e-03 -2.62918297e-04 9.99991193e-01 -3.14497582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.057628 meters 0.02719080003217595 Centerline is valid? [True, True] Translation: X:174.86, Y:-64.35, Z:-0.31 [[ 8.30609201e-01 5.56847379e-01 -3.05787460e-03 1.74859669e+02] [-5.56842545e-01 8.30614797e-01 2.33200432e-03 -6.43529711e+01] [ 3.83848638e-03 -2.34229574e-04 9.99992606e-01 -3.14620831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.117628 meters 0.022997952401858025 Centerline is valid? [True, True] Translation: X:174.92, Y:-64.38, Z:-0.31 [[ 8.27037149e-01 5.62143354e-01 -2.09849801e-03 1.74917440e+02] [-5.62141092e-01 8.27039799e-01 1.60127506e-03 -6.43783401e+01] [ 2.63568751e-03 -1.44661996e-04 9.99996516e-01 -3.13465807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.177628 meters 0.023184062321390954 Centerline is valid? [True, True] Translation: X:174.97, Y:-64.41, Z:-0.32 [[ 8.23494910e-01 5.67319311e-01 -2.22114771e-03 1.74971664e+02] [-5.67316795e-01 8.23497894e-01 1.69480461e-03 -6.44088718e+01] [ 2.79060584e-03 -1.35568572e-04 9.99996097e-01 -3.16066743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.237628 meters 0.019135879097669624 Centerline is valid? [True, True] Translation: X:175.03, Y:-64.44, Z:-0.31 [[ 8.16870398e-01 5.76820199e-01 -1.09998614e-03 1.75027367e+02] [-5.76819591e-01 8.16871137e-01 8.39316579e-04 -6.44357878e+01] [ 1.38268168e-03 -5.11193142e-05 9.99999043e-01 -3.14331099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.297628 meters 0.017263578973073082 Centerline is valid? [True, True] Translation: X:175.08, Y:-64.47, Z:-0.31 [[ 8.12636485e-01 5.82769461e-01 -1.30290874e-03 1.75079696e+02] [-5.82768615e-01 8.12637528e-01 9.94160420e-04 -6.44672094e+01] [ 1.63815887e-03 -4.85967049e-05 9.99998657e-01 -3.14286690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.357628 meters 0.014152229162178608 Centerline is valid? [True, True] Translation: X:175.13, Y:-64.50, Z:-0.31 [[ 8.07717724e-01 5.89568650e-01 -9.41356348e-04 1.75134351e+02] [-5.89568213e-01 8.07718272e-01 7.18387164e-04 -6.44968409e+01] [ 1.18388927e-03 -2.52602649e-05 9.99999299e-01 -3.14249009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.417628 meters 0.013918724856415958 Centerline is valid? [True, True] Translation: X:175.18, Y:-64.53, Z:-0.31 [[ 8.05746334e-01 5.92260789e-01 -4.36051886e-05 1.75183816e+02] [-5.92260788e-01 8.05746336e-01 3.35822275e-05 -6.45325285e+01] [ 5.50241574e-05 -1.23311336e-06 9.99999998e-01 -3.14171054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.47762799999998 meters 0.013151892730239615 Centerline is valid? [True, True] Translation: X:175.23, Y:-64.57, Z:-0.32 [[ 8.05269710e-01 5.92908633e-01 2.17500240e-04 1.75234592e+02] [-5.92908610e-01 8.05269739e-01 -1.65570234e-04 -6.45676692e+01] [-2.73314383e-04 4.37092934e-06 9.99999963e-01 -3.15333990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.53762799999998 meters 0.014467761337685193 Centerline is valid? [True, True] Translation: X:175.28, Y:-64.61, Z:-0.32 [[ 8.07284337e-01 5.90161473e-01 -1.19760273e-03 1.75280206e+02] [-5.90160764e-01 8.07285225e-01 9.15530029e-04 -6.46090884e+01] [ 1.50711754e-03 -3.23149119e-05 9.99998864e-01 -3.17173074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.597628 meters 0.015372151521015955 Centerline is valid? [True, True] Translation: X:175.33, Y:-64.65, Z:-0.32 [[ 8.10230557e-01 5.86110125e-01 -1.16848119e-03 1.75327401e+02] [-5.86109446e-01 8.10231399e-01 8.93020092e-04 -6.46492653e+01] [ 1.47014827e-03 -3.86943055e-05 9.99998919e-01 -3.17767159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.657628 meters 0.016409281423222885 Centerline is valid? [True, True] Translation: X:175.38, Y:-64.69, Z:-0.32 [[ 8.11983218e-01 5.83679892e-01 -1.01875908e-03 1.75375579e+02] [-5.83679374e-01 8.11983856e-01 7.78750775e-04 -6.46890948e+01] [ 1.28175710e-03 -3.77038968e-05 9.99999178e-01 -3.18325878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.717628 meters 0.019530014708142363 Centerline is valid? [True, True] Translation: X:175.42, Y:-64.73, Z:-0.32 [[ 8.17508315e-01 5.75914825e-01 -1.50636432e-03 1.75418084e+02] [-5.75913679e-01 8.17509700e-01 1.15141853e-03 -6.47340650e+01] [ 1.89458644e-03 -7.37584026e-05 9.99998203e-01 -3.18962976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.777628 meters 0.02140281646986844 Centerline is valid? [True, True] Translation: X:175.46, Y:-64.78, Z:-0.32 [[ 8.20504117e-01 5.71634902e-01 -2.55600435e-03 1.75462422e+02] [-5.71631577e-01 8.20508086e-01 1.95473360e-03 -6.47761284e+01] [ 3.21461619e-03 -1.42774170e-04 9.99994823e-01 -3.19569729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.837628 meters 0.022166480155795344 Centerline is valid? [True, True] Translation: X:175.51, Y:-64.82, Z:-0.32 [[ 8.21425474e-01 5.70303326e-01 -3.78244117e-03 1.75509967e+02] [-5.70296026e-01 8.21434153e-01 2.89392933e-03 -6.48152685e+01] [ 4.75744388e-03 -2.20036108e-04 9.99988659e-01 -3.21200403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.897628 meters 0.019998429942178975 Centerline is valid? [True, True] Translation: X:175.56, Y:-64.85, Z:-0.32 [[ 8.19853551e-01 5.72561118e-01 -3.73112669e-03 1.75559938e+02] [-5.72554038e-01 8.19862015e-01 2.85462914e-03 -6.48519508e+01] [ 4.69345870e-03 -2.04106180e-04 9.99988965e-01 -3.21034338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.957628 meters 0.022191564159583507 Centerline is valid? [True, True] Translation: X:175.61, Y:-64.89, Z:-0.32 [[ 8.17832249e-01 5.75438959e-01 -4.51853468e-03 1.75605716e+02] [-5.75428619e-01 8.17844700e-01 3.45709132e-03 -6.48914251e+01] [ 5.68480467e-03 -2.27226601e-04 9.99983816e-01 -3.22216453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.017628 meters 0.021214137906240525 Centerline is valid? [True, True] Translation: X:175.65, Y:-64.93, Z:-0.32 [[ 8.15702390e-01 5.78463754e-01 -3.04906603e-03 1.75654462e+02] [-5.78459066e-01 8.15708077e-01 2.33303075e-03 -6.49286062e+01] [ 3.83672151e-03 -1.39298871e-04 9.99992630e-01 -3.20431910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.077628 meters 0.01605205504377321 Centerline is valid? [True, True] Translation: X:175.71, Y:-64.96, Z:-0.32 [[ 8.11292462e-01 5.84640000e-01 -7.81999256e-04 1.75705325e+02] [-5.84639694e-01 8.11292838e-01 5.98447047e-04 -6.49630307e+01] [ 9.84306478e-04 -2.83277725e-05 9.99999515e-01 -3.16801586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.137628 meters 0.01583420008439028 Centerline is valid? [True, True] Translation: X:175.75, Y:-65.00, Z:-0.32 [[ 8.08921831e-01 5.87916050e-01 4.36109918e-04 1.75752489e+02] [-5.87915955e-01 8.08921948e-01 -3.33682221e-04 -6.50010774e+01] [-5.48956018e-04 1.35268539e-05 9.99999849e-01 -3.15751923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.197628 meters 0.01468834529638406 Centerline is valid? [True, True] Translation: X:175.80, Y:-65.04, Z:-0.31 [[ 8.06179826e-01 5.91670037e-01 8.10211804e-04 1.75801490e+02] [-5.91669712e-01 8.06180233e-01 -6.19947214e-04 -6.50388384e+01] [-1.01998093e-03 2.04111517e-05 9.99999480e-01 -3.14698716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.25762799999998 meters 0.012295107349677056 Centerline is valid? [True, True] Translation: X:175.85, Y:-65.07, Z:-0.32 [[ 8.01656774e-01 5.97784589e-01 3.59906949e-05 1.75852639e+02] [-5.97784589e-01 8.01656775e-01 -2.74340358e-05 -6.50740059e+01] [-4.52518282e-05 4.77997931e-07 9.99999999e-01 -3.16225391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.31762799999998 meters 0.011677829469551971 Centerline is valid? [True, True] Translation: X:175.90, Y:-65.11, Z:-0.32 [[ 7.98525894e-01 6.01959043e-01 -1.30676245e-03 1.75901310e+02] [-6.01958211e-01 7.98526963e-01 1.00120181e-03 -6.51116106e+01] [ 1.64616754e-03 -1.28691859e-05 9.99998645e-01 -3.18057529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.377628 meters 0.011173938278260409 Centerline is valid? [True, True] Translation: X:175.95, Y:-65.15, Z:-0.32 [[ 7.95307300e-01 6.06200476e-01 -2.69849382e-03 1.75949307e+02] [-6.06196948e-01 7.95311878e-01 2.06808694e-03 -6.51512795e+01] [ 3.39981948e-03 -8.94591932e-06 9.99994221e-01 -3.18739322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.437628 meters 0.011260359424398198 Centerline is valid? [True, True] Translation: X:175.99, Y:-65.19, Z:-0.32 [[ 7.94164180e-01 6.07697233e-01 -2.70708057e-03 1.75993514e+02] [-6.07693688e-01 7.94168794e-01 2.07587022e-03 -6.51948396e+01] [ 3.41137950e-03 -3.50599557e-06 9.99994181e-01 -3.18565432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.497628 meters 0.011289624228191197 Centerline is valid? [True, True] Translation: X:176.04, Y:-65.24, Z:-0.32 [[ 7.94332797e-01 6.07477248e-01 -2.60765787e-03 1.76039942e+02] [-6.07473953e-01 7.94337078e-01 2.00085843e-03 -6.52383639e+01] [ 3.28683531e-03 -5.26323740e-06 9.99994598e-01 -3.18881208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.557628 meters 0.011548648308335274 Centerline is valid? [True, True] Translation: X:176.08, Y:-65.29, Z:-0.32 [[ 7.95046615e-01 6.06542619e-01 -2.63261363e-03 1.76082394e+02] [-6.06539252e-01 7.95050974e-01 2.02118592e-03 -6.52862175e+01] [ 3.31899743e-03 -1.01535278e-05 9.99994492e-01 -3.19249658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.617628 meters 0.011596158320645837 Centerline is valid? [True, True] Translation: X:176.13, Y:-65.33, Z:-0.32 [[ 7.95348514e-01 6.06143385e-01 -3.30718979e-03 1.76126249e+02] [-6.06138062e-01 7.95355390e-01 2.54027014e-03 -6.53300442e+01] [ 4.17015917e-03 -1.57864712e-05 9.99991305e-01 -3.19337238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.677628 meters 0.011773987572270599 Centerline is valid? [True, True] Translation: X:176.17, Y:-65.38, Z:-0.32 [[ 7.95060268e-01 6.06516442e-01 -4.12006145e-03 1.76169826e+02] [-6.06508177e-01 7.95070943e-01 3.16640223e-03 -6.53768033e+01] [ 5.19621616e-03 -1.86296399e-05 9.99986499e-01 -3.18557770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.737628 meters 0.01186002528921068 Centerline is valid? [True, True] Translation: X:176.21, Y:-65.42, Z:-0.32 [[ 7.95166635e-01 6.06375979e-01 -4.26549033e-03 1.76214707e+02] [-6.06367109e-01 7.95178076e-01 3.27987347e-03 -6.54206470e+01] [ 5.38066088e-03 -2.15929156e-05 9.99985524e-01 -3.18967275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.797628 meters 0.012230007586679807 Centerline is valid? [True, True] Translation: X:176.26, Y:-65.47, Z:-0.32 [[ 7.97609771e-01 6.03146491e-01 -5.74135081e-03 1.76255888e+02] [-6.03130332e-01 7.97630432e-01 4.41547027e-03 -6.54681105e+01] [ 7.24265153e-03 -5.90394120e-05 9.99973770e-01 -3.19929800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.857628 meters 0.013282099791419495 Centerline is valid? [True, True] Translation: X:176.30, Y:-65.51, Z:-0.32 [[ 8.00872037e-01 5.98801809e-01 -6.35394987e-03 1.76298494e+02] [-5.98781859e-01 8.00897235e-01 4.88928482e-03 -6.55148544e+01] [ 8.01657348e-03 -1.11061587e-04 9.99967861e-01 -3.20922341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.917628 meters 0.015947199374695128 Centerline is valid? [True, True] Translation: X:176.34, Y:-65.57, Z:-0.32 [[ 8.06415912e-01 5.91323231e-01 -5.49672669e-03 1.76335197e+02] [-5.91308116e-01 8.06434629e-01 4.23095553e-03 -6.55667553e+01] [ 6.93461304e-03 -1.61650756e-04 9.99975942e-01 -3.18984489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.97762799999998 meters 0.016297466872389064 Centerline is valid? [True, True] Translation: X:176.38, Y:-65.61, Z:-0.32 [[ 8.05986946e-01 5.91928181e-01 -2.46390392e-03 1.76381674e+02] [-5.91925144e-01 8.05990709e-01 1.89769639e-03 -6.56063136e+01] [ 3.10918364e-03 -7.10718297e-05 9.99995164e-01 -3.15372951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.03762799999998 meters 0.017474392275209402 Centerline is valid? [True, True] Translation: X:176.43, Y:-65.64, Z:-0.32 [[ 8.04479794e-01 5.93974266e-01 -2.61385992e-03 1.76431824e+02] [-5.93970855e-01 8.04484037e-01 2.01418245e-03 -6.56427623e+01] [ 3.29918113e-03 -6.78124705e-05 9.99994555e-01 -3.17267074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.097628 meters 0.017404053987622826 Centerline is valid? [True, True] Translation: X:176.48, Y:-65.68, Z:-0.32 [[ 8.02372440e-01 5.96806498e-01 -4.52449532e-03 1.76481388e+02] [-5.96796316e-01 8.02385190e-01 3.48762817e-03 -6.56789463e+01] [ 5.71182720e-03 -9.81745886e-05 9.99983683e-01 -3.20307366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.157628 meters 0.01696217866005674 Centerline is valid? [True, True] Translation: X:176.53, Y:-65.72, Z:-0.32 [[ 8.02119026e-01 5.97142624e-01 -5.07482991e-03 1.76532217e+02] [-5.97129807e-01 8.02135073e-01 3.91395829e-03 -6.57164321e+01] [ 6.40789038e-03 -1.09128209e-04 9.99979463e-01 -3.21503333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.217628 meters 0.016185308719852055 Centerline is valid? [True, True] Translation: X:176.58, Y:-65.75, Z:-0.32 [[ 8.04590094e-01 5.93804694e-01 -5.54668770e-03 1.76582393e+02] [-5.93789298e-01 8.04609199e-01 4.27858192e-03 -6.57523825e+01] [ 7.00355798e-03 -1.48940839e-04 9.99975464e-01 -3.20667200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.277628 meters 0.017532350962801656 Centerline is valid? [True, True] Translation: X:176.63, Y:-65.79, Z:-0.32 [[ 8.10357772e-01 5.85913050e-01 -5.11660221e-03 1.76628797e+02] [-5.85899778e-01 8.10373899e-01 3.94892412e-03 -6.57934635e+01] [ 6.46008706e-03 -2.02225256e-04 9.99979113e-01 -3.17999529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.337628 meters 0.018850376164673416 Centerline is valid? [True, True] Translation: X:176.68, Y:-65.83, Z:-0.32 [[ 8.14725254e-01 5.79823402e-01 -5.25188253e-03 1.76677792e+02] [-5.79809288e-01 8.14742141e-01 4.05378356e-03 -6.58316955e+01] [ 6.62940859e-03 -2.57629573e-04 9.99977992e-01 -3.17529637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.397628 meters 0.020650465216524076 Centerline is valid? [True, True] Translation: X:176.73, Y:-65.87, Z:-0.32 [[ 8.16206020e-01 5.77730599e-01 -5.92353194e-03 1.76727741e+02] [-5.77712571e-01 8.16227454e-01 4.57471773e-03 -6.58675822e+01] [ 7.47790381e-03 -3.11813283e-04 9.99971991e-01 -3.20135948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.457628 meters 0.020656133083397143 Centerline is valid? [True, True] Translation: X:176.78, Y:-65.90, Z:-0.32 [[ 8.15211358e-01 5.79137950e-01 -5.44763520e-03 1.76775710e+02] [-5.79122719e-01 8.15229513e-01 4.20922849e-03 -6.59047940e+01] [ 6.87879694e-03 -2.76561566e-04 9.99976303e-01 -3.19048904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.517628 meters 0.018148148266105103 Centerline is valid? [True, True] Translation: X:176.83, Y:-65.94, Z:-0.32 [[ 8.12007797e-01 5.83629203e-01 -4.50456311e-03 1.76828504e+02] [-5.83618850e-01 8.12020267e-01 3.48191532e-03 -6.59363166e+01] [ 5.68994401e-03 -1.98394443e-04 9.99983792e-01 -3.17760284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.577628 meters 0.019485734257550173 Centerline is valid? [True, True] Translation: X:176.88, Y:-65.97, Z:-0.32 [[ 8.10464480e-01 5.85775027e-01 -3.86568649e-03 1.76876151e+02] [-5.85767420e-01 8.10473684e-01 2.98954156e-03 -6.59744481e+01] [ 4.88423596e-03 -1.58524041e-04 9.99988059e-01 -3.18009386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.637628 meters 0.016591559181909247 Centerline is valid? [True, True] Translation: X:176.93, Y:-66.01, Z:-0.32 [[ 8.06780825e-01 5.90847875e-01 -1.86778554e-03 1.76928807e+02] [-5.90846111e-01 8.06782985e-01 1.44515372e-03 -6.60061609e+01] [ 2.36076360e-03 -6.23484929e-05 9.99997211e-01 -3.15243776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.697628 meters 0.017179970273481886 Centerline is valid? [True, True] Translation: X:176.98, Y:-66.04, Z:-0.32 [[ 8.05184647e-01 5.93021124e-01 -1.90566190e-03 1.76981555e+02] [-5.93019293e-01 8.05186900e-01 1.47454313e-03 -6.60404636e+01] [ 2.40884922e-03 -5.71852169e-05 9.99997097e-01 -3.17800670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.75762799999998 meters 0.01403783742334625 Centerline is valid? [True, True] Translation: X:177.03, Y:-66.08, Z:-0.32 [[ 8.02707672e-01 5.96368075e-01 -2.34780740e-03 1.77031597e+02] [-5.96365310e-01 8.02711103e-01 1.81700880e-03 -6.60772293e+01] [ 2.96821711e-03 -5.83760173e-05 9.99995593e-01 -3.15321635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.81762799999998 meters 0.013489073385058203 Centerline is valid? [True, True] Translation: X:177.08, Y:-66.11, Z:-0.32 [[ 7.99784299e-01 6.00284343e-01 -1.94502014e-03 1.77081725e+02] [-6.00282454e-01 7.99786663e-01 1.50631194e-03 -6.61126266e+01] [ 2.45981664e-03 -3.71631755e-05 9.99996974e-01 -3.16991949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.877628 meters 0.012960184856312168 Centerline is valid? [True, True] Translation: X:177.13, Y:-66.15, Z:-0.32 [[ 7.97450315e-01 6.03383247e-01 -1.28525112e-03 1.77131158e+02] [-6.03382426e-01 7.97451350e-01 9.96055656e-04 -6.61505610e+01] [ 1.62592853e-03 -1.88069599e-05 9.99998678e-01 -3.15938040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.937628 meters 0.012724387074373442 Centerline is valid? [True, True] Translation: X:177.18, Y:-66.19, Z:-0.32 [[ 7.96348696e-01 6.04836044e-01 -1.45430605e-03 1.77179477e+02] [-6.04834993e-01 7.96350023e-01 1.12757118e-03 -6.61891564e+01] [ 1.84013235e-03 -1.83246438e-05 9.99998307e-01 -3.16198256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.997628 meters 0.012606529541086667 Centerline is valid? [True, True] Translation: X:177.23, Y:-66.23, Z:-0.32 [[ 7.95368409e-01 6.06123082e-01 -1.97581154e-03 1.77226128e+02] [-6.06121145e-01 7.95370862e-01 1.53250193e-03 -6.62295831e+01] [ 2.50038772e-03 -2.13224673e-05 9.99996874e-01 -3.17440543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.057628 meters 0.012549948118783629 Centerline is valid? [True, True] Translation: X:177.27, Y:-66.27, Z:-0.32 [[ 7.94699018e-01 6.06997900e-01 -2.64939412e-03 1.77274328e+02] [-6.06994419e-01 7.94703434e-01 2.05607204e-03 -6.62704957e+01] [ 3.35351402e-03 -2.57909884e-05 9.99994377e-01 -3.17559890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.117628 meters 0.012533275564011145 Centerline is valid? [True, True] Translation: X:177.32, Y:-66.31, Z:-0.32 [[ 7.93680703e-01 6.08329656e-01 -2.44365745e-03 1.77320306e+02] [-6.08326698e-01 7.93684464e-01 1.89722673e-03 -6.63110158e+01] [ 3.09363224e-03 -1.92501731e-05 9.99995215e-01 -3.18766860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.177628 meters 0.012653496615733216 Centerline is valid? [True, True] Translation: X:177.37, Y:-66.35, Z:-0.32 [[ 7.93475190e-01 6.08600081e-01 -1.75058200e-03 1.77366890e+02] [-6.08598562e-01 7.93477121e-01 1.36005805e-03 -6.63526135e+01] [ 2.21677820e-03 -1.37706368e-05 9.99997543e-01 -3.18842321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.237628 meters 0.012937710045142738 Centerline is valid? [True, True] Translation: X:177.41, Y:-66.40, Z:-0.32 [[ 7.93986924e-01 6.07934835e-01 3.42484662e-05 1.77413277e+02] [-6.07934834e-01 7.93986925e-01 -2.60455868e-05 -6.63957380e+01] [-4.30268539e-05 -1.40980258e-07 9.99999999e-01 -3.17269022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.297628 meters 0.012803662372062449 Centerline is valid? [True, True] Translation: X:177.46, Y:-66.43, Z:-0.32 [[ 7.93746863e-01 6.08245815e-01 1.71659015e-03 1.77464174e+02] [-6.08244352e-01 7.93748719e-01 -1.33403051e-03 -6.64333016e+01] [-2.17395971e-03 1.47762733e-05 9.99997637e-01 -3.16654047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.357628 meters 0.013006757216968381 Centerline is valid? [True, True] Translation: X:177.51, Y:-66.47, Z:-0.32 [[ 7.95052464e-01 6.06536313e-01 2.29785903e-03 1.77513704e+02] [-6.06533681e-01 7.95055784e-01 -1.78693981e-03 -6.64714347e+01] [-2.91077000e-03 2.69820052e-05 9.99995763e-01 -3.17263688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.417628 meters 0.01325966626059076 Centerline is valid? [True, True] Translation: X:177.56, Y:-66.51, Z:-0.32 [[ 7.96311997e-01 6.04881959e-01 2.24038043e-03 1.77561988e+02] [-6.04879449e-01 7.96315147e-01 -1.74312387e-03 -6.65101434e+01] [-2.83843306e-03 3.29103694e-05 9.99995971e-01 -3.17335910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.47762799999998 meters 0.014618646318969433 Centerline is valid? [True, True] Translation: X:177.61, Y:-66.55, Z:-0.32 [[ 8.00216615e-01 5.99708973e-01 1.58657608e-03 1.77610087e+02] [-5.99707703e-01 8.00218187e-01 -1.23490564e-03 -6.65488186e+01] [-2.01019103e-03 3.67101188e-05 9.99997979e-01 -3.20282782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.53762799999998 meters 0.01636242976189172 Centerline is valid? [True, True] Translation: X:177.66, Y:-66.59, Z:-0.32 [[ 8.03984756e-01 5.94648347e-01 1.36193344e-03 1.77656990e+02] [-5.94647403e-01 8.03985909e-01 -1.06048791e-03 -6.65882953e+01] [-1.72559268e-03 4.27459344e-05 9.99998510e-01 -3.21560265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.597628 meters 0.01816441967160408 Centerline is valid? [True, True] Translation: X:177.70, Y:-66.63, Z:-0.32 [[ 8.09489112e-01 5.87132558e-01 1.65452378e-03 1.77704657e+02] [-5.87131148e-01 8.09490799e-01 -1.28893279e-03 -6.66269784e+01] [-2.09609618e-03 7.19546155e-05 9.99997801e-01 -3.21706219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.657628 meters 0.018547597817676124 Centerline is valid? [True, True] Translation: X:177.75, Y:-66.66, Z:-0.32 [[ 8.11576209e-01 5.84243508e-01 1.89204336e-03 1.77754040e+02] [-5.84241655e-01 8.11578410e-01 -1.47440530e-03 -6.66639656e+01] [-2.39695327e-03 9.11817255e-05 9.99997123e-01 -3.22535269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.717628 meters 0.019141206588149388 Centerline is valid? [True, True] Translation: X:177.80, Y:-66.70, Z:-0.32 [[ 8.11236995e-01 5.84714892e-01 1.74195544e-03 1.77803591e+02] [-5.84713320e-01 8.11238860e-01 -1.35807038e-03 -6.67008201e+01] [-2.20722593e-03 8.31723836e-05 9.99997561e-01 -3.23800286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.777628 meters 0.019693565686763632 Centerline is valid? [True, True] Translation: X:177.85, Y:-66.74, Z:-0.32 [[ 8.08345591e-01 5.88701167e-01 2.88826815e-03 1.77852799e+02] [-5.88696868e-01 8.08350742e-01 -2.25310549e-03 -6.67364723e+01] [-3.66113953e-03 1.20973470e-04 9.99993291e-01 -3.24455359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.837628 meters 0.01471725915982565 Centerline is valid? [True, True] Translation: X:177.91, Y:-66.76, Z:-0.33 [[ 8.00653471e-01 5.99124415e-01 1.98838408e-03 1.77909293e+02] [-5.99122409e-01 8.00655939e-01 -1.55146407e-03 -6.67634966e+01] [-2.52153153e-03 5.08996307e-05 9.99996820e-01 -3.27248763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.897628 meters 0.013454154321357468 Centerline is valid? [True, True] Translation: X:177.96, Y:-66.80, Z:-0.33 [[ 7.95780595e-01 6.05583970e-01 1.13988859e-03 1.77959698e+02] [-6.05583318e-01 7.95781411e-01 -8.89449362e-04 -6.67979751e+01] [-1.44573842e-03 1.75090313e-05 9.99998955e-01 -3.28375103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.957628 meters 0.01239857197348082 Centerline is valid? [True, True] Translation: X:178.01, Y:-66.83, Z:-0.33 [[ 7.91018558e-01 6.11791045e-01 1.16547412e-03 1.78010310e+02] [-6.11790369e-01 7.91019416e-01 -9.09751109e-04 -6.68343646e+01] [-1.47849024e-03 6.60416954e-06 9.99998907e-01 -3.28023716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.017628 meters 0.01235127304817127 Centerline is valid? [True, True] Translation: X:178.06, Y:-66.87, Z:-0.33 [[ 7.89660833e-01 6.13540329e-01 2.00818792e-03 1.78060198e+02] [-6.13538324e-01 7.89663387e-01 -1.56878539e-03 -6.68731815e+01] [-2.54830558e-03 6.70812967e-06 9.99996753e-01 -3.27991036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.077628 meters 0.012431540261331872 Centerline is valid? [True, True] Translation: X:178.11, Y:-66.92, Z:-0.33 [[ 7.89596860e-01 6.13620416e-01 2.60457434e-03 1.78107676e+02] [-6.13617039e-01 7.89601155e-01 -2.03604961e-03 -6.69153643e+01] [-3.30593651e-03 9.44718935e-06 9.99994535e-01 -3.28282922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.137628 meters 0.01268196189435393 Centerline is valid? [True, True] Translation: X:178.15, Y:-66.96, Z:-0.33 [[ 7.91473754e-01 6.11200630e-01 1.75708157e-03 1.78152395e+02] [-6.11199085e-01 7.91475704e-01 -1.37412488e-03 -6.69592522e+01] [-2.23055336e-03 1.36571261e-05 9.99997512e-01 -3.29575709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.197628 meters 0.012758827352396706 Centerline is valid? [True, True] Translation: X:178.20, Y:-67.00, Z:-0.33 [[ 7.91723232e-01 6.10876566e-01 2.03586372e-03 1.78200650e+02] [-6.10874489e-01 7.91725849e-01 -1.59307396e-03 -6.69991695e+01] [-2.58501748e-03 1.76164482e-05 9.99996659e-01 -3.29445281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.25762799999998 meters 0.012803117000683966 Centerline is valid? [True, True] Translation: X:178.25, Y:-67.04, Z:-0.33 [[ 7.92234981e-01 6.10215394e-01 9.52956796e-04 1.78250718e+02] [-6.10214939e-01 7.92235554e-01 -7.45801482e-04 -6.70371345e+01] [-1.21006580e-03 9.34155011e-06 9.99999268e-01 -3.31353694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.31762799999998 meters 0.013217105421269632 Centerline is valid? [True, True] Translation: X:178.30, Y:-67.08, Z:-0.33 [[ 7.93819264e-01 6.08153697e-01 -2.37782446e-04 1.78298349e+02] [-6.08153668e-01 7.93819300e-01 1.86821755e-04 -6.70759206e+01] [ 3.02372636e-04 -3.69444154e-06 9.99999954e-01 -3.32284828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.377628 meters 0.017404133714197342 Centerline is valid? [True, True] Translation: X:178.34, Y:-67.12, Z:-0.33 [[ 8.02816462e-01 5.96223371e-01 -1.84928120e-03 1.78343507e+02] [-5.96221611e-01 8.02818590e-01 1.45032408e-03 -6.71187314e+01] [ 2.34935444e-03 -6.17626289e-05 9.99997238e-01 -3.34923555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.437628 meters 0.017424913927579798 Centerline is valid? [True, True] Translation: X:178.39, Y:-67.16, Z:-0.33 [[ 8.05522247e-01 5.92563473e-01 -1.56204221e-03 1.78391650e+02] [-5.92562210e-01 8.05523760e-01 1.22495030e-03 -6.71575312e+01] [ 1.98412292e-03 -6.11175357e-05 9.99998030e-01 -3.34345925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.497628 meters 0.01878375457730264 Centerline is valid? [True, True] Translation: X:178.44, Y:-67.20, Z:-0.34 [[ 8.08515779e-01 5.88471784e-01 -1.78740416e-03 1.78439490e+02] [-5.88470118e-01 8.08517750e-01 1.40264419e-03 -6.71963604e+01] [ 2.27056452e-03 -8.22260189e-05 9.99997419e-01 -3.35155984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.557628 meters 0.02319033638409251 Centerline is valid? [True, True] Translation: X:178.48, Y:-67.24, Z:-0.33 [[ 8.15935551e-01 5.78139611e-01 -1.94078636e-03 1.78484565e+02] [-5.78137616e-01 8.15937850e-01 1.52367911e-03 -6.72382057e+01] [ 2.46446030e-03 -1.21182356e-04 9.99996956e-01 -3.34850950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.617628 meters 0.024036587270508242 Centerline is valid? [True, True] Translation: X:178.53, Y:-67.28, Z:-0.33 [[ 8.18050774e-01 5.75143807e-01 -1.59128622e-03 1.78533988e+02] [-5.75142459e-01 8.18052315e-01 1.24994302e-03 -6.72751542e+01] [ 2.02065237e-03 -1.07300589e-04 9.99997953e-01 -3.34962548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.677628 meters 0.023468815602950232 Centerline is valid? [True, True] Translation: X:178.59, Y:-67.31, Z:-0.33 [[ 8.15622665e-01 5.78584140e-01 -2.48997427e-04 1.78585112e+02] [-5.78584107e-01 8.15622703e-01 1.95822284e-04 -6.73073341e+01] [ 3.16387622e-04 -1.56511392e-05 9.99999950e-01 -3.33591506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.737628 meters 0.02038011664699076 Centerline is valid? [True, True] Translation: X:178.64, Y:-67.34, Z:-0.33 [[ 8.10889774e-01 5.85198728e-01 4.72410350e-04 1.78639047e+02] [-5.85198611e-01 8.10889911e-01 -3.70938183e-04 -6.73382165e+01] [-6.00145340e-04 2.43360987e-05 9.99999820e-01 -3.32972167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.797628 meters 0.014870481388280163 Centerline is valid? [True, True] Translation: X:178.70, Y:-67.36, Z:-0.33 [[ 7.97991815e-01 6.02667330e-01 1.07353415e-03 1.78696855e+02] [-6.02666741e-01 7.97992537e-01 -8.43234849e-04 -6.73624183e+01] [-1.36486233e-03 2.59111824e-05 9.99999068e-01 -3.33357484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.857628 meters 0.013237240091549892 Centerline is valid? [True, True] Translation: X:178.75, Y:-67.40, Z:-0.33 [[ 7.94637540e-01 6.07083098e-01 1.13634591e-03 1.78748564e+02] [-6.07082442e-01 7.94638352e-01 -8.92678978e-04 -6.73961859e+01] [-1.44491436e-03 1.95005785e-05 9.99998956e-01 -3.33281649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.917628 meters 0.011813001679930935 Centerline is valid? [True, True] Translation: X:178.80, Y:-67.43, Z:-0.33 [[ 7.85872998e-01 6.18386102e-01 1.50346448e-03 1.78803977e+02] [-6.18384973e-01 7.85874436e-01 -1.18168778e-03 -6.74254696e+01] [-1.91227360e-03 -1.06332912e-06 9.99998172e-01 -3.34174470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.97762799999998 meters 0.012241613721204048 Centerline is valid? [True, True] Translation: X:178.85, Y:-67.46, Z:-0.34 [[ 7.81565359e-01 6.23821853e-01 1.37335133e-03 1.78853902e+02] [-6.23820918e-01 7.81566565e-01 -1.07958757e-03 -6.74609944e+01] [-1.74683580e-03 -1.29570426e-05 9.99998474e-01 -3.35121349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.03762799999998 meters 0.012238619640155397 Centerline is valid? [True, True] Translation: X:178.90, Y:-67.50, Z:-0.34 [[ 7.81731832e-01 6.23613681e-01 1.14908012e-03 1.78901609e+02] [-6.23613026e-01 7.81732676e-01 -9.03624191e-04 -6.75022325e+01] [-1.46178589e-03 -1.01895389e-05 9.99998932e-01 -3.35032004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.097628 meters 0.011970859431855723 Centerline is valid? [True, True] Translation: X:178.95, Y:-67.55, Z:-0.34 [[ 7.84550056e-01 6.20065271e-01 5.18962442e-04 1.78945257e+02] [-6.20065137e-01 7.84550228e-01 -4.08056541e-04 -6.75467079e+01] [-6.60173792e-04 -1.64973536e-06 9.99999782e-01 -3.35436375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.157628 meters 0.0119665747529497 Centerline is valid? [True, True] Translation: X:178.99, Y:-67.59, Z:-0.34 [[ 7.87089533e-01 6.16837892e-01 -1.04018694e-03 1.78991167e+02] [-6.16837347e-01 7.87090220e-01 8.20027771e-04 -6.75907641e+01] [ 1.32454517e-03 -3.80912474e-06 9.99999123e-01 -3.36618451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.217628 meters 0.012599714150993596 Centerline is valid? [True, True] Translation: X:179.03, Y:-67.64, Z:-0.34 [[ 7.91364644e-01 6.11344414e-01 -9.04556999e-05 1.79033534e+02] [-6.11344410e-01 7.91364649e-01 7.18232622e-05 -6.76376110e+01] [ 1.15492193e-04 -1.53880379e-06 9.99999993e-01 -3.36472245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.277628 meters 0.013830951030465917 Centerline is valid? [True, True] Translation: X:179.08, Y:-67.68, Z:-0.34 [[ 7.94988977e-01 6.06623863e-01 1.22922933e-04 1.79076102e+02] [-6.06623856e-01 7.94988986e-01 -9.64474179e-05 -6.76821912e+01] [-1.56229683e-04 2.10665059e-06 9.99999988e-01 -3.36293831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.337628 meters 0.01502689589300365 Centerline is valid? [True, True] Translation: X:179.12, Y:-67.73, Z:-0.34 [[ 7.99732813e-01 6.00355398e-01 -9.08165229e-04 1.79120544e+02] [-6.00354971e-01 7.99733328e-01 7.16383055e-04 -6.77259679e+01] [ 1.15637443e-03 -2.76935255e-05 9.99999331e-01 -3.36603858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.397628 meters 0.015467820857271037 Centerline is valid? [True, True] Translation: X:179.17, Y:-67.76, Z:-0.34 [[ 8.00304490e-01 5.99592483e-01 -1.25582542e-03 1.79169371e+02] [-5.99591665e-01 8.00305474e-01 9.91457669e-04 -6.77649565e+01] [ 1.59951452e-03 -4.04855714e-05 9.99998720e-01 -3.37565453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.457628 meters 0.017485269353252533 Centerline is valid? [True, True] Translation: X:179.21, Y:-67.81, Z:-0.34 [[ 8.03440232e-01 5.95377481e-01 -3.07378409e-03 1.79214890e+02] [-5.95372549e-01 8.03446103e-01 2.42623500e-03 -6.78051764e+01] [ 3.91414554e-03 -1.19288139e-04 9.99992333e-01 -3.38863989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.517628 meters 0.019263529214812142 Centerline is valid? [True, True] Translation: X:179.26, Y:-67.84, Z:-0.34 [[ 8.06952579e-01 5.90601971e-01 -4.10452477e-03 1.79262569e+02] [-5.90593114e-01 8.06962995e-01 3.24005781e-03 -6.78447299e+01] [ 5.22578413e-03 -1.90468942e-04 9.99986327e-01 -3.40161663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.577628 meters 0.021733307809051985 Centerline is valid? [True, True] Translation: X:179.31, Y:-67.88, Z:-0.34 [[ 8.12763973e-01 5.82582077e-01 -3.58428461e-03 1.79311934e+02] [-5.82575238e-01 8.12771849e-01 2.83101642e-03 -6.78816426e+01] [ 4.56250505e-03 -2.12832691e-04 9.99989569e-01 -3.40382591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.637628 meters 0.02262133736276659 Centerline is valid? [True, True] Translation: X:179.36, Y:-67.92, Z:-0.34 [[ 8.15947356e-01 5.78120811e-01 -2.49796685e-03 1.79361408e+02] [-5.78117465e-01 8.15951163e-01 1.97409704e-03 -6.79182986e+01] [ 3.17948554e-03 -1.66641004e-04 9.99994932e-01 -3.39008266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.697628 meters 0.024442562805998064 Centerline is valid? [True, True] Translation: X:179.41, Y:-67.95, Z:-0.34 [[ 8.17432782e-01 5.76022089e-01 -1.48294694e-03 1.79411199e+02] [-5.76020905e-01 8.17434121e-01 1.17266483e-03 -6.79543475e+01] [ 1.88769227e-03 -1.04366230e-04 9.99998213e-01 -3.38070492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.75762799999998 meters 0.023461744319202376 Centerline is valid? [True, True] Translation: X:179.46, Y:-67.99, Z:-0.34 [[ 8.15126837e-01 5.79282512e-01 -1.02151925e-04 1.79463197e+02] [-5.79282506e-01 8.15126844e-01 8.11790986e-05 -6.79870339e+01] [ 1.30292408e-04 -6.99643910e-06 9.99999991e-01 -3.37160184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.81762799999998 meters 0.01963366416959454 Centerline is valid? [True, True] Translation: X:179.52, Y:-68.01, Z:-0.34 [[ 8.07882659e-01 5.89340583e-01 1.81297342e-03 1.79520760e+02] [-5.89338846e-01 8.07884688e-01 -1.43379411e-03 -6.80129852e+01] [-2.30966652e-03 8.98817306e-05 9.99997329e-01 -3.36351078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.877628 meters 0.017548057224818607 Centerline is valid? [True, True] Translation: X:179.57, Y:-68.04, Z:-0.34 [[ 8.02785922e-01 5.96265453e-01 1.50763246e-03 1.79574766e+02] [-5.96264263e-01 8.02787336e-01 -1.19271986e-03 -6.80441777e+01] [-1.92148589e-03 5.85513567e-05 9.99998152e-01 -3.37926273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.937628 meters 0.014762358043885263 Centerline is valid? [True, True] Translation: X:179.63, Y:-68.07, Z:-0.34 [[ 7.96609944e-01 6.04491324e-01 1.68407003e-03 1.79630055e+02] [-6.04489856e-01 7.96611723e-01 -1.33259109e-03 -6.80735700e+01] [-2.14708968e-03 4.35520655e-05 9.99997694e-01 -3.38726745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.997628 meters 0.014046326114432336 Centerline is valid? [True, True] Translation: X:179.68, Y:-68.11, Z:-0.34 [[ 7.94568123e-01 6.07172849e-01 1.62154145e-03 1.79681304e+02] [-6.07171493e-01 7.94569777e-01 -1.28367694e-03 -6.81088354e+01] [-2.06784162e-03 3.54150295e-05 9.99997861e-01 -3.39253427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.057628 meters 0.014460344177948815 Centerline is valid? [True, True] Translation: X:179.73, Y:-68.15, Z:-0.34 [[ 7.96942871e-01 6.04052813e-01 1.50320501e-03 1.79730398e+02] [-6.04051642e-01 7.96944287e-01 -1.19055665e-03 -6.81462176e+01] [-1.91712974e-03 4.07921777e-05 9.99998161e-01 -3.41214967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.117628 meters 0.01705352582705286 Centerline is valid? [True, True] Translation: X:179.77, Y:-68.19, Z:-0.34 [[ 8.03809601e-01 5.94885364e-01 1.23619532e-03 1.79773778e+02] [-5.94884560e-01 8.03810550e-01 -9.79465678e-04 -6.81909737e+01] [-1.57633663e-03 5.19104096e-05 9.99998756e-01 -3.41518474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.177628 meters 0.022588034879344507 Centerline is valid? [True, True] Translation: X:179.81, Y:-68.24, Z:-0.34 [[ 8.07817133e-01 5.89431648e-01 1.34640397e-03 1.79814655e+02] [-5.89430685e-01 8.07818252e-01 -1.06732626e-03 -6.82361404e+01] [-1.71676558e-03 6.85926264e-05 9.99998524e-01 -3.41456616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.237628 meters 0.02067319166023797 Centerline is valid? [True, True] Translation: X:179.86, Y:-68.27, Z:-0.34 [[ 8.10636564e-01 5.85547122e-01 1.71142536e-03 1.79864153e+02] [-5.85545558e-01 8.10638364e-01 -1.35712623e-03 -6.82731108e+01] [-2.18200841e-03 9.80186258e-05 9.99997615e-01 -3.40746049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.297628 meters 0.020277369116815425 Centerline is valid? [True, True] Translation: X:179.91, Y:-68.31, Z:-0.34 [[ 8.10798938e-01 5.85323029e-01 1.42652157e-03 1.79913744e+02] [-5.85321941e-01 8.10800188e-01 -1.13165159e-03 -6.83103778e+01] [-1.81900569e-03 8.25675387e-05 9.99998342e-01 -3.40961956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.357628 meters 0.022367333845631998 Centerline is valid? [True, True] Translation: X:179.96, Y:-68.35, Z:-0.34 [[ 8.09866960e-01 5.86613272e-01 6.14047735e-04 1.79960400e+02] [-5.86613071e-01 8.09867192e-01 -4.87091624e-04 -6.83494331e+01] [-7.83031525e-04 3.42709854e-05 9.99999693e-01 -3.41743826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.417628 meters 0.02140613460292668 Centerline is valid? [True, True] Translation: X:180.01, Y:-68.38, Z:-0.34 [[ 8.07929391e-01 5.89279167e-01 -4.03473686e-04 1.80011081e+02] [-5.89279080e-01 8.07929491e-01 3.20590064e-04 -6.83842451e+01] [ 5.14895335e-04 -2.12555329e-05 9.99999867e-01 -3.43139373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.47762799999998 meters 0.018416048804196037 Centerline is valid? [True, True] Translation: X:180.06, Y:-68.42, Z:-0.34 [[ 8.04836169e-01 5.93496026e-01 -1.09879386e-03 1.80063475e+02] [-5.93495386e-01 8.04836918e-01 8.73046879e-04 -6.84163075e+01] [ 1.40249971e-03 -5.05306226e-05 9.99999015e-01 -3.43946194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.53762799999998 meters 0.01690811282409252 Centerline is valid? [True, True] Translation: X:180.11, Y:-68.45, Z:-0.35 [[ 7.99648729e-01 6.00465625e-01 -1.71563392e-03 1.80113584e+02] [-6.00464081e-01 7.99650567e-01 1.36316527e-03 -6.84495304e+01] [ 2.19044152e-03 -5.98768333e-05 9.99997599e-01 -3.45069891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.597628 meters 0.015541367726785393 Centerline is valid? [True, True] Translation: X:180.16, Y:-68.49, Z:-0.35 [[ 7.96882007e-01 6.04128963e-01 -2.69495910e-03 1.80163645e+02] [-6.04125173e-01 7.96886560e-01 2.14138608e-03 -6.84856440e+01] [ 3.44125004e-03 -7.83394068e-05 9.99994076e-01 -3.46097620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.657628 meters 0.014778344151049724 Centerline is valid? [True, True] Translation: X:180.21, Y:-68.52, Z:-0.35 [[ 7.93893792e-01 6.08050277e-01 -2.74010526e-03 1.80210660e+02] [-6.08046382e-01 7.93898518e-01 2.17725991e-03 -6.85231531e+01] [ 3.49924900e-03 -6.24020341e-05 9.99993876e-01 -3.46232563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.717628 meters 0.013137855666923359 Centerline is valid? [True, True] Translation: X:180.26, Y:-68.56, Z:-0.34 [[ 7.89562483e-01 6.13666450e-01 -2.13885699e-03 1.80258682e+02] [-6.13664097e-01 7.89565379e-01 1.69957986e-03 -6.85597908e+01] [ 2.73174257e-03 -2.93847542e-05 9.99996268e-01 -3.44189826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.777628 meters 0.01213210885754796 Centerline is valid? [True, True] Translation: X:180.31, Y:-68.60, Z:-0.34 [[ 7.85704518e-01 6.18599519e-01 -1.74519515e-03 1.80308627e+02] [-6.18597962e-01 7.85706456e-01 1.38788260e-03 -6.85967021e+01] [ 2.22975460e-03 -1.08914610e-05 9.99997514e-01 -3.43021415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.837628 meters 0.011883647837551923 Centerline is valid? [True, True] Translation: X:180.36, Y:-68.63, Z:-0.34 [[ 7.80521418e-01 6.25128787e-01 -5.62655787e-04 1.80358282e+02] [-6.25128626e-01 7.80521620e-01 4.48068192e-04 -6.86337429e+01] [ 7.19265332e-04 2.00541840e-06 9.99999741e-01 -3.41692050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.897628 meters 0.012069410689074666 Centerline is valid? [True, True] Translation: X:180.41, Y:-68.67, Z:-0.34 [[ 7.78631281e-01 6.27481720e-01 -1.37306019e-04 1.80405752e+02] [-6.27481710e-01 7.78631293e-01 1.09839741e-04 -6.86737544e+01] [ 1.75833193e-04 6.32357351e-07 9.99999985e-01 -3.40705482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.957628 meters 0.011881517131312073 Centerline is valid? [True, True] Translation: X:180.45, Y:-68.72, Z:-0.34 [[ 7.78730572e-01 6.27358505e-01 5.66033175e-05 1.80450840e+02] [-6.27358503e-01 7.78730574e-01 -4.44592795e-05 -6.87176283e+01] [-7.19706410e-05 -8.88772395e-07 9.99999997e-01 -3.40316839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.017628 meters 0.011813197327779865 Centerline is valid? [True, True] Translation: X:180.49, Y:-68.76, Z:-0.34 [[ 7.80377898e-01 6.25307421e-01 -9.82626713e-04 1.80494157e+02] [-6.25306930e-01 7.80378517e-01 7.83319250e-04 -6.87612295e+01] [ 1.25663612e-03 3.15826340e-06 9.99999210e-01 -3.41341604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.077628 meters 0.012124091095282907 Centerline is valid? [True, True] Translation: X:180.53, Y:-68.81, Z:-0.34 [[ 7.85235603e-01 6.19188767e-01 -3.21221159e-03 1.80532964e+02] [-6.19183472e-01 7.85242173e-01 2.56090255e-03 -6.88115162e+01] [ 4.10804610e-03 -2.19635323e-05 9.99991562e-01 -3.42887579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.137628 meters 0.013052606110302829 Centerline is valid? [True, True] Translation: X:180.57, Y:-68.86, Z:-0.34 [[ 7.89127302e-01 6.14211426e-01 -4.73559702e-03 1.80574582e+02] [-6.14199818e-01 7.89141507e-01 3.77689032e-03 -6.88580583e+01] [ 6.05686536e-03 -7.18444375e-05 9.99981654e-01 -3.44202088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.197628 meters 0.017694700672934962 Centerline is valid? [True, True] Translation: X:180.61, Y:-68.91, Z:-0.35 [[ 7.95551046e-01 6.05853773e-01 -6.30390833e-03 1.80613552e+02] [-6.05832921e-01 7.95576001e-01 5.02981552e-03 -6.89082875e+01] [ 8.06257089e-03 -1.82359801e-04 9.99967480e-01 -3.46691532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.25762799999998 meters 0.01560295797191256 Centerline is valid? [True, True] Translation: X:180.66, Y:-68.95, Z:-0.34 [[ 7.96087407e-01 6.05166741e-01 -4.24920841e-03 1.80661817e+02] [-6.05157245e-01 7.96098737e-01 3.39262455e-03 -6.89479682e+01] [ 5.43589299e-03 -1.29386425e-04 9.99985217e-01 -3.42897380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.31762799999998 meters 0.015716843837489218 Centerline is valid? [True, True] Translation: X:180.71, Y:-68.99, Z:-0.34 [[ 7.96700036e-01 6.04363741e-01 -3.67719113e-03 1.80709876e+02] [-6.04356614e-01 7.96708513e-01 2.93742157e-03 -6.89873673e+01] [ 4.70492057e-03 -1.17909092e-04 9.99988925e-01 -3.41708722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.377628 meters 0.01776099544245597 Centerline is valid? [True, True] Translation: X:180.76, Y:-69.03, Z:-0.34 [[ 7.98264694e-01 6.02287790e-01 -4.78497445e-03 1.80755092e+02] [-6.02275679e-01 7.98279017e-01 3.82329499e-03 -6.90278891e+01] [ 6.12246859e-03 -1.70127665e-04 9.99981243e-01 -3.42427902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.437628 meters 0.02022310053740843 Centerline is valid? [True, True] Translation: X:180.81, Y:-69.06, Z:-0.35 [[ 8.00200803e-01 5.99693169e-01 -6.83949907e-03 1.80805572e+02] [-5.99668326e-01 8.00229985e-01 5.46527820e-03 -6.90639279e+01] [ 8.75066224e-03 -2.71889044e-04 9.99961675e-01 -3.48642826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.497628 meters 0.01974392395198956 Centerline is valid? [True, True] Translation: X:180.85, Y:-69.10, Z:-0.35 [[ 8.01140982e-01 5.98435932e-01 -6.89647853e-03 1.80854644e+02] [-5.98410600e-01 8.01170613e-01 5.51390157e-03 -6.91018698e+01] [ 8.82497276e-03 -2.90486665e-04 9.99961017e-01 -3.48100650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.557628 meters 0.018206620892533408 Centerline is valid? [True, True] Translation: X:180.91, Y:-69.14, Z:-0.34 [[ 8.01447306e-01 5.98031223e-01 -6.39308787e-03 1.80905072e+02] [-5.98009420e-01 8.01472757e-01 5.11404887e-03 -6.91389008e+01] [ 8.18224666e-03 -2.75513925e-04 9.99966487e-01 -3.44599104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.617628 meters 0.017942827987398907 Centerline is valid? [True, True] Translation: X:180.95, Y:-69.18, Z:-0.34 [[ 8.00305666e-01 5.99560030e-01 -6.21373707e-03 1.80954352e+02] [-5.99539459e-01 8.00329748e-01 4.97307804e-03 -6.91769847e+01] [ 7.95469744e-03 -2.54601970e-04 9.99968328e-01 -3.43718530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.677628 meters 0.01592202504052442 Centerline is valid? [True, True] Translation: X:181.01, Y:-69.21, Z:-0.35 [[ 7.97229752e-01 6.03643079e-01 -6.30524349e-03 1.81006196e+02] [-6.03622010e-01 7.97254656e-01 5.04812570e-03 -6.92104601e+01] [ 8.07415087e-03 -2.18532256e-04 9.99967380e-01 -3.45833433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.737628 meters 0.015351660495557532 Centerline is valid? [True, True] Translation: X:181.06, Y:-69.25, Z:-0.35 [[ 7.94946567e-01 6.06645528e-01 -6.41547597e-03 1.81056291e+02] [-6.06623791e-01 7.94972431e-01 5.13907232e-03 -6.92473104e+01] [ 8.21772177e-03 -1.93507544e-04 9.99966215e-01 -3.48822039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.797628 meters 0.016519358004926224 Centerline is valid? [True, True] Translation: X:181.10, Y:-69.29, Z:-0.35 [[ 7.94190225e-01 6.07633539e-01 -6.58553504e-03 1.81103040e+02] [-6.07610648e-01 7.94217506e-01 5.27766884e-03 -6.92863386e+01] [ 8.43723581e-03 -1.90031789e-04 9.99964388e-01 -3.50571453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.857628 meters 0.014172977556267456 Centerline is valid? [True, True] Translation: X:181.15, Y:-69.32, Z:-0.35 [[ 7.91967466e-01 6.10533129e-01 -6.06886900e-03 1.81151264e+02] [-6.10513755e-01 7.91990705e-01 4.86614382e-03 -6.93248909e+01] [ 7.77742985e-03 -1.48699591e-04 9.99969744e-01 -3.47659855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.917628 meters 0.01534212257698437 Centerline is valid? [True, True] Translation: X:181.20, Y:-69.36, Z:-0.35 [[ 7.87060646e-01 6.16851334e-01 -5.47466455e-03 1.81200832e+02] [-6.16835718e-01 7.87079682e-01 4.38996407e-03 -6.93603553e+01] [ 7.01695242e-03 -7.81993208e-05 9.99975378e-01 -3.50974812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.97762799999998 meters 0.011532806302172138 Centerline is valid? [True, True] Translation: X:181.25, Y:-69.40, Z:-0.35 [[ 7.81768650e-01 6.23549528e-01 -4.87479913e-03 1.81252239e+02] [-6.23537261e-01 7.81783848e-01 3.91130469e-03 -6.93954412e+01] [ 6.24993142e-03 -1.81164850e-05 9.99980469e-01 -3.50173369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.03762799999998 meters 0.01143163409657684 Centerline is valid? [True, True] Translation: X:181.30, Y:-69.43, Z:-0.35 [[ 7.79054631e-01 6.26930992e-01 -5.60469231e-03 1.81301725e+02] [-6.26914845e-01 7.79074792e-01 4.49957866e-03 -6.94348919e+01] [ 7.18739981e-03 8.24722158e-06 9.99974170e-01 -3.51218761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.097628 meters 0.011623492960577323 Centerline is valid? [True, True] Translation: X:181.35, Y:-69.48, Z:-0.35 [[ 7.77107866e-01 6.29338512e-01 -6.03336907e-03 1.81347829e+02] [-6.29319854e-01 7.77131287e-01 4.84606110e-03 -6.94769521e+01] [ 7.73853275e-03 3.10067420e-05 9.99970057e-01 -3.50941157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.157628 meters 0.011816824482866925 Centerline is valid? [True, True] Translation: X:181.40, Y:-69.52, Z:-0.35 [[ 7.75314152e-01 6.31551238e-01 -5.56763080e-03 1.81396478e+02] [-6.31535388e-01 7.75334142e-01 4.47467174e-03 -6.95160890e+01] [ 7.14275872e-03 4.68795498e-05 9.99974489e-01 -3.50990769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.217628 meters 0.012328154344938865 Centerline is valid? [True, True] Translation: X:181.45, Y:-69.55, Z:-0.35 [[ 7.72640346e-01 6.34812355e-01 -6.33789136e-03 1.81446925e+02] [-6.34791905e-01 7.72666335e-01 5.09616035e-03 -6.95529451e+01] [ 8.13218085e-03 8.57430347e-05 9.99966930e-01 -3.52045324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.277628 meters 0.012488472263754703 Centerline is valid? [True, True] Translation: X:181.50, Y:-69.59, Z:-0.35 [[ 7.72159763e-01 6.35389214e-01 -7.06032213e-03 1.81495882e+02] [-6.35363835e-01 7.72192034e-01 5.67983899e-03 -6.95910358e+01] [ 9.06083294e-03 1.00130220e-04 9.99958945e-01 -3.53275652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.337628 meters 0.012631532868792855 Centerline is valid? [True, True] Translation: X:181.55, Y:-69.63, Z:-0.35 [[ 7.72673625e-01 6.34758107e-01 -7.59049517e-03 1.81545313e+02] [-6.34728723e-01 7.72710901e-01 6.10831368e-03 -6.96289938e+01] [ 9.74255998e-03 9.81724401e-05 9.99952535e-01 -3.54525259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.397628 meters 0.01188589883486197 Centerline is valid? [True, True] Translation: X:181.59, Y:-69.67, Z:-0.35 [[ 7.74193242e-01 6.32916322e-01 -6.46162862e-03 1.81592370e+02] [-6.32894941e-01 7.74220205e-01 5.20274918e-03 -6.96699512e+01] [ 8.29562831e-03 6.15988064e-05 9.99965589e-01 -3.51994887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.457628 meters 0.01517461255269548 Centerline is valid? [True, True] Translation: X:181.64, Y:-69.71, Z:-0.35 [[ 7.78567823e-01 6.27543915e-01 -4.55849446e-03 1.81637912e+02] [-6.27533169e-01 7.78581168e-01 3.67238541e-03 -6.97129375e+01] [ 5.85374106e-03 1.40536644e-06 9.99982867e-01 -3.52263175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.517628 meters 0.011839600758165375 Centerline is valid? [True, True] Translation: X:181.68, Y:-69.76, Z:-0.35 [[ 7.81465941e-01 6.23937867e-01 -3.53854299e-03 1.81683391e+02] [-6.23931346e-01 7.81473952e-01 2.85253375e-03 -6.97565798e+01] [ 4.54508300e-03 -2.13500797e-05 9.99989671e-01 -3.47746729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.577628 meters 0.01221857071149989 Centerline is valid? [True, True] Translation: X:181.73, Y:-69.80, Z:-0.35 [[ 7.83346967e-01 6.21581450e-01 -2.00781423e-03 1.81731398e+02] [-6.21579340e-01 7.83349539e-01 1.61975581e-03 -6.97966793e+01] [ 2.57963052e-03 -2.08149588e-05 9.99996673e-01 -3.46607857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.637628 meters 0.01293273744994182 Centerline is valid? [True, True] Translation: X:181.78, Y:-69.84, Z:-0.35 [[ 7.85496472e-01 6.18862190e-01 -2.20971997e-03 1.81779016e+02] [-6.18859621e-01 7.85499579e-01 1.78337512e-03 -6.98363768e+01] [ 2.83939753e-03 -3.33284007e-05 9.99995968e-01 -3.47451507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.697628 meters 0.015709321585392517 Centerline is valid? [True, True] Translation: X:181.83, Y:-69.88, Z:-0.35 [[ 7.87235426e-01 6.16646525e-01 -2.72886813e-03 1.81826825e+02] [-6.16642591e-01 7.87240154e-01 2.20336365e-03 -6.98756275e+01] [ 3.50697110e-03 -5.18296101e-05 9.99993849e-01 -3.50627105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.75762799999998 meters 0.01619666165564428 Centerline is valid? [True, True] Translation: X:181.88, Y:-69.91, Z:-0.35 [[ 7.88854097e-01 6.14575017e-01 -2.60048060e-03 1.81875563e+02] [-6.14571429e-01 7.88858381e-01 2.10079387e-03 -6.99140758e+01] [ 3.34250635e-03 -5.90387753e-05 9.99994412e-01 -3.51310239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.81762799999998 meters 0.017323980709431124 Centerline is valid? [True, True] Translation: X:181.92, Y:-69.95, Z:-0.35 [[ 7.89367102e-01 6.13910746e-01 -3.62960561e-03 1.81924695e+02] [-6.13903744e-01 7.89375442e-01 2.93328176e-03 -6.99512014e+01] [ 4.66589473e-03 -8.72076479e-05 9.99989111e-01 -3.53541615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.877628 meters 0.014410100775789756 Centerline is valid? [True, True] Translation: X:181.97, Y:-69.99, Z:-0.35 [[ 7.88764456e-01 6.14690849e-01 -2.40674531e-03 1.81972695e+02] [-6.14687771e-01 7.88768126e-01 1.94617865e-03 -6.99899324e+01] [ 3.09466219e-03 -5.56796344e-05 9.99995210e-01 -3.48801772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.937628 meters 0.013956060309184611 Centerline is valid? [True, True] Translation: X:182.02, Y:-70.03, Z:-0.35 [[ 7.87775771e-01 6.15961346e-01 -9.77246642e-04 1.82022831e+02] [-6.15960839e-01 7.87776377e-01 7.90946248e-04 -7.00262049e+01] [ 1.25704413e-03 -2.11426294e-05 9.99999210e-01 -3.47465765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.997628 meters 0.013417420267934825 Centerline is valid? [True, True] Translation: X:182.07, Y:-70.06, Z:-0.35 [[ 7.85792035e-01 6.18490582e-01 -5.26603517e-04 1.82072943e+02] [-6.18490435e-01 7.85792212e-01 4.26665548e-04 -7.00627681e+01] [ 6.77689566e-04 -9.57115130e-06 9.99999770e-01 -3.48061038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.057628 meters 0.012900881540180252 Centerline is valid? [True, True] Translation: X:182.12, Y:-70.10, Z:-0.35 [[ 7.84203430e-01 6.20503795e-01 1.41107978e-04 1.82122918e+02] [-6.20503785e-01 7.84203443e-01 -1.14020389e-04 -7.01005669e+01] [-1.81407446e-04 1.85714553e-06 9.99999984e-01 -3.48255867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.117628 meters 0.012588801991284648 Centerline is valid? [True, True] Translation: X:182.17, Y:-70.14, Z:-0.35 [[ 7.82366814e-01 6.22817720e-01 -5.05940422e-04 1.82171500e+02] [-6.22817585e-01 7.82366978e-01 4.10220854e-04 -7.01385346e+01] [ 6.51323896e-04 -5.83459069e-06 9.99999788e-01 -3.48742763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.177628 meters 0.012156473358573052 Centerline is valid? [True, True] Translation: X:182.22, Y:-70.18, Z:-0.35 [[ 7.79311685e-01 6.26634355e-01 -1.63769886e-03 1.82221274e+02] [-6.26632950e-01 7.79313406e-01 1.32737975e-03 -7.01752854e+01] [ 2.10806243e-03 -8.20647803e-06 9.99997778e-01 -3.49837793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.237628 meters 0.01204392663594846 Centerline is valid? [True, True] Translation: X:182.27, Y:-70.21, Z:-0.35 [[ 7.77446204e-01 6.28949194e-01 -5.58019344e-04 1.82269134e+02] [-6.28949031e-01 7.77446405e-01 4.52800367e-04 -7.02135891e+01] [ 7.18618559e-04 -1.06220133e-06 9.99999742e-01 -3.49985941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.297628 meters 0.012148563542327918 Centerline is valid? [True, True] Translation: X:182.32, Y:-70.25, Z:-0.35 [[ 7.77498882e-01 6.28884178e-01 -4.24277008e-04 1.82316281e+02] [-6.28884083e-01 7.77498998e-01 3.44704668e-04 -7.02545856e+01] [ 5.46654260e-04 -1.18643708e-06 9.99999851e-01 -3.49601779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.357628 meters 0.012295880207469877 Centerline is valid? [True, True] Translation: X:182.36, Y:-70.30, Z:-0.35 [[ 7.78708839e-01 6.27384182e-01 -1.27744305e-03 1.82361873e+02] [-6.27383325e-01 7.78709887e-01 1.03724518e-03 -7.02977588e+01] [ 1.64550875e-03 -6.26551860e-06 9.99998646e-01 -3.50439722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.417628 meters 0.01247562738098717 Centerline is valid? [True, True] Translation: X:182.41, Y:-70.34, Z:-0.35 [[ 7.79563794e-01 6.26319035e-01 -2.18101752e-03 1.82408119e+02] [-6.26316530e-01 7.79566845e-01 1.77151931e-03 -7.03407947e+01] [ 2.80978521e-03 -1.50049850e-05 9.99996052e-01 -3.50635786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.47762799999998 meters 0.01242837462740306 Centerline is valid? [True, True] Translation: X:182.46, Y:-70.38, Z:-0.35 [[ 7.78461480e-01 6.27688271e-01 -2.27143374e-03 1.82456893e+02] [-6.27685557e-01 7.78464793e-01 1.84598522e-03 -7.03798893e+01] [ 2.92693447e-03 -1.12822322e-05 9.99995716e-01 -3.51355782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.53762799999998 meters 0.012412868266783133 Centerline is valid? [True, True] Translation: X:182.51, Y:-70.42, Z:-0.35 [[ 7.77367657e-01 6.29039970e-01 -2.87104625e-03 1.82505463e+02] [-6.29035641e-01 7.77372958e-01 2.33372774e-03 -7.04182414e+01] [ 3.69988175e-03 -8.17404549e-06 9.99993155e-01 -3.52036418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.597628 meters 0.01245607990296324 Centerline is valid? [True, True] Translation: X:182.56, Y:-70.46, Z:-0.35 [[ 7.77055578e-01 6.29423332e-01 -3.30106709e-03 1.82555462e+02] [-6.29417606e-01 7.77062590e-01 2.68494952e-03 -7.04560933e+01] [ 4.25510561e-03 -8.60525547e-06 9.99990947e-01 -3.53125691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.657628 meters 0.012873690148271779 Centerline is valid? [True, True] Translation: X:182.60, Y:-70.50, Z:-0.35 [[ 7.79735284e-01 6.26096225e-01 -4.05017321e-03 1.82601647e+02] [-6.26087557e-01 7.79745802e-01 3.29466090e-03 -7.04958527e+01] [ 5.22088031e-03 -3.32003051e-05 9.99986371e-01 -3.54352340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.717628 meters 0.013493928973657797 Centerline is valid? [True, True] Translation: X:182.65, Y:-70.54, Z:-0.35 [[ 7.83318133e-01 6.21608297e-01 -3.97826197e-03 1.82647550e+02] [-6.21599867e-01 7.83328233e-01 3.23805288e-03 -7.05375406e+01] [ 5.12908545e-03 -6.35384300e-05 9.99986844e-01 -3.54349506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.777628 meters 0.01737825417498372 Centerline is valid? [True, True] Translation: X:182.69, Y:-70.58, Z:-0.35 [[ 7.89363451e-01 6.13911231e-01 -4.28281413e-03 1.82691094e+02] [-6.13901338e-01 7.89375060e-01 3.48744376e-03 -7.05811971e+01] [ 5.52172755e-03 -1.23635312e-04 9.99984747e-01 -3.54982582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.837628 meters 0.018504286418219395 Centerline is valid? [True, True] Translation: X:182.74, Y:-70.62, Z:-0.35 [[ 7.91970778e-01 6.10542239e-01 -4.52346458e-03 1.82737851e+02] [-6.10531137e-01 7.91983681e-01 3.68515293e-03 -7.06214102e+01] [ 5.83245165e-03 -1.56817456e-04 9.99982979e-01 -3.54523144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.897628 meters 0.02034799008988698 Centerline is valid? [True, True] Translation: X:182.78, Y:-70.66, Z:-0.36 [[ 7.94573120e-01 6.07149088e-01 -4.85200884e-03 1.82783748e+02] [-6.07136245e-01 7.94587910e-01 3.95392453e-03 -7.06609037e+01] [ 6.25596924e-03 -1.95851722e-04 9.99980412e-01 -3.55868527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.957628 meters 0.020987501201055737 Centerline is valid? [True, True] Translation: X:182.83, Y:-70.70, Z:-0.36 [[ 7.95265396e-01 6.06246346e-01 -4.27980870e-03 1.82830145e+02] [-6.06236331e-01 7.95276892e-01 3.48940495e-03 -7.07006734e+01] [ 5.51907196e-03 -1.80427482e-04 9.99984754e-01 -3.55555406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.017628 meters 0.017353125338151767 Centerline is valid? [True, True] Translation: X:182.88, Y:-70.74, Z:-0.35 [[ 7.93099654e-01 6.09083062e-01 -3.28070542e-03 1.82880826e+02] [-6.09077197e-01 7.93106429e-01 2.67584079e-03 -7.07350878e+01] [ 4.23175787e-03 -1.24005540e-04 9.99991038e-01 -3.52324894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.077628 meters 0.01588087205672586 Centerline is valid? [True, True] Translation: X:182.93, Y:-70.77, Z:-0.35 [[ 7.89556179e-01 6.13673202e-01 -2.49836624e-03 1.82931047e+02] [-6.13669820e-01 7.89560128e-01 2.03862527e-03 -7.07701198e+01] [ 3.22366006e-03 -7.64372212e-05 9.99994801e-01 -3.52154108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.137628 meters 0.013853370694210424 Centerline is valid? [True, True] Translation: X:182.98, Y:-70.80, Z:-0.35 [[ 7.82618605e-01 6.22500490e-01 -1.12201731e-03 1.82984290e+02] [-6.22499817e-01 7.82619410e-01 9.15557263e-04 -7.08024949e+01] [ 1.44804737e-03 -1.80765771e-05 9.99998951e-01 -3.52445476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.197628 meters 0.013315702867918954 Centerline is valid? [True, True] Translation: X:183.03, Y:-70.84, Z:-0.35 [[ 7.80222707e-01 6.25500986e-01 -1.02206845e-03 1.83034826e+02] [-6.25500430e-01 7.80223376e-01 8.34246150e-04 -7.08395257e+01] [ 1.31926349e-03 -1.15935318e-05 9.99999130e-01 -3.53342997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.25762799999998 meters 0.012973061863666892 Centerline is valid? [True, True] Translation: X:183.09, Y:-70.88, Z:-0.36 [[ 7.75967104e-01 6.30770907e-01 -1.76530840e-03 1.83085743e+02] [-6.30769259e-01 7.75969112e-01 1.44184079e-03 -7.08755721e+01] [ 2.27929601e-03 -5.31875125e-06 9.99997402e-01 -3.55112249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.31762799999998 meters 0.013332134483553647 Centerline is valid? [True, True] Translation: X:183.14, Y:-70.91, Z:-0.36 [[ 7.72104854e-01 6.35488553e-01 -2.89716156e-03 1.83135294e+02] [-6.35484144e-01 7.72110289e-01 2.36725454e-03 -7.09135624e+01] [ 3.74129141e-03 1.33315110e-05 9.99993001e-01 -3.56059271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.377628 meters 0.013342206212523775 Centerline is valid? [True, True] Translation: X:183.18, Y:-70.95, Z:-0.36 [[ 7.71165167e-01 6.36626034e-01 -3.40271443e-03 1.83183602e+02] [-6.36619956e-01 7.71172674e-01 2.78191502e-03 -7.09537535e+01] [ 4.39511991e-03 2.09199436e-05 9.99990341e-01 -3.57148457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.437628 meters 0.013223081945824592 Centerline is valid? [True, True] Translation: X:183.23, Y:-71.00, Z:-0.36 [[ 7.71641823e-01 6.36048515e-01 -3.34420839e-03 1.83229226e+02] [-6.36042632e-01 7.71649070e-01 2.73551770e-03 -7.09955019e+01] [ 4.32047726e-03 1.62192459e-05 9.99990667e-01 -3.57711528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.497628 meters 0.013128970732812514 Centerline is valid? [True, True] Translation: X:183.27, Y:-71.04, Z:-0.36 [[ 7.73042750e-01 6.34349500e-01 -2.37027795e-03 1.83274296e+02] [-6.34346533e-01 7.73046384e-01 1.93997728e-03 -7.10383886e+01] [ 3.06295841e-03 3.89222792e-06 9.99995309e-01 -3.56917674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.557628 meters 0.013231186837431064 Centerline is valid? [True, True] Translation: X:183.32, Y:-71.08, Z:-0.36 [[ 7.76911815e-01 6.29608563e-01 -1.04349136e-03 1.83316558e+02] [-6.29607983e-01 7.76912516e-01 8.54845853e-04 -7.10843980e+01] [ 1.34891977e-03 -7.14935172e-06 9.99999090e-01 -3.55710636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.617628 meters 0.013407117576384351 Centerline is valid? [True, True] Translation: X:183.36, Y:-71.13, Z:-0.35 [[ 7.77828816e-01 6.28476198e-01 -4.47126067e-05 1.83363293e+02] [-6.28476197e-01 7.77828817e-01 3.72369338e-05 -7.11259750e+01] [ 5.81812805e-05 -8.63151112e-07 9.99999998e-01 -3.54189699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.677628 meters 0.013281656833250083 Centerline is valid? [True, True] Translation: X:183.41, Y:-71.16, Z:-0.36 [[ 7.76802156e-01 6.29743715e-01 -1.12442772e-03 1.83411565e+02] [-6.29743040e-01 7.76802969e-01 9.21773968e-04 -7.11645362e+01] [ 1.45394015e-03 -7.93547623e-06 9.99998943e-01 -3.56007907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.737628 meters 0.013240600158914005 Centerline is valid? [True, True] Translation: X:183.46, Y:-71.20, Z:-0.36 [[ 7.76698594e-01 6.29859866e-01 -3.98026472e-03 1.83461384e+02] [-6.29851411e-01 7.76708792e-01 3.26377529e-03 -7.12013781e+01] [ 5.14722768e-03 -2.79943296e-05 9.99986753e-01 -3.60348459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.797628 meters 0.01319855715763463 Centerline is valid? [True, True] Translation: X:183.51, Y:-71.24, Z:-0.36 [[ 7.76738757e-01 6.29801553e-01 -5.18709837e-03 1.83509930e+02] [-6.29787179e-01 7.76756076e-01 4.25533312e-03 -7.12405281e+01] [ 6.70912559e-03 -3.85141145e-05 9.99977493e-01 -3.61928012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.857628 meters 0.0134827152986314 Centerline is valid? [True, True] Translation: X:183.56, Y:-71.28, Z:-0.36 [[ 7.77413483e-01 6.28959951e-01 -6.13648963e-03 1.83558735e+02] [-6.28939787e-01 7.77437700e-01 5.03659881e-03 -7.12794737e+01] [ 7.93855733e-03 -5.60373403e-05 9.99968488e-01 -3.62637266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.917628 meters 0.013495545293566771 Centerline is valid? [True, True] Translation: X:183.61, Y:-71.32, Z:-0.36 [[ 7.78267584e-01 6.27905819e-01 -5.81814781e-03 1.83607284e+02] [-6.27887642e-01 7.78289328e-01 4.77819177e-03 -7.13191858e+01] [ 7.52845676e-03 -6.55686600e-05 9.99971659e-01 -3.61467134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.97762799999998 meters 0.013868048277067396 Centerline is valid? [True, True] Translation: X:183.65, Y:-71.36, Z:-0.36 [[ 7.79920363e-01 6.25863720e-01 -4.33949547e-03 1.83653998e+02] [-6.25853566e-01 7.79932433e-01 3.56568673e-03 -7.13596384e+01] [ 5.61614722e-03 -6.50629693e-05 9.99984227e-01 -3.59011791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.03762799999998 meters 0.014300560203371232 Centerline is valid? [True, True] Translation: X:183.70, Y:-71.40, Z:-0.36 [[ 7.81309306e-01 6.24137690e-01 -2.81307239e-03 1.83700915e+02] [-6.24133407e-01 7.81314368e-01 2.31278519e-03 -7.14008676e+01] [ 3.64139028e-03 -5.12681382e-05 9.99993369e-01 -3.56084008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.097628 meters 0.01509741618507632 Centerline is valid? [True, True] Translation: X:183.75, Y:-71.44, Z:-0.35 [[ 7.83183245e-01 6.21790955e-01 1.13823630e-04 1.83747674e+02] [-6.21790948e-01 7.83183254e-01 -9.31204485e-05 -7.14407092e+01] [-1.47046214e-04 2.15587212e-06 9.99999989e-01 -3.52889082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.157628 meters 0.014960053222493193 Centerline is valid? [True, True] Translation: X:183.80, Y:-71.48, Z:-0.35 [[ 7.83642179e-01 6.21212455e-01 1.46740680e-04 1.83796165e+02] [-6.21212443e-01 7.83642193e-01 -1.20201951e-04 -7.14788252e+01] [-1.89663137e-04 3.03818226e-06 9.99999982e-01 -3.52343036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.217628 meters 0.015101528818886226 Centerline is valid? [True, True] Translation: X:183.84, Y:-71.52, Z:-0.35 [[ 7.83472132e-01 6.21422660e-01 -2.30121026e-03 1.83844295e+02] [-6.21419773e-01 7.83475510e-01 1.89488958e-03 -7.15177145e+01] [ 2.98046921e-03 -5.45756207e-05 9.99995557e-01 -3.54637394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.277628 meters 0.014586206039411282 Centerline is valid? [True, True] Translation: X:183.89, Y:-71.56, Z:-0.36 [[ 7.83663039e-01 6.21169442e-01 -4.55686526e-03 1.83893284e+02] [-6.21158111e-01 7.83676280e-01 3.75363775e-03 -7.15552655e+01] [ 5.90275228e-03 -1.11053355e-04 9.99982572e-01 -3.57160872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.337628 meters 0.01608001458238665 Centerline is valid? [True, True] Translation: X:183.94, Y:-71.60, Z:-0.36 [[ 7.84143250e-01 6.20539608e-01 -7.06808921e-03 1.83938534e+02] [-6.20512308e-01 7.84175084e-01 5.82348547e-03 -7.15957964e+01] [ 9.15632284e-03 -1.80610472e-04 9.99958064e-01 -3.60878767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.397628 meters 0.014783792695002743 Centerline is valid? [True, True] Translation: X:183.99, Y:-71.63, Z:-0.36 [[ 7.83076309e-01 6.21878385e-01 -7.66607980e-03 1.83988199e+02] [-6.21846301e-01 7.83113811e-01 6.31955138e-03 -7.16336190e+01] [ 9.93340537e-03 -1.81567600e-04 9.99950646e-01 -3.59487555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.457628 meters 0.013527593152178505 Centerline is valid? [True, True] Translation: X:184.04, Y:-71.67, Z:-0.36 [[ 7.79321206e-01 6.26586464e-01 -6.91819053e-03 1.84038688e+02] [-6.26560517e-01 7.79351904e-01 5.70327800e-03 -7.16694898e+01] [ 8.96530176e-03 -1.10020449e-04 9.99959805e-01 -3.58627788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.517628 meters 0.01575654848567694 Centerline is valid? [True, True] Translation: X:184.09, Y:-71.70, Z:-0.36 [[ 7.73922174e-01 6.33241094e-01 -7.08416259e-03 1.84089755e+02] [-6.33214133e-01 7.73954595e-01 5.84349684e-03 -7.17049758e+01] [ 9.18316252e-03 -3.66199018e-05 9.99957833e-01 -3.59952238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.577628 meters 0.012308370425148258 Centerline is valid? [True, True] Translation: X:184.14, Y:-71.74, Z:-0.36 [[ 7.71278622e-01 6.36461818e-01 -6.75585164e-03 1.84136821e+02] [-6.36437399e-01 7.71308209e-01 5.57525793e-03 -7.17435393e+01] [ 8.75928263e-03 -4.00608082e-07 9.99961637e-01 -3.57110143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.637628 meters 0.012359583931964874 Centerline is valid? [True, True] Translation: X:184.19, Y:-71.78, Z:-0.36 [[ 7.69234175e-01 6.38934912e-01 -6.40016886e-03 1.84185069e+02] [-6.38913055e-01 7.69260799e-01 5.28493725e-03 -7.17835064e+01] [ 8.30012993e-03 2.37970955e-05 9.99965553e-01 -3.55258201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.697628 meters 0.012342222777274316 Centerline is valid? [True, True] Translation: X:184.23, Y:-71.82, Z:-0.36 [[ 7.68159086e-01 6.40226690e-01 -6.43458186e-03 1.84234226e+02] [-6.40204617e-01 7.68186035e-01 5.31639210e-03 -7.18232296e+01] [ 8.34665204e-03 3.56141219e-05 9.99965165e-01 -3.55388691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.75762799999998 meters 0.012532999644412192 Centerline is valid? [True, True] Translation: X:184.28, Y:-71.86, Z:-0.36 [[ 7.66676914e-01 6.41987257e-01 -7.67278957e-03 1.84282820e+02] [-6.41955930e-01 7.66715304e-01 6.34236088e-03 -7.18620347e+01] [ 9.95456006e-03 6.30511038e-05 9.99950450e-01 -3.56850626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.81762799999998 meters 0.012770596490908809 Centerline is valid? [True, True] Translation: X:184.33, Y:-71.90, Z:-0.36 [[ 7.65939402e-01 6.42852603e-01 -8.79565512e-03 1.84330143e+02] [-6.42811454e-01 7.65989898e-01 7.27401104e-03 -7.19018220e+01] [ 1.14134999e-02 8.24961907e-05 9.99934860e-01 -3.58310476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.877628 meters 0.012632684178358743 Centerline is valid? [True, True] Translation: X:184.38, Y:-71.94, Z:-0.36 [[ 7.65955538e-01 6.42829524e-01 -9.07284690e-03 1.84377180e+02] [-6.42785687e-01 7.66009267e-01 7.50757432e-03 -7.19439742e+01] [ 1.17759752e-02 8.14279951e-05 9.99930657e-01 -3.58017511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.937628 meters 0.012713127688838376 Centerline is valid? [True, True] Translation: X:184.42, Y:-71.99, Z:-0.36 [[ 7.66185063e-01 6.42565220e-01 -8.38973662e-03 1.84422497e+02] [-6.42527684e-01 7.66230992e-01 6.94567087e-03 -7.19864455e+01] [ 1.08915227e-02 6.89687677e-05 9.99940683e-01 -3.56933112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.997628 meters 0.012860036919180114 Centerline is valid? [True, True] Translation: X:184.47, Y:-72.03, Z:-0.36 [[ 7.65097569e-01 6.43865010e-01 -7.97236055e-03 1.84470802e+02] [-6.43831147e-01 7.65139100e-01 6.60390824e-03 -7.20263160e+01] [ 1.03519902e-02 8.02198912e-05 9.99946413e-01 -3.57032532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.057628 meters 0.013073904672465506 Centerline is valid? [True, True] Translation: X:184.52, Y:-72.07, Z:-0.36 [[ 7.62273218e-01 6.47198407e-01 -8.58854264e-03 1.84519315e+02] [-6.47159278e-01 7.62321589e-01 7.11789354e-03 -7.20655987e+01] [ 1.11539208e-02 1.32375440e-04 9.99937784e-01 -3.57265420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.117628 meters 0.013649055588949108 Centerline is valid? [True, True] Translation: X:184.57, Y:-72.10, Z:-0.36 [[ 7.61414374e-01 6.48202121e-01 -9.06429692e-03 1.84567594e+02] [-6.48158567e-01 7.61468310e-01 7.51563335e-03 -7.21037433e+01] [ 1.17738243e-02 1.52590438e-04 9.99930674e-01 -3.59056697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.177628 meters 0.013684381300234498 Centerline is valid? [True, True] Translation: X:184.61, Y:-72.14, Z:-0.36 [[ 7.60097099e-01 6.49746853e-01 -9.02370601e-03 1.84614460e+02] [-6.49703756e-01 7.60150641e-01 7.48551139e-03 -7.21437001e+01] [ 1.17230634e-02 1.73020197e-04 9.99931268e-01 -3.57233696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.237628 meters 0.013669208449714336 Centerline is valid? [True, True] Translation: X:184.66, Y:-72.18, Z:-0.36 [[ 7.60038950e-01 6.49829715e-01 -7.88258054e-03 1.84662234e+02] [-6.49796799e-01 7.60079811e-01 6.54229196e-03 -7.21840532e+01] [ 1.02427660e-02 1.49678890e-04 9.99947530e-01 -3.55130086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.297628 meters 0.013312975058143271 Centerline is valid? [True, True] Translation: X:184.71, Y:-72.22, Z:-0.35 [[ 7.60206805e-01 6.49651391e-01 -6.21966474e-03 1.84711206e+02] [-6.49630869e-01 7.60232239e-01 5.16491936e-03 -7.22219582e+01] [ 8.08378670e-03 1.14079366e-04 9.99967319e-01 -3.54335995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.357628 meters 0.013405432190368423 Centerline is valid? [True, True] Translation: X:184.76, Y:-72.26, Z:-0.36 [[ 7.60296959e-01 6.49548215e-01 -5.97085534e-03 1.84758832e+02] [-6.49529290e-01 7.60320396e-01 4.95950370e-03 -7.22597723e+01] [ 7.76119988e-03 1.07549849e-04 9.99969876e-01 -3.55260352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.417628 meters 0.013133974557537594 Centerline is valid? [True, True] Translation: X:184.81, Y:-72.30, Z:-0.36 [[ 7.61349706e-01 6.48306731e-01 -6.70877379e-03 1.84805721e+02] [-6.48282764e-01 7.61379256e-01 5.57545777e-03 -7.23003315e+01] [ 8.72252800e-03 1.04309288e-04 9.99961953e-01 -3.56889767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.47762799999998 meters 0.012886063431498604 Centerline is valid? [True, True] Translation: X:184.85, Y:-72.34, Z:-0.36 [[ 7.62782082e-01 6.46605192e-01 -8.07603718e-03 1.84852856e+02] [-6.46570325e-01 7.62824827e-01 6.71557028e-03 -7.23424669e+01] [ 1.05029243e-02 9.92093044e-05 9.99944838e-01 -3.57993397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.53762799999998 meters 0.015112537348220951 Centerline is valid? [True, True] Translation: X:184.90, Y:-72.39, Z:-0.36 [[ 7.67067539e-01 6.41493960e-01 -9.63792792e-03 1.84897898e+02] [-6.41443848e-01 7.67128085e-01 8.01821020e-03 -7.23859873e+01] [ 1.25371586e-02 3.16808072e-05 9.99921406e-01 -3.61414010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.597628 meters 0.012627421619441376 Centerline is valid? [True, True] Translation: X:184.94, Y:-72.43, Z:-0.36 [[ 7.70828981e-01 6.36976770e-01 -9.12565795e-03 1.84942269e+02] [-6.36931476e-01 7.70882996e-01 7.59614241e-03 -7.24288479e+01] [ 1.18733808e-02 -4.29079211e-05 9.99929508e-01 -3.59509324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.657628 meters 0.014280485707490917 Centerline is valid? [True, True] Translation: X:184.98, Y:-72.47, Z:-0.36 [[ 7.76852027e-01 6.29645196e-01 -6.91772889e-03 1.84983642e+02] [-6.29618865e-01 7.76882818e-01 5.75949593e-03 -7.24739262e+01] [ 9.00070366e-03 -1.18743486e-04 9.99959486e-01 -3.57496276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.717628 meters 0.014882368778074008 Centerline is valid? [True, True] Translation: X:185.03, Y:-72.51, Z:-0.36 [[ 7.80288216e-01 6.25393081e-01 -5.81333769e-03 1.85030796e+02] [-6.25374355e-01 7.80309858e-01 4.84173180e-03 -7.25143944e+01] [ 7.56419027e-03 -1.42433956e-04 9.99971381e-01 -3.55484797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.777628 meters 0.01658505441581845 Centerline is valid? [True, True] Translation: X:185.08, Y:-72.56, Z:-0.35 [[ 7.85617244e-01 6.18696154e-01 -4.54034053e-03 1.85076157e+02] [-6.18684617e-01 7.85630347e-01 3.78186218e-03 -7.25569618e+01] [ 5.90685290e-03 -1.62057300e-04 9.99982541e-01 -3.53253524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.837628 meters 0.01759403099916005 Centerline is valid? [True, True] Translation: X:185.12, Y:-72.60, Z:-0.35 [[ 7.88458956e-01 6.15078773e-01 -3.25234953e-03 1.85123710e+02] [-6.15072820e-01 7.88465652e-01 2.70945747e-03 -7.25971285e+01] [ 4.23089567e-03 -1.35864210e-04 9.99991040e-01 -3.52037557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.897628 meters 0.019044853578727296 Centerline is valid? [True, True] Translation: X:185.17, Y:-72.63, Z:-0.35 [[ 7.90449592e-01 6.12523305e-01 -2.15468020e-03 1.85173402e+02] [-6.12520682e-01 7.90452523e-01 1.79532706e-03 -7.26348962e+01] [ 2.80285206e-03 -9.93293594e-05 9.99996067e-01 -3.52067054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.957628 meters 0.01945188191767224 Centerline is valid? [True, True] Translation: X:185.22, Y:-72.67, Z:-0.35 [[ 7.89779148e-01 6.13387375e-01 -2.19648631e-03 1.85223620e+02] [-6.13384649e-01 7.89782196e-01 1.83143692e-03 -7.26717820e+01] [ 2.85812607e-03 -9.91397088e-05 9.99995911e-01 -3.52904237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.017628 meters 0.018881279204424936 Centerline is valid? [True, True] Translation: X:185.27, Y:-72.71, Z:-0.35 [[ 7.86945398e-01 6.17015482e-01 -2.97235523e-03 1.85274311e+02] [-6.17010513e-01 7.86951003e-01 2.47894755e-03 -7.27056029e+01] [ 3.86864695e-03 -1.16821945e-04 9.99992510e-01 -3.53843935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.077628 meters 0.01804826442428882 Centerline is valid? [True, True] Translation: X:185.32, Y:-72.74, Z:-0.35 [[ 7.84316942e-01 6.20349213e-01 -3.71343272e-03 1.85324275e+02] [-6.20341496e-01 7.84325722e-01 3.09679516e-03 -7.27394029e+01] [ 4.83363524e-03 -1.25272497e-04 9.99988310e-01 -3.54948208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.137628 meters 0.016722277115558206 Centerline is valid? [True, True] Translation: X:185.38, Y:-72.77, Z:-0.36 [[ 7.80780075e-01 6.24793644e-01 -3.92129324e-03 1.85377623e+02] [-6.24785094e-01 7.80789915e-01 3.27021128e-03 -7.27697970e+01] [ 5.10491344e-03 -1.03350244e-04 9.99986965e-01 -3.56734665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.197628 meters 0.016031974242197128 Centerline is valid? [True, True] Translation: X:185.43, Y:-72.81, Z:-0.36 [[ 7.78948126e-01 6.27079106e-01 -3.40763307e-03 1.85429028e+02] [-6.27072664e-01 7.78955575e-01 2.84361331e-03 -7.28052440e+01] [ 4.43756527e-03 -7.81937109e-05 9.99990151e-01 -3.57254156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.25762799999998 meters 0.015474115412827765 Centerline is valid? [True, True] Translation: X:185.48, Y:-72.84, Z:-0.36 [[ 7.77389402e-01 6.29014780e-01 -2.47485027e-03 1.85478758e+02] [-6.29011388e-01 7.77393339e-01 2.06618910e-03 -7.28411818e+01] [ 3.22359560e-03 -4.95244994e-05 9.99994803e-01 -3.55494863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.31762799999998 meters 0.015258637544023453 Centerline is valid? [True, True] Translation: X:185.53, Y:-72.88, Z:-0.36 [[ 7.76608553e-01 6.29980096e-01 -2.05794803e-03 1.85526980e+02] [-6.29977752e-01 7.76611278e-01 1.71891022e-03 -7.28780578e+01] [ 2.68110487e-03 -3.84589015e-05 9.99996405e-01 -3.55031331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.377628 meters 0.014784564196413197 Centerline is valid? [True, True] Translation: X:185.58, Y:-72.91, Z:-0.36 [[ 7.75435854e-01 6.31425861e-01 -7.86351594e-04 1.85577825e+02] [-6.31425519e-01 7.75436252e-01 6.57340311e-04 -7.29131034e+01] [ 1.02482720e-03 -1.32027819e-05 9.99999475e-01 -3.55068782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.437628 meters 0.014527218914783131 Centerline is valid? [True, True] Translation: X:185.63, Y:-72.95, Z:-0.35 [[ 7.74666059e-01 6.32370213e-01 -6.40885294e-04 1.85626396e+02] [-6.32369986e-01 7.74666324e-01 5.36078386e-04 -7.29514669e+01] [ 8.35472257e-04 -1.00051059e-05 9.99999651e-01 -3.54971181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.497628 meters 0.013087235161276488 Centerline is valid? [True, True] Translation: X:185.68, Y:-72.99, Z:-0.35 [[ 7.73765113e-01 6.33470429e-01 -1.66290150e-03 1.85677987e+02] [-6.33468902e-01 7.73766900e-01 1.39117465e-03 -7.29882101e+01] [ 2.16796614e-03 -2.30460237e-05 9.99997650e-01 -3.54888325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.557628 meters 0.013043166925832163 Centerline is valid? [True, True] Translation: X:185.73, Y:-73.03, Z:-0.36 [[ 7.73222159e-01 6.34127709e-01 -3.08889554e-03 1.85727121e+02] [-6.34122441e-01 7.73228328e-01 2.58509483e-03 -7.30273866e+01] [ 4.02770179e-03 -4.01146271e-05 9.99991888e-01 -3.56861367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.617628 meters 0.013198377651778073 Centerline is valid? [True, True] Translation: X:185.77, Y:-73.07, Z:-0.36 [[ 7.73142600e-01 6.34217102e-01 -4.38033194e-03 1.85774720e+02] [-6.34206501e-01 7.73155007e-01 3.66735758e-03 -7.30668928e+01] [ 5.71257647e-03 -5.73553846e-05 9.99983681e-01 -3.58400527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.677628 meters 0.013483234292708639 Centerline is valid? [True, True] Translation: X:185.82, Y:-73.11, Z:-0.36 [[ 7.75150521e-01 6.31762051e-01 -4.28719032e-03 1.85821456e+02] [-6.31751849e-01 7.75162373e-01 3.59122081e-03 -7.31074585e+01] [ 5.59206564e-03 -7.52962708e-05 9.99984361e-01 -3.57889695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.737628 meters 0.01829238491337704 Centerline is valid? [True, True] Translation: X:185.87, Y:-73.15, Z:-0.36 [[ 7.80316707e-01 6.25357651e-01 -5.80045607e-03 1.85865328e+02] [-6.25338782e-01 7.80338248e-01 4.86070830e-03 -7.31505542e+01] [ 7.56599885e-03 -1.65641760e-04 9.99971364e-01 -3.61637812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.797628 meters 0.017235662666971536 Centerline is valid? [True, True] Translation: X:185.91, Y:-73.19, Z:-0.36 [[ 7.85518547e-01 6.18803491e-01 -6.54609001e-03 1.85909238e+02] [-6.18779229e-01 7.85545780e-01 5.48575348e-03 -7.31945548e+01] [ 8.53685679e-03 -2.58576581e-04 9.99963527e-01 -3.58975997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.857628 meters 0.02046048424497386 Centerline is valid? [True, True] Translation: X:185.95, Y:-73.24, Z:-0.36 [[ 7.88251549e-01 6.15309142e-01 -7.35904049e-03 1.85954867e+02] [-6.15278297e-01 7.88285828e-01 6.17012050e-03 -7.32360644e+01] [ 9.59755888e-03 -3.35749141e-04 9.99953886e-01 -3.60667759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.917628 meters 0.021271512606606348 Centerline is valid? [True, True] Translation: X:186.00, Y:-73.28, Z:-0.36 [[ 7.88883470e-01 6.14496530e-01 -7.54230394e-03 1.85999968e+02] [-6.14464063e-01 7.88919443e-01 6.32670097e-03 -7.32779811e+01] [ 9.83800602e-03 -3.56555094e-04 9.99951542e-01 -3.59870772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.97762799999998 meters 0.021590265208926228 Centerline is valid? [True, True] Translation: X:186.05, Y:-73.32, Z:-0.36 [[ 7.88624802e-01 6.14827609e-01 -7.61133060e-03 1.86049756e+02] [-6.14794524e-01 7.88661450e-01 6.38833354e-03 -7.33159764e+01] [ 9.93048686e-03 -3.58593909e-04 9.99950627e-01 -3.61200314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.03762799999998 meters 0.017714150709583185 Centerline is valid? [True, True] Translation: X:186.10, Y:-73.35, Z:-0.36 [[ 7.86686181e-01 6.17322066e-01 -6.19023948e-03 1.86099474e+02] [-6.17300258e-01 7.86710490e-01 5.19577284e-03 -7.33528234e+01] [ 8.07739156e-03 -2.66206266e-04 9.99967342e-01 -3.57202240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.097628 meters 0.0182666040263953 Centerline is valid? [True, True] Translation: X:186.15, Y:-73.39, Z:-0.36 [[ 7.82067579e-01 6.23169290e-01 -5.50794593e-03 1.86149260e+02] [-6.23152165e-01 7.82086953e-01 4.62348232e-03 -7.33889408e+01] [ 7.18890485e-03 -1.83587195e-04 9.99974143e-01 -3.58177717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.157628 meters 0.01426180820774487 Centerline is valid? [True, True] Translation: X:186.20, Y:-73.43, Z:-0.36 [[ 7.77793582e-01 6.28507030e-01 -4.00707083e-03 1.86199071e+02] [-6.28498035e-01 7.77803898e-01 3.36400505e-03 -7.34255984e+01] [ 5.23101613e-03 -9.80653986e-05 9.99986313e-01 -3.55056085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.217628 meters 0.012689753173703737 Centerline is valid? [True, True] Translation: X:186.25, Y:-73.46, Z:-0.36 [[ 7.72180997e-01 6.35392411e-01 -3.60432073e-03 1.86249014e+02] [-6.35385206e-01 7.72189408e-01 3.02633994e-03 -7.34614113e+01] [ 4.70613172e-03 -4.67501221e-05 9.99988925e-01 -3.55800293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.277628 meters 0.012242422058000921 Centerline is valid? [True, True] Translation: X:186.30, Y:-73.50, Z:-0.36 [[ 7.68818494e-01 6.39454747e-01 -3.96858959e-03 1.86297098e+02] [-6.39446056e-01 7.68828736e-01 3.33406038e-03 -7.34989503e+01] [ 5.18314646e-03 -2.55883148e-05 9.99986567e-01 -3.56099292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.337628 meters 0.011965578020695802 Centerline is valid? [True, True] Translation: X:186.35, Y:-73.54, Z:-0.36 [[ 7.65189729e-01 6.43792731e-01 -3.94935430e-03 1.86346135e+02] [-6.43784173e-01 7.65199921e-01 3.31958270e-03 -7.35372878e+01] [ 5.15916881e-03 2.42120176e-06 9.99986691e-01 -3.56347092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.397628 meters 0.012088936366813925 Centerline is valid? [True, True] Translation: X:186.39, Y:-73.58, Z:-0.36 [[ 7.64201713e-01 6.44955931e-01 -5.25255916e-03 1.86392149e+02] [-6.44940805e-01 7.64219764e-01 4.41703521e-03 -7.35784422e+01] [ 6.86290258e-03 1.20838679e-05 9.99976450e-01 -3.57238064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.457628 meters 0.012119982063040049 Centerline is valid? [True, True] Translation: X:186.44, Y:-73.62, Z:-0.36 [[ 7.63953467e-01 6.45237468e-01 -6.61130180e-03 1.86436634e+02] [-6.45213492e-01 7.63982074e-01 5.56240512e-03 -7.36218868e+01] [ 8.63998826e-03 1.62824424e-05 9.99962674e-01 -3.58806506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.517628 meters 0.012195855333483394 Centerline is valid? [True, True] Translation: X:186.48, Y:-73.66, Z:-0.36 [[ 7.63755254e-01 6.45474502e-01 -6.37012397e-03 1.86481768e+02] [-6.45452227e-01 7.63781819e-01 5.36247948e-03 -7.36638305e+01] [ 8.32672864e-03 1.59888239e-05 9.99965332e-01 -3.59959175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.577628 meters 0.012300864137799296 Centerline is valid? [True, True] Translation: X:186.53, Y:-73.71, Z:-0.36 [[ 7.63103456e-01 6.46249234e-01 -5.91969793e-03 1.86526168e+02] [-6.46229998e-01 7.63126416e-01 4.98618789e-03 -7.37081179e+01] [ 7.73979797e-03 2.05091744e-05 9.99970047e-01 -3.60552459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.637628 meters 0.012491646424716419 Centerline is valid? [True, True] Translation: X:186.57, Y:-73.75, Z:-0.36 [[ 7.62045601e-01 6.47488221e-01 -6.74576817e-03 1.86569423e+02] [-6.47463267e-01 7.62075457e-01 5.68460169e-03 -7.37528374e+01] [ 8.82149700e-03 3.57113866e-05 9.99961089e-01 -3.61062354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.697628 meters 0.012570611285654665 Centerline is valid? [True, True] Translation: X:186.62, Y:-73.80, Z:-0.36 [[ 7.61756878e-01 6.47823912e-01 -7.11602138e-03 1.86615325e+02] [-6.47796127e-01 7.61790114e-01 6.00008780e-03 -7.37965375e+01] [ 9.30791509e-03 3.91229400e-05 9.99956680e-01 -3.62018216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.75762799999998 meters 0.012605245182588076 Centerline is valid? [True, True] Translation: X:186.66, Y:-73.84, Z:-0.36 [[ 7.62109662e-01 6.47402540e-01 -7.66902644e-03 1.86659974e+02] [-6.47370211e-01 7.62148246e-01 6.46994203e-03 -7.38409203e+01] [ 1.00335920e-02 3.38939368e-05 9.99949662e-01 -3.63081802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.81762799999998 meters 0.012575062754383316 Centerline is valid? [True, True] Translation: X:186.70, Y:-73.89, Z:-0.36 [[ 7.62983751e-01 6.46362999e-01 -8.40654029e-03 1.86701778e+02] [-6.46324045e-01 7.63030061e-01 7.09615756e-03 -7.38883897e+01] [ 1.10011366e-02 1.90962091e-05 9.99939485e-01 -3.62940497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.877628 meters 0.012637834282678253 Centerline is valid? [True, True] Translation: X:186.75, Y:-73.93, Z:-0.36 [[ 7.64189511e-01 6.44938029e-01 -8.32650346e-03 1.86745479e+02] [-6.44899685e-01 7.64234872e-01 7.03262931e-03 -7.39338728e+01] [ 1.08990144e-02 -4.50209874e-06 9.99940604e-01 -3.62840335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.937628 meters 0.012776132983915058 Centerline is valid? [True, True] Translation: X:186.79, Y:-73.98, Z:-0.36 [[ 7.65658444e-01 6.43200608e-01 -7.75402006e-03 1.86789367e+02] [-6.43167229e-01 7.65697706e-01 6.55283540e-03 -7.39795425e+01] [ 1.01520231e-02 -3.01021561e-05 9.99948466e-01 -3.62563729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.997628 meters 0.012574360486779538 Centerline is valid? [True, True] Translation: X:186.84, Y:-74.02, Z:-0.36 [[ 7.64459535e-01 6.44640443e-01 -6.34970738e-03 1.86837445e+02] [-6.44618086e-01 7.64485905e-01 5.36881173e-03 -7.40186413e+01] [ 8.31521496e-03 -1.11030960e-05 9.99965428e-01 -3.60889462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.057628 meters 0.012448634034833945 Centerline is valid? [True, True] Translation: X:186.88, Y:-74.06, Z:-0.36 [[ 7.64142661e-01 6.45009186e-01 -7.01022464e-03 1.86884847e+02] [-6.44981920e-01 7.64174816e-01 5.93070357e-03 -7.40597581e+01] [ 9.18239541e-03 -1.04354586e-05 9.99957841e-01 -3.61747834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.117628 meters 0.012572382713227748 Centerline is valid? [True, True] Translation: X:186.93, Y:-74.10, Z:-0.36 [[ 7.63331558e-01 6.45963103e-01 -7.52340846e-03 1.86933012e+02] [-6.45931713e-01 7.63368632e-01 6.36812927e-03 -7.40987023e+01] [ 9.85671058e-03 -1.38592250e-06 9.99951421e-01 -3.62922474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.177628 meters 0.012535481805358987 Centerline is valid? [True, True] Translation: X:186.98, Y:-74.14, Z:-0.37 [[ 7.63752304e-01 6.45454834e-01 -8.39499948e-03 1.86981545e+02] [-6.45415680e-01 7.63798440e-01 7.10933028e-03 -7.41374365e+01] [ 1.10008391e-02 -1.15030833e-05 9.99939489e-01 -3.65064366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.237628 meters 0.012803071383955146 Centerline is valid? [True, True] Translation: X:187.03, Y:-74.18, Z:-0.37 [[ 7.67535895e-01 6.40939166e-01 -9.25394055e-03 1.87027615e+02] [-6.40891213e-01 7.67591674e-01 7.84064086e-03 -7.41797627e+01] [ 1.21286215e-02 -8.72041063e-05 9.99926442e-01 -3.65692570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.297628 meters 0.015904549335189463 Centerline is valid? [True, True] Translation: X:187.07, Y:-74.22, Z:-0.37 [[ 7.70619878e-01 6.37224932e-01 -9.45463828e-03 1.87073774e+02] [-6.37174546e-01 7.70677859e-01 8.01472278e-03 -7.42214166e+01] [ 1.23936616e-02 -1.52049843e-04 9.99923184e-01 -3.67575631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.357628 meters 0.014844470416661605 Centerline is valid? [True, True] Translation: X:187.12, Y:-74.26, Z:-0.36 [[ 7.74938445e-01 6.31982583e-01 -8.27177773e-03 1.87117267e+02] [-6.31943690e-01 7.74982562e-01 7.01432347e-03 -7.42636928e+01] [ 1.08434138e-02 -2.08371181e-04 9.99941187e-01 -3.63946907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.417628 meters 0.015534340256690603 Centerline is valid? [True, True] Translation: X:187.16, Y:-74.30, Z:-0.36 [[ 7.77569036e-01 6.28766079e-01 -6.29380350e-03 1.87163662e+02] [-6.28743434e-01 7.77594483e-01 5.33996637e-03 -7.43049622e+01] [ 8.25161660e-03 -1.95004879e-04 9.99965936e-01 -3.62325381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.47762799999998 meters 0.015853655410358856 Centerline is valid? [True, True] Translation: X:187.21, Y:-74.35, Z:-0.36 [[ 7.79699838e-01 6.26149971e-01 -2.09204158e-03 1.87210740e+02] [-6.26147456e-01 7.79702641e-01 1.77625816e-03 -7.43457705e+01] [ 2.74337433e-03 -7.50216886e-05 9.99996234e-01 -3.58149520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.53762799999998 meters 0.016066952648294133 Centerline is valid? [True, True] Translation: X:187.26, Y:-74.39, Z:-0.36 [[ 7.79893740e-01 6.25911928e-01 -1.12772329e-04 1.87259301e+02] [-6.25911921e-01 7.79893748e-01 9.63988921e-05 -7.43858802e+01] [ 1.48287651e-04 -4.59534715e-06 9.99999989e-01 -3.57020213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.597628 meters 0.015752038319742635 Centerline is valid? [True, True] Translation: X:187.31, Y:-74.42, Z:-0.36 [[ 7.77449786e-01 6.28944075e-01 -1.08686644e-03 1.87306891e+02] [-6.28943397e-01 7.77450545e-01 9.23908092e-04 -7.44236000e+01] [ 1.42607143e-03 -3.47146784e-05 9.99998983e-01 -3.58279695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.657628 meters 0.014673301508084805 Centerline is valid? [True, True] Translation: X:187.36, Y:-74.46, Z:-0.36 [[ 7.74449798e-01 6.32628900e-01 -2.86103724e-03 1.87356083e+02] [-6.32624233e-01 7.74455079e-01 2.43123259e-03 -7.44610137e+01] [ 3.75381282e-03 -7.29060946e-05 9.99992952e-01 -3.60653110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.717628 meters 0.013226018544531787 Centerline is valid? [True, True] Translation: X:187.41, Y:-74.50, Z:-0.36 [[ 7.69720956e-01 6.38360541e-01 -5.04678007e-03 1.87405644e+02] [-6.38346129e-01 7.69737496e-01 4.29034680e-03 -7.44970803e+01] [ 6.62348396e-03 -8.07773195e-05 9.99978061e-01 -3.64027264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.777628 meters 0.012639987552279273 Centerline is valid? [True, True] Translation: X:187.45, Y:-74.54, Z:-0.37 [[ 7.67144956e-01 6.41449972e-01 -5.52725979e-03 1.87454525e+02] [-6.41432747e-01 7.67164865e-01 4.70117746e-03 -7.45354161e+01] [ 7.25588966e-03 -6.11191455e-05 9.99973674e-01 -3.65201575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.837628 meters 0.012208242676394088 Centerline is valid? [True, True] Translation: X:187.50, Y:-74.57, Z:-0.36 [[ 7.64415888e-01 6.44704839e-01 -4.90108490e-03 1.87501681e+02] [-6.44691350e-01 7.64431599e-01 4.17044676e-03 -7.45743338e+01] [ 6.43525137e-03 -2.82687187e-05 9.99979293e-01 -3.64266383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.897628 meters 0.012141185796305286 Centerline is valid? [True, True] Translation: X:187.55, Y:-74.62, Z:-0.36 [[ 7.63834522e-01 6.45396537e-01 -4.48688682e-03 1.87549011e+02] [-6.45385232e-01 7.63847700e-01 3.82019353e-03 -7.46154668e+01] [ 5.89283786e-03 -2.22252056e-05 9.99982637e-01 -3.63560980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.957628 meters 0.012054068892802253 Centerline is valid? [True, True] Translation: X:187.59, Y:-74.66, Z:-0.36 [[ 7.63597652e-01 6.45687684e-01 -2.45793468e-03 1.87594693e+02] [-6.45684288e-01 7.63601608e-01 2.09394768e-03 -7.46578845e+01] [ 3.22891910e-03 -1.18837299e-05 9.99994787e-01 -3.60332752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.017628 meters 0.012133160878625572 Centerline is valid? [True, True] Translation: X:187.64, Y:-74.70, Z:-0.36 [[ 7.63529266e-01 6.45772199e-01 -1.15190244e-03 1.87641007e+02] [-6.45771452e-01 7.63530135e-01 9.82228834e-04 -7.46998174e+01] [ 1.51380830e-03 -6.09474942e-06 9.99998854e-01 -3.57887365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.077628 meters 0.012121388079668716 Centerline is valid? [True, True] Translation: X:187.69, Y:-74.74, Z:-0.36 [[ 7.62752803e-01 6.46688212e-01 -1.58653516e-03 1.87688028e+02] [-6.46686796e-01 7.62754453e-01 1.35338223e-03 -7.47417171e+01] [ 2.08535309e-03 -6.30474850e-06 9.99997826e-01 -3.58151087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.137628 meters 0.012048890686499355 Centerline is valid? [True, True] Translation: X:187.74, Y:-74.78, Z:-0.36 [[ 7.61861711e-01 6.47730532e-01 -3.44828310e-03 1.87735635e+02] [-6.47723849e-01 7.61869515e-01 2.94249290e-03 -7.47830579e+01] [ 4.53308426e-03 -8.23748140e-06 9.99989725e-01 -3.60048874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.19762799999998 meters 0.012142682996391877 Centerline is valid? [True, True] Translation: X:187.78, Y:-74.82, Z:-0.36 [[ 7.60792243e-01 6.48970796e-01 -5.66293765e-03 1.87781332e+02] [-6.48952790e-01 7.60813319e-01 4.83420503e-03 -7.48245050e+01] [ 7.44569627e-03 -2.84650039e-06 9.99972280e-01 -3.62141419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.25762799999998 meters 0.012215445472387834 Centerline is valid? [True, True] Translation: X:187.83, Y:-74.87, Z:-0.36 [[ 7.60905003e-01 6.48830741e-01 -6.49976231e-03 1.87827577e+02] [-6.48806988e-01 7.60932763e-01 5.55173492e-03 -7.48664720e+01] [ 8.54801837e-03 -7.25166679e-06 9.99963465e-01 -3.62722061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.31762799999998 meters 0.012342942893011211 Centerline is valid? [True, True] Translation: X:187.87, Y:-74.91, Z:-0.36 [[ 7.62205877e-01 6.47300265e-01 -6.67588191e-03 1.87872248e+02] [-6.47275134e-01 7.62235112e-01 5.70390902e-03 -7.49089693e+01] [ 8.78073342e-03 -2.64206190e-05 9.99961448e-01 -3.62062807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.377628 meters 0.012711408432316568 Centerline is valid? [True, True] Translation: X:187.92, Y:-74.95, Z:-0.36 [[ 7.64372998e-01 6.44752258e-01 -5.33351306e-03 1.87917142e+02] [-6.44736137e-01 7.64391604e-01 4.55958402e-03 -7.49510909e+01] [ 7.01669469e-03 -4.65142946e-05 9.99975382e-01 -3.59554956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.437628 meters 0.013003116368500824 Centerline is valid? [True, True] Translation: X:187.96, Y:-74.99, Z:-0.36 [[ 7.67125102e-01 6.41477853e-01 -5.02417328e-03 1.87963408e+02] [-6.41463463e-01 7.67141551e-01 4.29730686e-03 -7.49918656e+01] [ 6.61087926e-03 -7.37483719e-05 9.99978145e-01 -3.58059916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.497628 meters 0.01452854199157422 Centerline is valid? [True, True] Translation: X:188.01, Y:-75.03, Z:-0.36 [[ 7.72697670e-01 6.34756826e-01 -4.69925779e-03 1.88008460e+02] [-6.34744111e-01 7.72711950e-01 4.01957501e-03 -7.50347214e+01] [ 6.18262532e-03 -1.23090039e-04 9.99980880e-01 -3.57504874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.557628 meters 0.016531280457747648 Centerline is valid? [True, True] Translation: X:188.05, Y:-75.08, Z:-0.36 [[ 7.76419194e-01 6.30199048e-01 -4.73225463e-03 1.88052905e+02] [-6.30186056e-01 7.76433599e-01 4.04995035e-03 -7.50765489e+01] [ 6.22655635e-03 -1.62258311e-04 9.99980602e-01 -3.57247938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.617628 meters 0.018777044291221377 Centerline is valid? [True, True] Translation: X:188.10, Y:-75.12, Z:-0.36 [[ 7.79937462e-01 6.25837878e-01 -4.95043173e-03 1.88099891e+02] [-6.25823559e-01 7.79953145e-01 4.23850246e-03 -7.51164479e+01] [ 6.51372018e-03 -2.07670044e-04 9.99978764e-01 -3.57136765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.677628 meters 0.018469057382074116 Centerline is valid? [True, True] Translation: X:188.15, Y:-75.15, Z:-0.36 [[ 7.80634545e-01 6.24965867e-01 -5.23196420e-03 1.88149175e+02] [-6.24949847e-01 7.80652044e-01 4.48049914e-03 -7.51536611e+01] [ 6.88450257e-03 -2.27917182e-04 9.99976276e-01 -3.56052070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.737628 meters 0.018718338104248368 Centerline is valid? [True, True] Translation: X:188.20, Y:-75.19, Z:-0.36 [[ 7.79103285e-01 6.26869437e-01 -5.72550350e-03 1.88199814e+02] [-6.26850286e-01 7.79124287e-01 4.90553648e-03 -7.51885704e+01] [ 7.53600972e-03 -2.32886078e-04 9.99971577e-01 -3.57253411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.797628 meters 0.016465870423291312 Centerline is valid? [True, True] Translation: X:188.25, Y:-75.22, Z:-0.36 [[ 7.77634956e-01 6.28690410e-01 -5.67835930e-03 1.88252333e+02] [-6.28671603e-01 7.77655658e-01 4.86764253e-03 -7.52224005e+01] [ 7.47604842e-03 -2.15425742e-04 9.99972031e-01 -3.56482495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.857628 meters 0.01596462656311422 Centerline is valid? [True, True] Translation: X:188.30, Y:-75.26, Z:-0.36 [[ 7.75931775e-01 6.30793290e-01 -5.45029925e-03 1.88303918e+02] [-6.30775998e-01 7.75950894e-01 4.67448783e-03 -7.52570164e+01] [ 7.17780013e-03 -1.89165688e-04 9.99974221e-01 -3.56889527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.917628 meters 0.015125588779057179 Centerline is valid? [True, True] Translation: X:188.35, Y:-75.29, Z:-0.36 [[ 7.74914664e-01 6.32043345e-01 -5.33612608e-03 1.88354243e+02] [-6.32026783e-01 7.74933016e-01 4.57890372e-03 -7.52941978e+01] [ 7.02920590e-03 -1.75685041e-04 9.99975279e-01 -3.56613007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.97762799999998 meters 0.014379406367043095 Centerline is valid? [True, True] Translation: X:188.40, Y:-75.33, Z:-0.36 [[ 7.72158008e-01 6.35407293e-01 -5.43902307e-03 1.88403123e+02] [-6.35390166e-01 7.72177150e-01 4.66761199e-03 -7.53295301e+01] [ 7.16572403e-03 -1.48232212e-04 9.99974315e-01 -3.56849733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.03762799999998 meters 0.013360767584387628 Centerline is valid? [True, True] Translation: X:188.45, Y:-75.37, Z:-0.36 [[ 7.68847698e-01 6.39401538e-01 -6.23618937e-03 1.88453652e+02] [-6.39379129e-01 7.68872978e-01 5.35470362e-03 -7.53656847e+01] [ 8.21864322e-03 -1.29662219e-04 9.99966218e-01 -3.57255421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.097628 meters 0.012063178800679615 Centerline is valid? [True, True] Translation: X:188.51, Y:-75.40, Z:-0.36 [[ 7.63259548e-01 6.46051967e-01 -7.19162493e-03 1.88506422e+02] [-6.46022430e-01 7.63293424e-01 6.17801336e-03 -7.53984690e+01] [ 9.48063770e-03 -6.94766644e-05 9.99955055e-01 -3.59329282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.157628 meters 0.01544592248452896 Centerline is valid? [True, True] Translation: X:188.56, Y:-75.44, Z:-0.36 [[ 7.60441522e-01 6.49363905e-01 -7.43039518e-03 1.88556006e+02] [-6.49332502e-01 7.60477822e-01 6.38619981e-03 -7.54358607e+01] [ 9.79761839e-03 -3.15344153e-05 9.99952002e-01 -3.61305529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.217628 meters 0.01147378534966875 Centerline is valid? [True, True] Translation: X:188.61, Y:-75.47, Z:-0.36 [[ 7.57455945e-01 6.52867024e-01 -5.01400825e-03 1.88605711e+02] [-6.52852788e-01 7.57472540e-01 4.31142665e-03 -7.54719729e+01] [ 6.61276185e-03 7.69351347e-06 9.99978135e-01 -3.56591691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.277628 meters 0.011498852031948531 Centerline is valid? [True, True] Translation: X:188.66, Y:-75.51, Z:-0.36 [[ 7.56177504e-01 6.54343227e-01 -5.52477201e-03 1.88655278e+02] [-6.54325963e-01 7.56197686e-01 4.75324627e-03 -7.55101265e+01] [ 7.28807432e-03 2.07038682e-05 9.99973441e-01 -3.58022175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.337628 meters 0.012015218835804503 Centerline is valid? [True, True] Translation: X:188.70, Y:-75.55, Z:-0.36 [[ 7.54735229e-01 6.55972981e-01 -8.61290264e-03 1.88703320e+02] [-6.55931132e-01 7.54784370e-01 7.40977585e-03 -7.55473405e+01] [ 1.13614970e-02 5.70521105e-05 9.99935454e-01 -3.62197154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.397628 meters 0.014830514433568403 Centerline is valid? [True, True] Translation: X:188.75, Y:-75.59, Z:-0.37 [[ 7.54344551e-01 6.56396476e-01 -1.03905965e-02 1.88748677e+02] [-6.56335551e-01 7.54416106e-01 8.94332848e-03 -7.55881582e+01] [ 1.37092027e-02 7.33667908e-05 9.99906022e-01 -3.65218614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.457628 meters 0.011758159636206614 Centerline is valid? [True, True] Translation: X:188.80, Y:-75.63, Z:-0.36 [[ 7.53606807e-01 6.57253293e-01 -9.74107308e-03 1.88795754e+02] [-6.57199754e-01 7.53669757e-01 8.38934334e-03 -7.56305378e+01] [ 1.28554757e-02 7.95645749e-05 9.99917362e-01 -3.59975613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.517628 meters 0.011832545786963659 Centerline is valid? [True, True] Translation: X:188.84, Y:-75.67, Z:-0.36 [[ 7.52739483e-01 6.58252249e-01 -9.34066455e-03 1.88843146e+02] [-6.58203041e-01 7.52797429e-01 8.04913219e-03 -7.56716758e+01] [ 1.23299876e-02 8.91542091e-05 9.99923979e-01 -3.60766294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.577628 meters 0.012092497328290534 Centerline is valid? [True, True] Translation: X:188.89, Y:-75.71, Z:-0.36 [[ 7.51267041e-01 6.59948012e-01 -8.15197087e-03 1.88889789e+02] [-6.59910588e-01 7.51311261e-01 7.02887435e-03 -7.57143922e+01] [ 1.07633592e-02 9.90102530e-05 9.99942068e-01 -3.58739340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.637628 meters 0.012124815495862185 Centerline is valid? [True, True] Translation: X:188.94, Y:-75.76, Z:-0.36 [[ 7.50261537e-01 6.61115534e-01 -5.82027803e-03 1.88935945e+02] [-6.61096472e-01 7.50284109e-01 5.02101980e-03 -7.57554672e+01] [ 7.68633630e-03 8.06872398e-05 9.99970456e-01 -3.56049207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.69762799999998 meters 0.012111224097946006 Centerline is valid? [True, True] Translation: X:188.98, Y:-75.80, Z:-0.36 [[ 7.50480791e-01 6.60875698e-01 -4.67907058e-03 1.88982061e+02] [-6.60863361e-01 7.50495375e-01 4.03861558e-03 -7.57970009e+01] [ 6.18064372e-03 6.13228945e-05 9.99980898e-01 -3.55320424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.75762799999998 meters 0.011732197330479976 Centerline is valid? [True, True] Translation: X:189.03, Y:-75.84, Z:-0.35 [[ 7.51535564e-01 6.59678929e-01 -4.24340593e-03 1.89025070e+02] [-6.59668752e-01 7.51547543e-01 3.66449665e-03 -7.58419691e+01] [ 5.60651252e-03 4.52427364e-05 9.99984282e-01 -3.53910228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.81762799999998 meters 0.011591270264256248 Centerline is valid? [True, True] Translation: X:189.07, Y:-75.88, Z:-0.35 [[ 7.52155646e-01 6.58971340e-01 -4.31939221e-03 1.89071193e+02] [-6.58960771e-01 7.52168048e-01 3.73232997e-03 -7.58849424e+01] [ 5.70840729e-03 3.90169615e-05 9.99983706e-01 -3.54126353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.877628 meters 0.011389503454320337 Centerline is valid? [True, True] Translation: X:189.11, Y:-75.93, Z:-0.36 [[ 7.54530082e-01 6.56249015e-01 -4.64605288e-03 1.89114686e+02] [-6.56236724e-01 7.54544385e-01 4.01651329e-03 -7.59296000e+01] [ 6.14148601e-03 1.83304206e-05 9.99981141e-01 -3.55603167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.937628 meters 0.011470454776617971 Centerline is valid? [True, True] Translation: X:189.16, Y:-75.97, Z:-0.36 [[ 7.55650803e-01 6.54949124e-01 -5.78861864e-03 1.89158178e+02] [-6.54929999e-01 7.55672974e-01 5.00523975e-03 -7.59725484e+01] [ 7.65248006e-03 8.92656145e-06 9.99970719e-01 -3.57880900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.997628 meters 0.011638904225028307 Centerline is valid? [True, True] Translation: X:189.20, Y:-76.02, Z:-0.36 [[ 7.57521011e-01 6.52773139e-01 -7.01053534e-03 1.89199692e+02] [-6.52744963e-01 7.57553450e-01 6.06502714e-03 -7.60195050e+01] [ 9.26994203e-03 -1.82938568e-05 9.99957033e-01 -3.57260516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.057628 meters 0.01564209273009947 Centerline is valid? [True, True] Translation: X:189.24, Y:-76.06, Z:-0.36 [[ 7.60525411e-01 6.49270095e-01 -7.03155995e-03 1.89242495e+02] [-6.49241573e-01 7.60557914e-01 6.08597722e-03 -7.60641556e+01] [ 9.29935157e-03 -6.33592780e-05 9.99956758e-01 -3.60125710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.117628 meters 0.013440403028391673 Centerline is valid? [True, True] Translation: X:189.28, Y:-76.11, Z:-0.36 [[ 7.65894573e-01 6.42946771e-01 -4.99523282e-03 1.89282981e+02] [-6.42932226e-01 7.65910856e-01 4.32584012e-03 -7.61120281e+01] [ 6.60718798e-03 -1.01541313e-04 9.99978167e-01 -3.55913160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.177628 meters 0.017387287206801102 Centerline is valid? [True, True] Translation: X:189.32, Y:-76.16, Z:-0.36 [[ 7.71284394e-01 6.36476868e-01 -4.19280151e-03 1.89323414e+02] [-6.36466523e-01 7.71295779e-01 3.63135635e-03 -7.61592312e+01] [ 5.54516442e-03 -1.32230686e-04 9.99984617e-01 -3.57115698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.237628 meters 0.019918135943969326 Centerline is valid? [True, True] Translation: X:189.36, Y:-76.21, Z:-0.36 [[ 7.77919686e-01 6.28353242e-01 -3.62846552e-03 1.89363706e+02] [-6.28345396e-01 7.77928130e-01 3.14444373e-03 -7.62074215e+01] [ 4.79850681e-03 -1.66195073e-04 9.99988473e-01 -3.56156317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.297628 meters 0.019324446935421173 Centerline is valid? [True, True] Translation: X:189.41, Y:-76.25, Z:-0.35 [[ 7.76940333e-01 6.29569020e-01 -2.56294969e-03 1.89409145e+02] [-6.29565108e-01 7.76944552e-01 2.22222127e-03 -7.62483064e+01] [ 3.39031146e-03 -1.12989634e-04 9.99994246e-01 -3.53345534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.357628 meters 0.01869195721297731 Centerline is valid? [True, True] Translation: X:189.46, Y:-76.29, Z:-0.36 [[ 7.75502402e-01 6.31327008e-01 -4.71515644e-03 1.89458038e+02] [-6.31313791e-01 7.75516712e-01 4.08987961e-03 -7.62868182e+01] [ 6.23873408e-03 -1.94968177e-04 9.99980520e-01 -3.56027999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.417628 meters 0.020987913501624 Centerline is valid? [True, True] Translation: X:189.51, Y:-76.33, Z:-0.36 [[ 7.74968656e-01 6.31975134e-01 -5.56888491e-03 1.89506477e+02] [-6.31956697e-01 7.74988632e-01 4.83262169e-03 -7.63261065e+01] [ 7.36991924e-03 -2.25836225e-04 9.99972816e-01 -3.60339326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.47762799999998 meters 0.01982385251521539 Centerline is valid? [True, True] Translation: X:189.56, Y:-76.36, Z:-0.36 [[ 7.73009321e-01 6.34376832e-01 -4.75660354e-03 1.89556605e+02] [-6.34363415e-01 7.73023936e-01 4.12946084e-03 -7.63613140e+01] [ 6.29660267e-03 -1.74696452e-04 9.99980161e-01 -3.59403524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.53762799999998 meters 0.014864561696495674 Centerline is valid? [True, True] Translation: X:189.61, Y:-76.40, Z:-0.35 [[ 7.70338079e-01 6.37626499e-01 -3.41926471e-03 1.89607207e+02] [-6.37619591e-01 7.70345660e-01 2.96990988e-03 -7.63962981e+01] [ 4.52770897e-03 -1.07644502e-04 9.99989744e-01 -3.54614261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.597628 meters 0.013417781294051145 Centerline is valid? [True, True] Translation: X:189.66, Y:-76.43, Z:-0.36 [[ 7.64552932e-01 6.44547873e-01 -4.10531937e-03 1.89655876e+02] [-6.44538012e-01 7.64563950e-01 3.56628938e-03 -7.64321637e+01] [ 5.43742342e-03 -8.05826180e-05 9.99985214e-01 -3.55901593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.657628 meters 0.014934149584584642 Centerline is valid? [True, True] Translation: X:189.71, Y:-76.47, Z:-0.36 [[ 7.56718889e-01 6.53716795e-01 -5.55658646e-03 1.89707696e+02] [-6.53698958e-01 7.56739289e-01 4.82916155e-03 -7.64656376e+01] [ 7.36179130e-03 -2.19829819e-05 9.99972901e-01 -3.61474853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.717628 meters 0.015152908665158534 Centerline is valid? [True, True] Translation: X:189.76, Y:-76.50, Z:-0.36 [[ 7.51378254e-01 6.59844536e-01 -5.99237769e-03 1.89758392e+02] [-6.59823964e-01 7.51402148e-01 5.21051586e-03 -7.65016950e+01] [ 7.94081588e-03 3.88460938e-05 9.99968470e-01 -3.62903216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.777628 meters 0.013277451515280494 Centerline is valid? [True, True] Translation: X:189.81, Y:-76.54, Z:-0.36 [[ 7.47130571e-01 6.64651782e-01 -5.82389193e-03 1.89806894e+02] [-6.64632488e-01 7.47153265e-01 5.06507333e-03 -7.65397541e+01] [ 7.71784988e-03 8.64766527e-05 9.99970213e-01 -3.60106593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.837628 meters 0.014339552874370054 Centerline is valid? [True, True] Translation: X:189.85, Y:-76.58, Z:-0.36 [[ 7.44173588e-01 6.67975206e-01 -3.84659971e-03 1.89852896e+02] [-6.67966824e-01 7.44183525e-01 3.34721279e-03 -7.65796473e+01] [ 5.09843128e-03 7.84936427e-05 9.99987000e-01 -3.57898788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.897628 meters 0.014565154091401428 Centerline is valid? [True, True] Translation: X:189.90, Y:-76.62, Z:-0.36 [[ 7.44281288e-01 6.67863251e-01 -2.01051437e-03 1.89896429e+02] [-6.67860959e-01 7.44284002e-01 1.75049790e-03 -7.66229348e+01] [ 2.66548690e-03 3.98812206e-05 9.99996447e-01 -3.55105121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.957628 meters 0.014497891502955423 Centerline is valid? [True, True] Translation: X:189.94, Y:-76.67, Z:-0.36 [[ 7.44709456e-01 6.67387070e-01 -1.52475740e-03 1.89941223e+02] [-6.67385748e-01 7.44711017e-01 1.32832976e-03 -7.66657029e+01] [ 2.02201374e-03 2.83816254e-05 9.99997955e-01 -3.55105225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.017628 meters 0.014033851512265431 Centerline is valid? [True, True] Translation: X:189.98, Y:-76.71, Z:-0.36 [[ 7.46266256e-01 6.65637140e-01 -3.72476116e-03 1.89983287e+02] [-6.65629230e-01 7.46275549e-01 3.24552099e-03 -7.67109417e+01] [ 4.94003749e-03 5.72871110e-05 9.99987796e-01 -3.58311778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.077628 meters 0.013679763623496941 Centerline is valid? [True, True] Translation: X:190.03, Y:-76.76, Z:-0.36 [[ 7.47464820e-01 6.64271780e-01 -6.27263114e-03 1.90028159e+02] [-6.64249277e-01 7.47491135e-01 5.46820563e-03 -7.67557018e+01] [ 8.32111085e-03 7.92993695e-05 9.99965376e-01 -3.61984845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.137628 meters 0.013862715953405333 Centerline is valid? [True, True] Translation: X:190.08, Y:-76.79, Z:-0.37 [[ 7.47459855e-01 6.64244758e-01 -9.09208095e-03 1.90075127e+02] [-6.64197442e-01 7.47515143e-01 7.92900566e-03 -7.67943360e+01] [ 1.20632686e-02 1.12323495e-04 9.99927230e-01 -3.66083868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.19762799999998 meters 0.013664876757705583 Centerline is valid? [True, True] Translation: X:190.12, Y:-76.84, Z:-0.37 [[ 7.49097892e-01 6.62371675e-01 -1.07755497e-02 1.90121213e+02] [-6.62304962e-01 7.49175383e-01 9.40121092e-03 -7.68360824e+01] [ 1.42998724e-02 9.42727627e-05 9.99897747e-01 -3.68453279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.25762799999998 meters 0.012599834375527533 Centerline is valid? [True, True] Translation: X:190.16, Y:-76.88, Z:-0.36 [[ 7.53875719e-01 6.56947126e-01 -9.58505871e-03 1.90162937e+02] [-6.56893845e-01 7.53936651e-01 8.36682455e-03 -7.68826744e+01] [ 1.27230884e-02 -1.11798069e-05 9.99919058e-01 -3.61529008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.31762799999998 meters 0.012816594869115716 Centerline is valid? [True, True] Translation: X:190.21, Y:-76.93, Z:-0.36 [[ 7.57622021e-01 6.52648205e-01 -7.69380283e-03 1.90207342e+02] [-6.52613617e-01 7.57661083e-01 6.71944936e-03 -7.69260544e+01] [ 1.02147315e-02 -6.97223150e-05 9.99947826e-01 -3.59157877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.377628 meters 0.016952176611679068 Centerline is valid? [True, True] Translation: X:190.25, Y:-76.97, Z:-0.36 [[ 7.63772943e-01 6.45450509e-01 -6.67314607e-03 1.90250910e+02] [-6.45424189e-01 7.63802081e-01 5.83077244e-03 -7.69695221e+01] [ 8.86043789e-03 -1.46376337e-04 9.99960735e-01 -3.61929009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.437628 meters 0.015045714307156868 Centerline is valid? [True, True] Translation: X:190.30, Y:-77.01, Z:-0.36 [[ 7.66243423e-01 6.42530428e-01 -5.06618697e-03 1.90295970e+02] [-6.42515178e-01 7.66260158e-01 4.42901682e-03 -7.70124357e+01] [ 6.72779530e-03 -1.38602987e-04 9.99977359e-01 -3.57638449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.497628 meters 0.01547687145855115 Centerline is valid? [True, True] Translation: X:190.34, Y:-77.05, Z:-0.35 [[ 7.67860520e-01 6.40608773e-01 -3.25897913e-03 1.90342886e+02] [-6.40602438e-01 7.67867430e-01 2.85071787e-03 -7.70537063e+01] [ 4.32865880e-03 -1.01243727e-04 9.99990626e-01 -3.54237284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.557628 meters 0.01598684971983344 Centerline is valid? [True, True] Translation: X:190.39, Y:-77.09, Z:-0.35 [[ 7.67586743e-01 6.40937668e-01 -3.08172839e-03 1.90389733e+02] [-6.40932004e-01 7.67592924e-01 2.69620416e-03 -7.70930089e+01] [ 4.09361171e-03 -9.43922129e-05 9.99991617e-01 -3.54663672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.617628 meters 0.015271931334075247 Centerline is valid? [True, True] Translation: X:190.44, Y:-77.13, Z:-0.35 [[ 7.66139046e-01 6.42664279e-01 -3.68613894e-03 1.90438542e+02] [-6.42656186e-01 7.66147906e-01 3.22678287e-03 -7.71321025e+01] [ 4.89786572e-03 -1.03244350e-04 9.99988000e-01 -3.54459101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.677628 meters 0.01499065411655514 Centerline is valid? [True, True] Translation: X:190.49, Y:-77.17, Z:-0.36 [[ 7.64987049e-01 6.44030221e-01 -4.45967799e-03 1.90486754e+02] [-6.44018388e-01 7.65000040e-01 3.90573786e-03 -7.71715985e+01] [ 5.92706706e-03 -1.15724247e-04 9.99982428e-01 -3.56560659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.737628 meters 0.014510197756532176 Centerline is valid? [True, True] Translation: X:190.54, Y:-77.21, Z:-0.36 [[ 7.63940922e-01 6.45264724e-01 -5.26350101e-03 1.90536243e+02] [-6.45248254e-01 7.63959044e-01 4.61192953e-03 -7.72097204e+01] [ 6.99701463e-03 -1.26976860e-04 9.99975513e-01 -3.58856222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.797628 meters 0.014549918973784767 Centerline is valid? [True, True] Translation: X:190.58, Y:-77.25, Z:-0.36 [[ 7.63387180e-01 6.45915009e-01 -5.81504729e-03 1.90584720e+02] [-6.45894904e-01 7.63409315e-01 5.09810349e-03 -7.72495023e+01] [ 7.73220284e-03 -1.35917437e-04 9.99970097e-01 -3.60275283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.857628 meters 0.014226004683509494 Centerline is valid? [True, True] Translation: X:190.63, Y:-77.29, Z:-0.36 [[ 7.62512496e-01 6.46949282e-01 -5.59640833e-03 1.90632155e+02] [-6.46930670e-01 7.62533023e-01 4.90881740e-03 -7.72899338e+01] [ 7.44320205e-03 -1.22546420e-04 9.99972291e-01 -3.59180240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.917628 meters 0.013778702914228868 Centerline is valid? [True, True] Translation: X:190.68, Y:-77.33, Z:-0.36 [[ 7.60769873e-01 6.49003382e-01 -4.87963263e-03 1.90678974e+02] [-6.48989268e-01 7.60785516e-01 4.28114610e-03 -7.73293026e+01] [ 6.49083213e-03 -9.01377582e-05 9.99978930e-01 -3.58701589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.97762799999998 meters 0.012513849658971137 Centerline is valid? [True, True] Translation: X:190.73, Y:-77.36, Z:-0.36 [[ 7.54908016e-01 6.55814703e-01 -4.57852117e-03 1.90729607e+02] [-6.55802390e-01 7.54921899e-01 4.01880658e-03 -7.73647831e+01] [ 6.09201834e-03 -3.12241731e-05 9.99981443e-01 -3.59216710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.03762799999998 meters 0.012206962801878185 Centerline is valid? [True, True] Translation: X:190.78, Y:-77.40, Z:-0.36 [[ 7.49867714e-01 6.61566486e-01 -5.31003687e-03 1.90780274e+02] [-6.61550047e-01 7.49886515e-01 4.66368316e-03 -7.74024852e+01] [ 7.06726152e-03 1.57097152e-05 9.99975026e-01 -3.60643279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.097628 meters 0.012906286954946437 Centerline is valid? [True, True] Translation: X:190.83, Y:-77.44, Z:-0.36 [[ 7.44488122e-01 6.67609611e-01 -5.90287164e-03 1.90829376e+02] [-6.67589466e-01 7.44511519e-01 5.18679689e-03 -7.74407106e+01] [ 7.85751138e-03 7.91862571e-05 9.99969126e-01 -3.62273382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.157628 meters 0.013384971520113505 Centerline is valid? [True, True] Translation: X:190.88, Y:-77.48, Z:-0.36 [[ 7.42340766e-01 6.70001525e-01 -5.30500532e-03 1.90875500e+02] [-6.69985301e-01 7.42359716e-01 4.66361098e-03 -7.74814876e+01] [ 7.06284871e-03 9.22870354e-05 9.99975054e-01 -3.61355333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.217628 meters 0.013720554551455846 Centerline is valid? [True, True] Translation: X:190.92, Y:-77.52, Z:-0.36 [[ 7.41396660e-01 6.71049843e-01 -4.80623749e-03 1.90920856e+02] [-6.71036532e-01 7.41412233e-01 4.22770574e-03 -7.75246843e+01] [ 6.40040455e-03 9.07540229e-05 9.99979513e-01 -3.60777236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.277628 meters 0.013460016969787754 Centerline is valid? [True, True] Translation: X:190.97, Y:-77.57, Z:-0.36 [[ 7.41609087e-01 6.70813460e-01 -5.02641934e-03 1.90966410e+02] [-6.70798878e-01 7.41626115e-01 4.42388256e-03 -7.75685314e+01] [ 6.69532382e-03 9.09249477e-05 9.99977582e-01 -3.62028232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.337628 meters 0.012693084044102763 Centerline is valid? [True, True] Translation: X:191.01, Y:-77.62, Z:-0.36 [[ 7.44637934e-01 6.67445518e-01 -5.55225745e-03 1.91007126e+02] [-6.67427615e-01 7.44658631e-01 4.88901130e-03 -7.76160387e+01] [ 7.39768511e-03 6.51866764e-05 9.99972635e-01 -3.61818381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.397628 meters 0.012387460856935066 Centerline is valid? [True, True] Translation: X:191.05, Y:-77.66, Z:-0.36 [[ 7.47932942e-01 6.63751737e-01 -5.47223405e-03 1.91049307e+02] [-6.63734231e-01 7.47952960e-01 4.82073108e-03 -7.76610715e+01] [ 7.29274228e-03 2.65254798e-05 9.99973407e-01 -3.63323187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.457628 meters 0.012153915103120307 Centerline is valid? [True, True] Translation: X:191.09, Y:-77.71, Z:-0.36 [[ 7.50937784e-01 6.60357714e-01 -4.48711114e-03 1.91093564e+02] [-6.60345880e-01 7.50951190e-01 3.95337459e-03 -7.77055561e+01] [ 5.98024286e-03 -5.69299970e-06 9.99982118e-01 -3.61698929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.517628 meters 0.01221456631455373 Centerline is valid? [True, True] Translation: X:191.14, Y:-77.75, Z:-0.36 [[ 7.52786675e-01 6.58243458e-01 -5.27001535e-03 1.91138655e+02] [-6.58227063e-01 7.52805121e-01 4.64582321e-03 -7.77488822e+01] [ 7.02537727e-03 -2.84470797e-05 9.99975321e-01 -3.61275334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.577628 meters 0.01316389626738373 Centerline is valid? [True, True] Translation: X:191.18, Y:-77.79, Z:-0.36 [[ 7.58024159e-01 6.52209526e-01 -4.70195781e-03 1.91181747e+02] [-6.52196347e-01 7.58038738e-01 4.14697674e-03 -7.77932830e+01] [ 6.26896390e-03 -7.69088511e-05 9.99980347e-01 -3.60756913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.637628 meters 0.01444179200234337 Centerline is valid? [True, True] Translation: X:191.23, Y:-77.84, Z:-0.36 [[ 7.61968233e-01 6.47599796e-01 -4.34925153e-03 1.91226559e+02] [-6.47588440e-01 7.61980638e-01 3.83661182e-03 -7.78357980e+01] [ 5.79863448e-03 -1.06851314e-04 9.99983182e-01 -3.59522244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.69762799999998 meters 0.017838631772391558 Centerline is valid? [True, True] Translation: X:191.27, Y:-77.88, Z:-0.36 [[ 7.69324298e-01 6.38834452e-01 -5.53779505e-03 1.91269327e+02] [-6.38815795e-01 7.69344197e-01 4.88742516e-03 -7.78807781e+01] [ 7.38272606e-03 -2.22383986e-04 9.99972723e-01 -3.60462382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.75762799999998 meters 0.023232003579962475 Centerline is valid? [True, True] Translation: X:191.31, Y:-77.92, Z:-0.36 [[ 7.75716423e-01 6.31047483e-01 -6.56546092e-03 1.91314816e+02] [-6.31020977e-01 7.75744127e-01 5.79459778e-03 -7.79231760e+01] [ 8.74978409e-03 -3.52021097e-04 9.99961658e-01 -3.63532497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.81762799999998 meters 0.0239592019443832 Centerline is valid? [True, True] Translation: X:191.36, Y:-77.96, Z:-0.36 [[ 7.78330394e-01 6.27833035e-01 -5.24194853e-03 1.91359933e+02] [-6.27816053e-01 7.78347984e-01 4.62819407e-03 -7.79638458e+01] [ 6.98579320e-03 -3.11284678e-04 9.99975551e-01 -3.60077584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.877628 meters 0.024831397248368785 Centerline is valid? [True, True] Translation: X:191.41, Y:-78.00, Z:-0.36 [[ 7.79989559e-01 6.25786094e-01 -2.83780124e-03 1.91409397e+02] [-6.25781102e-01 7.79994701e-01 2.50583712e-03 -7.80014880e+01] [ 3.78158795e-03 -1.78684400e-04 9.99992834e-01 -3.56068624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.937628 meters 0.02487230935884713 Centerline is valid? [True, True] Translation: X:191.46, Y:-78.04, Z:-0.35 [[ 7.78348078e-01 6.27829688e-01 -2.03756835e-03 1.91459083e+02] [-6.27827121e-01 7.78350736e-01 1.79948071e-03 -7.80372935e+01] [ 2.71571024e-03 -1.21381681e-04 9.99996305e-01 -3.54989605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.997628 meters 0.019115157757303262 Centerline is valid? [True, True] Translation: X:191.52, Y:-78.06, Z:-0.35 [[ 7.72551940e-01 6.34949490e-01 -1.62620205e-03 1.91517862e+02] [-6.34947870e-01 7.72553648e-01 1.43638747e-03 -7.80636572e+01] [ 2.16836182e-03 -7.71303936e-05 9.99997646e-01 -3.54572656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.057628 meters 0.01759240069214247 Centerline is valid? [True, True] Translation: X:191.57, Y:-78.10, Z:-0.36 [[ 7.68282934e-01 6.40105894e-01 -2.40376076e-03 1.91570025e+02] [-6.40102379e-01 7.68286689e-01 2.12325281e-03 -7.80980890e+01] [ 3.20588404e-03 -9.26059194e-05 9.99994857e-01 -3.55457998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.117628 meters 0.015929689989551382 Centerline is valid? [True, True] Translation: X:191.62, Y:-78.13, Z:-0.36 [[ 7.63542280e-01 6.45747499e-01 -3.65444094e-03 1.91623331e+02] [-6.45739440e-01 7.63551018e-01 3.22789904e-03 -7.81284032e+01] [ 4.87475984e-03 -1.04820747e-04 9.99988113e-01 -3.57068175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.177628 meters 0.014871512571213006 Centerline is valid? [True, True] Translation: X:191.67, Y:-78.16, Z:-0.36 [[ 7.60875962e-01 6.48885018e-01 -4.00047736e-03 1.91674906e+02] [-6.48875396e-01 7.60886473e-01 3.53476431e-03 -7.81619494e+01] [ 5.33756471e-03 -9.37058633e-05 9.99985751e-01 -3.57497451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.237628 meters 0.01452751871696115 Centerline is valid? [True, True] Translation: X:191.72, Y:-78.20, Z:-0.36 [[ 7.59648680e-01 6.50319055e-01 -4.35996623e-03 1.91724246e+02] [-6.50307640e-01 7.59661186e-01 3.85434966e-03 -7.82005129e+01] [ 5.81865415e-03 -9.26322850e-05 9.99983067e-01 -3.57823850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.297628 meters 0.014025329011243006 Centerline is valid? [True, True] Translation: X:191.77, Y:-78.24, Z:-0.36 [[ 7.58027083e-01 6.52206063e-01 -4.71106145e-03 1.91774772e+02] [-6.52192759e-01 7.58041717e-01 4.16656081e-03 -7.82373026e+01] [ 6.28863733e-03 -8.58457693e-05 9.99980223e-01 -3.58673644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.357628 meters 0.01359642745316207 Centerline is valid? [True, True] Translation: X:191.82, Y:-78.27, Z:-0.36 [[ 7.56601124e-01 6.53863081e-01 -4.22035266e-03 1.91823777e+02] [-6.53852421e-01 7.56612891e-01 3.73411894e-03 -7.82744586e+01] [ 5.63477574e-03 -6.57507811e-05 9.99984122e-01 -3.59307984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.417628 meters 0.011915515555971163 Centerline is valid? [True, True] Translation: X:191.87, Y:-78.31, Z:-0.36 [[ 7.53818017e-01 6.57070264e-01 -4.13102174e-03 1.91874739e+02] [-6.57060089e-01 7.53829335e-01 3.65698529e-03 -7.83109317e+01] [ 5.51698166e-03 -4.23718858e-05 9.99984780e-01 -3.56926721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.47762799999998 meters 0.014155643667846116 Centerline is valid? [True, True] Translation: X:191.92, Y:-78.35, Z:-0.36 [[ 7.52531203e-01 6.58539013e-01 -4.81220356e-03 1.91924175e+02] [-6.58525220e-01 7.52546588e-01 4.26240750e-03 -7.83506194e+01] [ 6.42836899e-03 -3.86372372e-05 9.99979337e-01 -3.59134690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.53762799999998 meters 0.011631706141631164 Centerline is valid? [True, True] Translation: X:191.97, Y:-78.39, Z:-0.36 [[ 7.51067648e-01 6.60193385e-01 -6.48700790e-03 1.91972545e+02] [-6.60168356e-01 7.51095661e-01 5.74886452e-03 -7.83908885e+01] [ 8.66772582e-03 -3.52688167e-05 9.99962434e-01 -3.59704547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.597628 meters 0.011564900589142897 Centerline is valid? [True, True] Translation: X:192.02, Y:-78.43, Z:-0.36 [[ 7.50540608e-01 6.60782648e-01 -7.42213045e-03 1.92019704e+02] [-6.60749873e-01 7.50577305e-01 6.58137563e-03 -7.84319304e+01] [ 9.91974149e-03 -3.54179161e-05 9.99950798e-01 -3.59947811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.657628 meters 0.011897705628396383 Centerline is valid? [True, True] Translation: X:192.06, Y:-78.47, Z:-0.36 [[ 7.48446755e-01 6.63100984e-01 -1.11597669e-02 1.92064493e+02] [-6.63027080e-01 7.48529949e-01 9.89979939e-03 -7.84731933e+01] [ 1.49179865e-02 -1.02450410e-05 9.99888721e-01 -3.63965587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.717628 meters 0.015734424117928317 Centerline is valid? [True, True] Translation: X:192.11, Y:-78.52, Z:-0.37 [[ 7.47636887e-01 6.63988801e-01 -1.25681235e-02 1.92110715e+02] [-6.63895097e-01 7.47742517e-01 1.11546970e-02 -7.85152574e+01] [ 1.68043142e-02 4.25261086e-06 9.99858798e-01 -3.65674474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.777628 meters 0.011527345574669537 Centerline is valid? [True, True] Translation: X:192.15, Y:-78.56, Z:-0.36 [[ 7.47305140e-01 6.64403061e-01 -1.01784766e-02 1.92154304e+02] [-6.64341580e-01 7.47374453e-01 9.03835529e-03 -7.85598851e+01] [ 1.36122443e-02 7.57585647e-06 9.99907349e-01 -3.61553695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.837628 meters 0.01456667247356277 Centerline is valid? [True, True] Translation: X:192.20, Y:-78.61, Z:-0.36 [[ 7.49244266e-01 6.62236473e-01 -8.71114435e-03 1.92195538e+02] [-6.62191249e-01 7.49294904e-01 7.73925049e-03 -7.86066034e+01] [ 1.16524300e-02 -3.01454962e-05 9.99932108e-01 -3.60386597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.897628 meters 0.01162892691696178 Centerline is valid? [True, True] Translation: X:192.24, Y:-78.66, Z:-0.35 [[ 7.52835403e-01 6.58188551e-01 -5.16600901e-03 1.92235361e+02] [-6.58172533e-01 7.52853126e-01 4.59221956e-03 -7.86551990e+01] [ 6.91179236e-03 -5.70602289e-05 9.99976112e-01 -3.53341033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.957628 meters 0.01234709081365875 Centerline is valid? [True, True] Translation: X:192.28, Y:-78.70, Z:-0.35 [[ 7.55019911e-01 6.55694386e-01 -3.13147407e-03 1.92277085e+02] [-6.55688475e-01 7.55026404e-01 2.78439256e-03 -7.87008763e+01] [ 4.19005618e-03 -4.90003703e-05 9.99991220e-01 -3.52063123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.017628 meters 0.012663349794184181 Centerline is valid? [True, True] Translation: X:192.32, Y:-78.75, Z:-0.35 [[ 7.55921752e-01 6.54654963e-01 -3.03059577e-03 1.92319400e+02] [-6.54649413e-01 7.55927825e-01 2.69612451e-03 -7.87459618e+01] [ 4.05594297e-03 -5.40814190e-05 9.99991773e-01 -3.52586648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.077628 meters 0.012628856407298316 Centerline is valid? [True, True] Translation: X:192.36, Y:-78.79, Z:-0.35 [[ 7.55534078e-01 6.55090183e-01 -5.01078154e-03 1.92364602e+02] [-6.55075009e-01 7.55550689e-01 4.45970465e-03 -7.87888843e+01] [ 6.70740818e-03 -8.70210819e-05 9.99977501e-01 -3.54561404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.137628 meters 0.017313663987722876 Centerline is valid? [True, True] Translation: X:192.41, Y:-78.83, Z:-0.36 [[ 7.56412310e-01 6.54040574e-01 -8.44662875e-03 1.92407683e+02] [-6.53997350e-01 7.56459451e-01 7.52099966e-03 -7.88336874e+01] [ 1.13085711e-02 -1.64903910e-04 9.99936042e-01 -3.60535833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.19762799999998 meters 0.016294125933461794 Centerline is valid? [True, True] Translation: X:192.45, Y:-78.88, Z:-0.36 [[ 7.58891606e-01 6.51150252e-01 -9.32090350e-03 1.92449447e+02] [-6.51097377e-01 7.58948810e-01 8.30113082e-03 -7.88795322e+01] [ 1.24793720e-02 -2.30842680e-04 9.99922103e-01 -3.60033211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.25762799999998 meters 0.01538898001481267 Centerline is valid? [True, True] Translation: X:192.49, Y:-78.92, Z:-0.36 [[ 7.60259775e-01 6.49553221e-01 -9.25675980e-03 1.92491615e+02] [-6.49500929e-01 7.60316083e-01 8.24603460e-03 -7.89233609e+01] [ 1.23943017e-02 -2.56854319e-04 9.99923155e-01 -3.58837983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.31762799999998 meters 0.015671890319186824 Centerline is valid? [True, True] Translation: X:192.54, Y:-78.97, Z:-0.36 [[ 7.61710845e-01 6.47872764e-01 -7.58097186e-03 1.92535383e+02] [-6.47837571e-01 7.61748532e-01 6.75683512e-03 -7.89680691e+01] [ 1.01523636e-02 -2.35516189e-04 9.99948436e-01 -3.57058441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.377628 meters 0.01614126523657958 Centerline is valid? [True, True] Translation: X:192.58, Y:-79.01, Z:-0.36 [[ 7.60684788e-01 6.49086141e-01 -6.77015949e-03 1.92581025e+02] [-6.49058093e-01 7.60714889e-01 6.03728441e-03 -7.90101479e+01] [ 9.06887876e-03 -1.98243599e-04 9.99958857e-01 -3.56679811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.437628 meters 0.015174917816250525 Centerline is valid? [True, True] Translation: X:192.62, Y:-79.05, Z:-0.36 [[ 7.58286201e-01 6.51893558e-01 -6.06851949e-03 1.92624412e+02] [-6.51871092e-01 7.58310469e-01 5.41410041e-03 -7.90531345e+01] [ 8.13123903e-03 -1.49545203e-04 9.99966930e-01 -3.55790133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.497628 meters 0.01559659374647202 Centerline is valid? [True, True] Translation: X:192.67, Y:-79.09, Z:-0.36 [[ 7.53911748e-01 6.56938531e-01 -6.98877528e-03 1.92673208e+02] [-6.56908922e-01 7.53944132e-01 6.23817153e-03 -7.90921328e+01] [ 9.36724135e-03 -1.12041972e-04 9.99956120e-01 -3.58290426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.557628 meters 0.012329812965386284 Centerline is valid? [True, True] Translation: X:192.72, Y:-79.13, Z:-0.36 [[ 7.50119515e-01 6.61269449e-01 -6.59007514e-03 1.92720449e+02] [-6.61243262e-01 7.50148460e-01 5.88524702e-03 -7.91326994e+01] [ 8.83526877e-03 -5.69958571e-05 9.99960967e-01 -3.56398302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.617628 meters 0.014838559557979091 Centerline is valid? [True, True] Translation: X:192.77, Y:-79.17, Z:-0.36 [[ 7.45302788e-01 6.66689943e-01 -6.94790939e-03 1.92766592e+02] [-6.66661040e-01 7.45335173e-01 6.20792194e-03 -7.91743661e+01] [ 9.31728037e-03 5.11897337e-06 9.99956593e-01 -3.58501734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.677628 meters 0.01236677259753383 Centerline is valid? [True, True] Translation: X:192.81, Y:-79.22, Z:-0.36 [[ 7.42063129e-01 6.70300144e-01 -6.32680996e-03 1.92813910e+02] [-6.70276280e-01 7.42090099e-01 5.65631754e-03 -7.92161791e+01] [ 8.48649349e-03 4.33659496e-05 9.99963988e-01 -3.56651019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.737628 meters 0.012751936083907445 Centerline is valid? [True, True] Translation: X:192.86, Y:-79.26, Z:-0.36 [[ 7.39221532e-01 6.73432802e-01 -6.30771317e-03 1.92858840e+02] [-6.73409172e-01 7.39248439e-01 5.64196984e-03 -7.92589796e+01] [ 8.46245468e-03 7.70063116e-05 9.99964190e-01 -3.57475787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.797628 meters 0.013434327193201855 Centerline is valid? [True, True] Translation: X:192.90, Y:-79.30, Z:-0.36 [[ 7.37546740e-01 6.75266696e-01 -6.30043134e-03 1.92903429e+02] [-6.75243166e-01 7.37573643e-01 5.63797443e-03 -7.93011202e+01] [ 8.45416846e-03 9.60535468e-05 9.99964258e-01 -3.57695348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.857628 meters 0.014105284778609211 Centerline is valid? [True, True] Translation: X:192.95, Y:-79.35, Z:-0.36 [[ 7.35798386e-01 6.77157971e-01 -7.60375702e-03 1.92946775e+02] [-6.77123768e-01 7.35837660e-01 6.80742823e-03 -7.93454176e+01] [ 1.02048351e-02 1.39789901e-04 9.99947920e-01 -3.60009380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.917628 meters 0.014101169577918526 Centerline is valid? [True, True] Translation: X:192.99, Y:-79.39, Z:-0.36 [[ 7.34645601e-01 6.78398434e-01 -8.45018766e-03 1.92991854e+02] [-6.78356232e-01 7.34694178e-01 7.56889890e-03 -7.93881608e+01] [ 1.13430328e-02 1.71779171e-04 9.99935651e-01 -3.60894637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.97762799999998 meters 0.013899227923009088 Centerline is valid? [True, True] Translation: X:193.04, Y:-79.43, Z:-0.36 [[ 7.34593658e-01 6.78448135e-01 -8.96030094e-03 1.93039136e+02] [-6.78400630e-01 7.34648281e-01 8.03046610e-03 -7.94289864e+01] [ 1.20309244e-02 1.79544344e-04 9.99927610e-01 -3.61732599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.03762799999998 meters 0.013421247509332717 Centerline is valid? [True, True] Translation: X:193.09, Y:-79.47, Z:-0.36 [[ 7.36207192e-01 6.76691725e-01 -9.34237831e-03 1.93085748e+02] [-6.76639890e-01 7.36266450e-01 8.37697824e-03 -7.94704667e+01] [ 1.25471116e-02 1.54234205e-04 9.99921270e-01 -3.61579839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.097628 meters 0.015302918135806505 Centerline is valid? [True, True] Translation: X:193.13, Y:-79.51, Z:-0.36 [[ 7.38029341e-01 6.74707384e-01 -9.09058507e-03 1.93130671e+02] [-6.74658109e-01 7.38085316e-01 8.15489401e-03 -7.95117640e+01] [ 1.22117945e-02 1.14485885e-04 9.99925427e-01 -3.62807557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.157628 meters 0.013239776085291833 Centerline is valid? [True, True] Translation: X:193.18, Y:-79.55, Z:-0.36 [[ 7.37054851e-01 6.75790145e-01 -7.60437004e-03 1.93177131e+02] [-6.75755688e-01 7.37094070e-01 6.82508194e-03 -7.95524770e+01] [ 1.02174592e-02 1.08236552e-04 9.99947795e-01 -3.59296057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.217628 meters 0.013197446404904499 Centerline is valid? [True, True] Translation: X:193.22, Y:-79.59, Z:-0.36 [[ 7.36661690e-01 6.76229024e-01 -6.62279189e-03 1.93224130e+02] [-6.76202880e-01 7.36691454e-01 5.94707944e-03 -7.95934023e+01] [ 8.90054191e-03 9.73653572e-05 9.99960385e-01 -3.58963550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.277628 meters 0.013046285234086834 Centerline is valid? [True, True] Translation: X:193.27, Y:-79.64, Z:-0.36 [[ 7.37375504e-01 6.75446927e-01 -6.98679099e-03 1.93270951e+02] [-6.75417762e-01 7.37408598e-01 6.27746846e-03 -7.96353889e+01] [ 9.39221653e-03 9.01512677e-05 9.99955888e-01 -3.59673855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.337628 meters 0.012594160808604557 Centerline is valid? [True, True] Translation: X:193.31, Y:-79.68, Z:-0.36 [[ 7.40023941e-01 6.72553152e-01 -6.06828783e-03 1.93313638e+02] [-6.72531031e-01 7.40048820e-01 5.45488467e-03 -7.96809629e+01] [ 8.15952913e-03 4.43666145e-05 9.99966710e-01 -3.57327921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.397628 meters 0.012498802951913064 Centerline is valid? [True, True] Translation: X:193.36, Y:-79.72, Z:-0.36 [[ 7.41515981e-01 6.70911435e-01 -5.64765031e-03 1.93356921e+02] [-6.70892210e-01 7.41537488e-01 5.07902169e-03 -7.97237627e+01] [ 7.59551815e-03 2.27888434e-05 9.99971153e-01 -3.57144327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.457628 meters 0.012458490730672218 Centerline is valid? [True, True] Translation: X:193.40, Y:-79.77, Z:-0.36 [[ 7.42105992e-01 6.70252531e-01 -6.34361689e-03 1.93402194e+02] [-6.70228225e-01 7.42133104e-01 5.70803276e-03 -7.97671489e+01] [ 8.53363150e-03 1.57057733e-05 9.99963588e-01 -3.58980085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.517628 meters 0.012393384449137424 Centerline is valid? [True, True] Translation: X:193.45, Y:-79.81, Z:-0.36 [[ 7.41529911e-01 6.70888997e-01 -6.43002772e-03 1.93448813e+02] [-6.70864020e-01 7.41557789e-01 5.78908609e-03 -7.98087666e+01] [ 8.65207129e-03 2.08937466e-05 9.99962570e-01 -3.58799964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.577628 meters 0.015969890233258704 Centerline is valid? [True, True] Translation: X:193.49, Y:-79.85, Z:-0.36 [[ 7.40644375e-01 6.71853836e-01 -7.63754244e-03 1.93494513e+02] [-6.71818634e-01 7.40683753e-01 6.87761975e-03 -7.98495876e+01] [ 1.02777588e-02 3.71729474e-05 9.99947182e-01 -3.61764030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.637628 meters 0.012514070201306652 Centerline is valid? [True, True] Translation: X:193.54, Y:-79.89, Z:-0.36 [[ 7.39769922e-01 6.72827649e-01 -6.58917274e-03 1.93540332e+02] [-6.72801458e-01 7.39799265e-01 5.93679365e-03 -7.98914529e+01] [ 8.86910407e-03 4.13436552e-05 9.99960668e-01 -3.57038028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.69762799999998 meters 0.012450636744017989 Centerline is valid? [True, True] Translation: X:193.59, Y:-79.93, Z:-0.36 [[ 7.41000369e-01 6.71485001e-01 -5.13288462e-03 1.93585575e+02] [-6.71469059e-01 7.41018146e-01 4.62709487e-03 -7.99342433e+01] [ 6.91058545e-03 1.78942008e-05 9.99976121e-01 -3.55549239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.75762799999998 meters 0.016170351958743515 Centerline is valid? [True, True] Translation: X:193.63, Y:-79.98, Z:-0.36 [[ 7.43965642e-01 6.68195028e-01 -5.52525069e-03 1.93631702e+02] [-6.68176443e-01 7.43986159e-01 4.98364812e-03 -7.99774211e+01] [ 7.44075893e-03 -1.58206253e-05 9.99972317e-01 -3.59606117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.81762799999998 meters 0.012629559953505771 Centerline is valid? [True, True] Translation: X:193.68, Y:-80.02, Z:-0.36 [[ 7.44330081e-01 6.67784791e-01 -6.01698566e-03 1.93678542e+02] [-6.67762713e-01 7.44354400e-01 5.43017707e-03 -8.00194568e+01] [ 8.10495941e-03 -2.39254682e-05 9.99967154e-01 -3.56992414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.877628 meters 0.01603833173700068 Centerline is valid? [True, True] Translation: X:193.72, Y:-80.06, Z:-0.36 [[ 7.47884167e-01 6.63780339e-01 -8.05813216e-03 1.93721279e+02] [-6.63740476e-01 7.47927572e-01 7.27518807e-03 -8.00633661e+01] [ 1.08560260e-02 -9.24894988e-05 9.99941067e-01 -3.61847511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.937628 meters 0.013756459994172826 Centerline is valid? [True, True] Translation: X:193.77, Y:-80.11, Z:-0.36 [[ 7.49575814e-01 6.61870114e-01 -8.00324588e-03 1.93766506e+02] [-6.61830646e-01 7.49618528e-01 7.22895377e-03 -8.01052442e+01] [ 1.07840098e-02 -1.21855513e-04 9.99941843e-01 -3.58761557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.997628 meters 0.014480189628682059 Centerline is valid? [True, True] Translation: X:193.81, Y:-80.15, Z:-0.36 [[ 7.51500024e-01 6.59700063e-01 -6.59855787e-03 1.93811877e+02] [-6.59673124e-01 7.51528982e-01 5.96317940e-03 -8.01471033e+01] [ 8.89291730e-03 -1.28438182e-04 9.99960449e-01 -3.58063388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.057628 meters 0.014115953166769278 Centerline is valid? [True, True] Translation: X:193.86, Y:-80.19, Z:-0.36 [[ 7.51510414e-01 6.59698275e-01 -5.50300431e-03 1.93859261e+02] [-6.59679534e-01 7.51530554e-01 4.97375198e-03 -8.01880468e+01] [ 7.41685148e-03 -1.07607094e-04 9.99972489e-01 -3.56743416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.117628 meters 0.013737897396861341 Centerline is valid? [True, True] Translation: X:193.91, Y:-80.23, Z:-0.36 [[ 7.49340997e-01 6.62163153e-01 -5.29419568e-03 1.93906230e+02] [-6.62145849e-01 7.49359695e-01 4.78772176e-03 -8.02280142e+01] [ 7.13750980e-03 -8.21065000e-05 9.99974524e-01 -3.56411548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.177628 meters 0.013110618818513447 Centerline is valid? [True, True] Translation: X:193.95, Y:-80.27, Z:-0.36 [[ 7.46216754e-01 6.65676567e-01 -5.93829660e-03 1.93954639e+02] [-6.65654887e-01 7.46240380e-01 5.37282328e-03 -8.02667012e+01] [ 8.00795927e-03 -5.64345997e-05 9.99967934e-01 -3.57544097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.237628 meters 0.015292709489914139 Centerline is valid? [True, True] Translation: X:194.01, Y:-80.30, Z:-0.36 [[ 7.40947286e-01 6.71516847e-01 -7.88938780e-03 1.94005829e+02] [-6.71478865e-01 7.40989287e-01 7.14210616e-03 -8.03043382e+01] [ 1.06419965e-02 5.63299413e-06 9.99943372e-01 -3.62678080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.297628 meters 0.01276643440873287 Centerline is valid? [True, True] Translation: X:194.05, Y:-80.34, Z:-0.36 [[ 7.37345226e-01 6.75473578e-01 -7.58044242e-03 1.94054887e+02] [-6.75438680e-01 7.37384189e-01 6.86634983e-03 -8.03442020e+01] [ 1.02277363e-02 5.72537610e-05 9.99947694e-01 -3.61217542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.357628 meters 0.01316072789680117 Centerline is valid? [True, True] Translation: X:194.10, Y:-80.38, Z:-0.36 [[ 7.35161259e-01 6.77852268e-01 -7.36386668e-03 1.94100225e+02] [-6.77819426e-01 7.35198134e-01 6.67309840e-03 -8.03849749e+01] [ 9.93727593e-03 8.55684684e-05 9.99950620e-01 -3.60508174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.417628 meters 0.013208470281009363 Centerline is valid? [True, True] Translation: X:194.14, Y:-80.43, Z:-0.36 [[ 7.34956927e-01 6.78090172e-01 -5.65991112e-03 1.94144258e+02] [-6.78070759e-01 7.34978717e-01 5.13136921e-03 -8.04278829e+01] [ 7.63944524e-03 6.64848841e-05 9.99970817e-01 -3.59024634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.47762799999998 meters 0.013041844978340876 Centerline is valid? [True, True] Translation: X:194.19, Y:-80.47, Z:-0.36 [[ 7.35053382e-01 6.77997524e-01 -3.98546631e-03 1.94188475e+02] [-6.77987886e-01 7.35064185e-01 3.61521846e-03 -8.04713840e+01] [ 5.38068270e-03 4.47193258e-05 9.99985523e-01 -3.57302124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.53762799999998 meters 0.01290161638004505 Centerline is valid? [True, True] Translation: X:194.23, Y:-80.52, Z:-0.36 [[ 7.34506716e-01 6.78593421e-01 -3.29447066e-03 1.94232884e+02] [-6.78586833e-01 7.34514103e-01 2.99032061e-03 -8.05158673e+01] [ 4.44904706e-03 3.91738381e-05 9.99990102e-01 -3.57530262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.597628 meters 0.013046739724551459 Centerline is valid? [True, True] Translation: X:194.28, Y:-80.56, Z:-0.36 [[ 7.34039518e-01 6.79089675e-01 -4.81655330e-03 1.94277476e+02] [-6.79075593e-01 7.34055318e-01 4.37366821e-03 -8.05588769e+01] [ 6.50572949e-03 6.03584848e-05 9.99978836e-01 -3.59118713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.657628 meters 0.013515312430635319 Centerline is valid? [True, True] Translation: X:194.33, Y:-80.60, Z:-0.36 [[ 7.32335734e-01 6.80912841e-01 -6.48657867e-03 1.94325742e+02] [-6.80887349e-01 7.32364454e-01 5.89283941e-03 -8.05981202e+01] [ 8.76304967e-03 1.01092471e-04 9.99961599e-01 -3.62516007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.717628 meters 0.01407035063374842 Centerline is valid? [True, True] Translation: X:194.37, Y:-80.64, Z:-0.36 [[ 7.30768753e-01 6.82582543e-01 -7.62243627e-03 1.94373326e+02] [-6.82547401e-01 7.30808492e-01 6.92772087e-03 -8.06368126e+01] [ 1.02992825e-02 1.40112121e-04 9.99946951e-01 -3.64023182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.777628 meters 0.016951608451732908 Centerline is valid? [True, True] Translation: X:194.42, Y:-80.68, Z:-0.37 [[ 7.31417634e-01 6.81877434e-01 -8.45042051e-03 1.94421110e+02] [-6.81834146e-01 7.31466435e-01 7.68454506e-03 -8.06773779e+01] [ 1.14211168e-02 1.41173489e-04 9.99934767e-01 -3.67418005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.837628 meters 0.012808425919803733 Centerline is valid? [True, True] Translation: X:194.46, Y:-80.72, Z:-0.36 [[ 7.34359775e-01 6.78714890e-01 -7.86246581e-03 1.94464556e+02] [-6.78677197e-01 7.34401860e-01 7.15338472e-03 -8.07218271e+01] [ 1.06293182e-02 8.29182626e-05 9.99943504e-01 -3.63426806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.897628 meters 0.01501828982022235 Centerline is valid? [True, True] Translation: X:194.50, Y:-80.77, Z:-0.36 [[ 7.43919761e-01 6.68236203e-01 -6.61564633e-03 1.94501854e+02] [-6.68209072e-01 7.43949174e-01 6.02176425e-03 -8.07716416e+01] [ 8.94566550e-03 -5.90745233e-05 9.99959985e-01 -3.63830520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.957628 meters 0.014497712981326122 Centerline is valid? [True, True] Translation: X:194.54, Y:-80.82, Z:-0.36 [[ 7.50977890e-01 6.60313197e-01 -4.32331451e-03 1.94543480e+02] [-6.60301476e-01 7.50990327e-01 3.93559143e-03 -8.08180927e+01] [ 5.84549034e-03 -1.00851191e-04 9.99982910e-01 -3.58592380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.017628 meters 0.017572710241797157 Centerline is valid? [True, True] Translation: X:194.59, Y:-80.86, Z:-0.36 [[ 7.59725890e-01 6.50240880e-01 -1.83577055e-03 1.94586386e+02] [-6.50238734e-01 7.59728104e-01 1.67238812e-03 -8.08624966e+01] [ 2.48214160e-03 -7.68674381e-05 9.99996917e-01 -3.56073558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.077628 meters 0.020929109812841 Centerline is valid? [True, True] Translation: X:194.63, Y:-80.91, Z:-0.36 [[ 7.64871230e-01 6.44180217e-01 -1.96212117e-03 1.94631110e+02] [-6.44177743e-01 7.64873739e-01 1.78834498e-03 -8.09057933e+01] [ 2.65279141e-03 -1.03898833e-04 9.99996476e-01 -3.58892710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.137628 meters 0.02297143445434277 Centerline is valid? [True, True] Translation: X:194.68, Y:-80.95, Z:-0.36 [[ 7.68214485e-01 6.40186471e-01 -2.79037089e-03 1.94675696e+02] [-6.40181438e-01 7.68219535e-01 2.54416369e-03 -8.09484584e+01] [ 3.77235660e-03 -1.68119756e-04 9.99992871e-01 -3.60172494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.19762799999998 meters 0.021984439597451756 Centerline is valid? [True, True] Translation: X:194.72, Y:-80.99, Z:-0.36 [[ 7.66861147e-01 6.41804536e-01 -3.30454574e-03 1.94723373e+02] [-6.41797486e-01 7.66868243e-01 3.01424132e-03 -8.09868234e+01] [ 4.46870493e-03 -1.90655407e-04 9.99989997e-01 -3.60625000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.25762799999998 meters 0.020681313275826035 Centerline is valid? [True, True] Translation: X:194.78, Y:-81.02, Z:-0.36 [[ 7.62649983e-01 6.46805346e-01 -2.80138174e-03 1.94776256e+02] [-6.46800308e-01 7.62655116e-01 2.55654285e-03 -8.10207228e+01] [ 3.79007370e-03 -1.37812788e-04 9.99992808e-01 -3.61702636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.31762799999998 meters 0.017012144951220543 Centerline is valid? [True, True] Translation: X:194.83, Y:-81.06, Z:-0.36 [[ 7.58532384e-01 6.51634113e-01 -1.26691518e-03 1.94825183e+02] [-6.51633088e-01 7.58533441e-01 1.15691533e-03 -8.10578264e+01] [ 1.71488303e-03 -5.19938901e-05 9.99998528e-01 -3.56749576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.377628 meters 0.014423219111123363 Centerline is valid? [True, True] Translation: X:194.88, Y:-81.09, Z:-0.36 [[ 7.52086504e-01 6.59063264e-01 1.22677297e-03 1.94878378e+02] [-6.59062314e-01 7.52087503e-01 -1.11979654e-03 -8.10912204e+01] [-1.66065739e-03 3.36640332e-05 9.99998621e-01 -3.55177037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.437628 meters 0.0172240721948092 Centerline is valid? [True, True] Translation: X:194.93, Y:-81.13, Z:-0.36 [[ 7.50486956e-01 6.60884534e-01 9.80726084e-04 1.94925883e+02] [-6.60883928e-01 7.50487596e-01 -8.95500418e-04 -8.11305437e+01] [-1.32784514e-03 2.39152758e-05 9.99999118e-01 -3.58687287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.497628 meters 0.01272704023426336 Centerline is valid? [True, True] Translation: X:194.98, Y:-81.16, Z:-0.36 [[ 7.45556862e-01 6.66438375e-01 2.20400148e-03 1.94977969e+02] [-6.66435332e-01 7.45560119e-01 -2.01407211e-03 -8.11641886e+01] [-2.98547055e-03 3.27808236e-05 9.99995543e-01 -3.56134900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.557628 meters 0.012347833769408916 Centerline is valid? [True, True] Translation: X:195.03, Y:-81.20, Z:-0.36 [[ 7.43760048e-01 6.68441770e-01 2.56753101e-03 1.95025863e+02] [-6.68437649e-01 7.43764479e-01 -2.34739268e-03 -8.12034786e+01] [-3.47873368e-03 2.96625028e-05 9.99993949e-01 -3.55923452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.617628 meters 0.012245754202040979 Centerline is valid? [True, True] Translation: X:195.08, Y:-81.24, Z:-0.36 [[ 7.42777806e-01 6.69533859e-01 2.35425120e-03 1.95075460e+02] [-6.69530397e-01 7.42781536e-01 -2.15341145e-03 -8.12413873e+01] [-3.19047621e-03 2.32634917e-05 9.99994910e-01 -3.57978653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.677628 meters 0.012524167124182136 Centerline is valid? [True, True] Translation: X:195.12, Y:-81.28, Z:-0.36 [[ 7.43425790e-01 6.68816835e-01 1.46158145e-03 1.95121815e+02] [-6.68815498e-01 7.43427226e-01 -1.33731211e-03 -8.12822461e+01] [-1.98099630e-03 1.66639915e-05 9.99998038e-01 -3.60205709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.737628 meters 0.013248767461528605 Centerline is valid? [True, True] Translation: X:195.17, Y:-81.33, Z:-0.36 [[ 7.48102083e-01 6.63583569e-01 -3.46571064e-04 1.95165356e+02] [-6.63583493e-01 7.48102163e-01 3.17880562e-04 -8.13260601e+01] [ 4.70210881e-04 -7.82827313e-06 9.99999889e-01 -3.61166553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.797628 meters 0.014852384885090223 Centerline is valid? [True, True] Translation: X:195.21, Y:-81.37, Z:-0.36 [[ 7.53012879e-01 6.58005394e-01 -7.10606109e-04 1.95207864e+02] [-6.58005073e-01 7.53013214e-01 6.50919321e-04 -8.13713637e+01] [ 9.63404215e-04 -2.25682074e-05 9.99999536e-01 -3.62269569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.857628 meters 0.018084333092632184 Centerline is valid? [True, True] Translation: X:195.25, Y:-81.42, Z:-0.36 [[ 7.59762685e-01 6.50200440e-01 -2.24218909e-04 1.95247474e+02] [-6.50200408e-01 7.59762718e-01 2.05606389e-04 -8.14172193e+01] [ 3.04038532e-04 -1.04248364e-05 9.99999954e-01 -3.63179150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.917628 meters 0.01953660602254342 Centerline is valid? [True, True] Translation: X:195.29, Y:-81.46, Z:-0.36 [[ 7.62516775e-01 6.46967136e-01 -1.30110368e-03 1.95290996e+02] [-6.46966040e-01 7.62517882e-01 1.19282067e-03 -8.14610769e+01] [ 1.76383059e-03 -6.77758772e-05 9.99998442e-01 -3.64008697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.97762799999998 meters 0.020414934799661805 Centerline is valid? [True, True] Translation: X:195.34, Y:-81.50, Z:-0.37 [[ 7.63990558e-01 6.45224743e-01 -1.85975613e-03 1.95336103e+02] [-6.45222499e-01 7.63992815e-01 1.70465860e-03 -8.15036208e+01] [ 2.52072823e-03 -1.02386573e-04 9.99996818e-01 -3.65185369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.03762799999998 meters 0.021105304550644226 Centerline is valid? [True, True] Translation: X:195.38, Y:-81.54, Z:-0.37 [[ 7.62791449e-01 6.46638746e-01 -2.74529539e-03 1.95383751e+02] [-6.46633861e-01 7.62796375e-01 2.51793050e-03 -8.15430666e+01] [ 3.72229279e-03 -1.45454900e-04 9.99993062e-01 -3.66538472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.097628 meters 0.017557715285545023 Centerline is valid? [True, True] Translation: X:195.43, Y:-81.58, Z:-0.37 [[ 7.56676073e-01 6.53787315e-01 -1.86215697e-03 1.95433117e+02] [-6.53785086e-01 7.56678360e-01 1.70876651e-03 -8.15795059e+01] [ 2.52622375e-03 -7.55322753e-05 9.99996806e-01 -3.65121340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.157628 meters 0.013344459279694606 Centerline is valid? [True, True] Translation: X:195.49, Y:-81.61, Z:-0.37 [[ 7.47724499e-01 6.64005689e-01 -2.12557390e-03 1.95485202e+02] [-6.64002824e-01 7.47727519e-01 1.95127858e-03 -8.16129924e+01] [ 2.88501018e-03 -4.76317250e-05 9.99995837e-01 -3.65145215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.217628 meters 0.012164801259456676 Centerline is valid? [True, True] Translation: X:195.53, Y:-81.65, Z:-0.37 [[ 7.41672123e-01 6.70757931e-01 -2.50223328e-03 1.95534396e+02] [-6.70753997e-01 7.41676343e-01 2.29731771e-03 -8.16497960e+01] [ 3.39679131e-03 -2.54735301e-05 9.99994231e-01 -3.66076581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.277628 meters 0.01167417990817539 Centerline is valid? [True, True] Translation: X:195.58, Y:-81.69, Z:-0.36 [[ 7.34145013e-01 6.78991370e-01 -1.34899487e-03 1.95583754e+02] [-6.78990238e-01 7.34146252e-01 1.23956133e-03 -8.16879867e+01] [ 1.83201097e-03 5.93657900e-06 9.99998322e-01 -3.64673299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.337628 meters 0.01226454827075979 Centerline is valid? [True, True] Translation: X:195.63, Y:-81.73, Z:-0.36 [[ 7.30378860e-01 6.83041780e-01 -8.04772416e-04 1.95630289e+02] [-6.83041380e-01 7.30379303e-01 7.40083401e-04 -8.17287061e+01] [ 1.09329700e-03 9.15159079e-06 9.99999402e-01 -3.63581302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.397628 meters 0.013158112384977355 Centerline is valid? [True, True] Translation: X:195.68, Y:-81.77, Z:-0.36 [[ 7.25905715e-01 6.87793485e-01 -1.00700015e-03 1.95676787e+02] [-6.87792862e-01 7.25906414e-01 9.26369931e-04 -8.17694410e+01] [ 1.36813907e-03 2.01502849e-05 9.99999064e-01 -3.64165843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.457628 meters 0.014460262118772238 Centerline is valid? [True, True] Translation: X:195.72, Y:-81.81, Z:-0.37 [[ 7.23760288e-01 6.90050100e-01 -1.38032563e-03 1.95721999e+02] [-6.90048932e-01 7.23761604e-01 1.26963378e-03 -8.18099613e+01] [ 1.87513761e-03 3.35817173e-05 9.99998241e-01 -3.65103641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.517628 meters 0.015013955907995513 Centerline is valid? [True, True] Translation: X:195.77, Y:-81.85, Z:-0.37 [[ 7.22337719e-01 6.91538078e-01 -1.81870313e-03 1.95765010e+02] [-6.91536053e-01 7.22340006e-01 1.67385374e-03 -8.18549222e+01] [ 2.47125563e-03 4.86110909e-05 9.99996945e-01 -3.65407305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.577628 meters 0.014165591405639572 Centerline is valid? [True, True] Translation: X:195.81, Y:-81.90, Z:-0.37 [[ 7.22413875e-01 6.91458632e-01 -1.77579903e-03 1.95807616e+02] [-6.91456699e-01 7.22416056e-01 1.63544428e-03 -8.19008104e+01] [ 2.41370779e-03 4.64205013e-05 9.99997086e-01 -3.65445698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.637628 meters 0.014233903504852707 Centerline is valid? [True, True] Translation: X:195.85, Y:-81.95, Z:-0.37 [[ 7.23592238e-01 6.90225693e-01 -1.66302494e-03 1.95848103e+02] [-6.90223994e-01 7.23594148e-01 1.53220746e-03 -8.19469357e+01] [ 2.26092407e-03 3.91662964e-05 9.99997443e-01 -3.65892020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.69762799999998 meters 0.013192534280459835 Centerline is valid? [True, True] Translation: X:195.89, Y:-82.00, Z:-0.37 [[ 7.26198262e-01 6.87477321e-01 -3.31932549e-03 1.95886752e+02] [-6.87470517e-01 7.26205845e-01 3.05929171e-03 -8.19970957e+01] [ 4.51370724e-03 6.02860866e-05 9.99989811e-01 -3.67679860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.75762799999998 meters 0.01326595225362561 Centerline is valid? [True, True] Translation: X:195.93, Y:-82.04, Z:-0.37 [[ 7.27331016e-01 6.86276285e-01 -3.80177153e-03 1.95927633e+02] [-6.86267339e-01 7.27340949e-01 3.50460622e-03 -8.20422670e+01] [ 5.17031225e-03 6.00228329e-05 9.99986632e-01 -3.68597323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.81762799999998 meters 0.012937988762366848 Centerline is valid? [True, True] Translation: X:195.97, Y:-82.09, Z:-0.37 [[ 7.28396731e-01 6.85134183e-01 -5.41798728e-03 1.95969089e+02] [-6.85115959e-01 7.28416877e-01 4.99755923e-03 -8.20903178e+01] [ 7.37055203e-03 7.17437541e-05 9.99972835e-01 -3.70406683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.877628 meters 0.016413523587450976 Centerline is valid? [True, True] Translation: X:196.01, Y:-82.14, Z:-0.37 [[ 7.29925003e-01 6.83493176e-01 -6.82411621e-03 1.96011795e+02] [-6.83464162e-01 7.29956899e-01 6.29803052e-03 -8.21374927e+01] [ 9.28597159e-03 6.69489236e-05 9.99956882e-01 -3.74403869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.937628 meters 0.012427960902783485 Centerline is valid? [True, True] Translation: X:196.05, Y:-82.19, Z:-0.37 [[ 7.32534257e-01 6.80712815e-01 -4.86068054e-03 1.96052626e+02] [-6.80698018e-01 7.32550383e-01 4.48828549e-03 -8.21851697e+01] [ 6.61592684e-03 2.08327316e-05 9.99978114e-01 -3.68953002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.997628 meters 0.012270378861392133 Centerline is valid? [True, True] Translation: X:196.10, Y:-82.23, Z:-0.37 [[ 7.33909259e-01 6.79243386e-01 -2.37085637e-03 1.96097016e+02] [-6.79239854e-01 7.33913089e-01 2.19062205e-03 -8.22280507e+01] [ 3.22796806e-03 2.66232880e-06 9.99994790e-01 -3.66005506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.057628 meters 0.012480629519089022 Centerline is valid? [True, True] Translation: X:196.14, Y:-82.27, Z:-0.36 [[ 7.37506533e-01 6.75338620e-01 -1.36447665e-03 1.96140841e+02] [-6.75337442e-01 7.37507795e-01 1.26177812e-03 -8.22727250e+01] [ 1.85843966e-03 -9.08743718e-06 9.99998273e-01 -3.63577932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.117628 meters 0.012816658344841173 Centerline is valid? [True, True] Translation: X:196.19, Y:-82.32, Z:-0.36 [[ 7.39635964e-01 6.73005947e-01 -1.27929623e-03 1.96185306e+02] [-6.73004906e-01 7.39637070e-01 1.18355845e-03 -8.23160642e+01] [ 1.74275679e-03 -1.44297547e-05 9.99998481e-01 -3.63190635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.177628 meters 0.013287771079999426 Centerline is valid? [True, True] Translation: X:196.23, Y:-82.36, Z:-0.36 [[ 7.42011130e-01 6.70387089e-01 -7.96497956e-04 1.96230834e+02] [-6.70386684e-01 7.42011557e-01 7.37468863e-04 -8.23581375e+01] [ 1.08540029e-03 -1.32484810e-05 9.99999411e-01 -3.63151669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.237628 meters 0.013634349074506436 Centerline is valid? [True, True] Translation: X:196.28, Y:-82.40, Z:-0.36 [[ 7.42818859e-01 6.69491782e-01 -9.46925617e-04 1.96277931e+02] [-6.69491208e-01 7.42819462e-01 8.77068426e-04 -8.23992055e+01] [ 1.29058488e-03 -1.75445916e-05 9.99999167e-01 -3.64869941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.297628 meters 0.013797027186654699 Centerline is valid? [True, True] Translation: X:196.33, Y:-82.44, Z:-0.37 [[ 7.43882222e-01 6.68308200e-01 -1.84109701e-03 1.96325743e+02] [-6.68306024e-01 7.43884500e-01 1.70558867e-03 -8.24391152e+01] [ 2.50942242e-03 -3.83408672e-05 9.99996851e-01 -3.66857576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.357628 meters 0.017071857280921726 Centerline is valid? [True, True] Translation: X:196.37, Y:-82.48, Z:-0.37 [[ 7.44543358e-01 6.67569172e-01 -2.56682995e-03 1.96372050e+02] [-6.67564936e-01 7.44547780e-01 2.37890961e-03 -8.24803361e+01] [ 3.49921427e-03 -5.76756777e-05 9.99993876e-01 -3.70357581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.417628 meters 0.01433373385965661 Centerline is valid? [True, True] Translation: X:196.42, Y:-82.52, Z:-0.37 [[ 7.45810494e-01 6.66156442e-01 -1.51736991e-03 1.96417031e+02] [-6.66154957e-01 7.45812036e-01 1.40712023e-03 -8.25212486e+01] [ 2.06903495e-03 -3.86415449e-05 9.99997859e-01 -3.67468463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.47762799999998 meters 0.014915063003049579 Centerline is valid? [True, True] Translation: X:196.46, Y:-82.56, Z:-0.37 [[ 7.46742324e-01 6.65112408e-01 -1.17710007e-03 1.96461290e+02] [-6.65111513e-01 7.46743251e-01 1.09171235e-03 -8.25627387e+01] [ 1.60510296e-03 -3.23250078e-05 9.99998711e-01 -3.68162182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.53762799999998 meters 0.015113649280233064 Centerline is valid? [True, True] Translation: X:196.51, Y:-82.61, Z:-0.37 [[ 7.46634735e-01 6.65232388e-01 -1.56286456e-03 1.96508146e+02] [-6.65230808e-01 7.46636369e-01 1.45056043e-03 -8.26052699e+01] [ 2.13185130e-03 -4.33731487e-05 9.99997727e-01 -3.69398249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.597628 meters 0.015126550233028608 Centerline is valid? [True, True] Translation: X:196.55, Y:-82.65, Z:-0.37 [[ 7.45606108e-01 6.66384534e-01 -1.78424588e-03 1.96554971e+02] [-6.66382477e-01 7.45608242e-01 1.65670663e-03 -8.26459365e+01] [ 2.43435211e-03 -4.62603896e-05 9.99997036e-01 -3.70422985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.657628 meters 0.013605504039238055 Centerline is valid? [True, True] Translation: X:196.60, Y:-82.69, Z:-0.37 [[ 7.41700609e-01 6.70730544e-01 -8.62739797e-04 1.96599942e+02] [-6.70730065e-01 7.41701110e-01 8.01369003e-04 -8.26859396e+01] [ 1.17739773e-03 -1.57103562e-05 9.99999307e-01 -3.68394044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.717628 meters 0.012721498416901404 Centerline is valid? [True, True] Translation: X:196.65, Y:-82.73, Z:-0.37 [[ 7.38129498e-01 6.74658736e-01 -6.58803005e-04 1.96647970e+02] [-6.74658458e-01 7.38129792e-01 6.12535208e-04 -8.27250388e+01] [ 8.99534354e-04 -7.66328591e-06 9.99999595e-01 -3.69141319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.777628 meters 0.01213525315698346 Centerline is valid? [True, True] Translation: X:196.70, Y:-82.76, Z:-0.37 [[ 7.32811735e-01 6.80430588e-01 -1.08411408e-03 1.96697100e+02] [-6.80429842e-01 7.32812537e-01 1.00809857e-03 -8.27634493e+01] [ 1.48039349e-03 -1.08288935e-06 9.99998904e-01 -3.72189924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.837628 meters 0.012291805931801021 Centerline is valid? [True, True] Translation: X:196.74, Y:-82.80, Z:-0.37 [[ 7.29570501e-01 6.83901493e-01 -2.37329250e-03 1.96742741e+02] [-6.83897933e-01 7.29574361e-01 2.20658437e-03 -8.28048510e+01] [ 3.24057970e-03 1.32309643e-05 9.99994749e-01 -3.73840602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.897628 meters 0.012679317345142263 Centerline is valid? [True, True] Translation: X:196.79, Y:-82.85, Z:-0.38 [[ 7.27143210e-01 6.86473700e-01 -4.07564602e-03 1.96786500e+02] [-6.86463234e-01 7.27154631e-01 3.79104060e-03 -8.28475409e+01] [ 5.56607455e-03 4.11517145e-05 9.99984508e-01 -3.76894010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.957628 meters 0.013782872429060762 Centerline is valid? [True, True] Translation: X:196.83, Y:-82.89, Z:-0.38 [[ 7.28968283e-01 6.84531486e-01 -4.67843270e-03 1.96827772e+02] [-6.84517640e-01 7.28983295e-01 4.35385409e-03 -8.28937149e+01] [ 6.39084949e-03 2.86481732e-05 9.99979578e-01 -3.79333943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.017628 meters 0.012232854254270273 Centerline is valid? [True, True] Translation: X:196.87, Y:-82.94, Z:-0.37 [[ 7.30803941e-01 6.82581496e-01 -2.84627507e-03 1.96869458e+02] [-6.82576350e-01 7.30809484e-01 2.65034704e-03 -8.29397203e+01] [ 3.88916266e-03 5.91598788e-06 9.99992437e-01 -3.74303038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.077628 meters 0.012157202463638462 Centerline is valid? [True, True] Translation: X:196.91, Y:-82.98, Z:-0.37 [[ 7.32520153e-01 6.80744080e-01 -1.31252997e-03 1.96914279e+02] [-6.80742982e-01 7.32521329e-01 1.22308448e-03 -8.29821590e+01] [ 1.79406372e-03 -2.43847104e-06 9.99998391e-01 -3.72943899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.137628 meters 0.012206057619345774 Centerline is valid? [True, True] Translation: X:196.96, Y:-83.03, Z:-0.37 [[ 7.34029543e-01 6.79116558e-01 -1.15352979e-03 1.96959800e+02] [-6.79115706e-01 7.34030449e-01 1.07566740e-03 -8.30257446e+01] [ 1.57722953e-03 -6.19145648e-06 9.99998756e-01 -3.73235004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.19762799999998 meters 0.012309000498032647 Centerline is valid? [True, True] Translation: X:197.01, Y:-83.07, Z:-0.37 [[ 7.35184433e-01 6.77866532e-01 -9.02586188e-04 1.97005436e+02] [-6.77866008e-01 7.35184987e-01 8.42286315e-04 -8.30696450e+01] [ 1.23452552e-03 -7.40329079e-06 9.99999238e-01 -3.73145574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.25762799999998 meters 0.012256248309243777 Centerline is valid? [True, True] Translation: X:197.05, Y:-83.11, Z:-0.37 [[ 7.34522158e-01 6.78582909e-01 -1.56068836e-03 1.97052699e+02] [-6.78581345e-01 7.34523816e-01 1.45677422e-03 -8.31115571e+01] [ 2.13490486e-03 -1.09789374e-05 9.99997721e-01 -3.73930296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.31762799999998 meters 0.014832536736408705 Centerline is valid? [True, True] Translation: X:197.10, Y:-83.15, Z:-0.38 [[ 7.33212891e-01 6.79990346e-01 -3.46212809e-03 1.97100777e+02] [-6.79982662e-01 7.33221065e-01 3.23265895e-03 -8.31527258e+01] [ 4.73668212e-03 -1.60401431e-05 9.99988782e-01 -3.78283850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.377628 meters 0.014736786452790984 Centerline is valid? [True, True] Translation: X:197.15, Y:-83.19, Z:-0.38 [[ 7.31009956e-01 6.82350217e-01 -4.75662811e-03 1.97148638e+02] [-6.82335756e-01 7.31025431e-01 4.44242339e-03 -8.31924460e+01] [ 6.50850468e-03 -1.83828470e-06 9.99978819e-01 -3.80479772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.437628 meters 0.01229122411165044 Centerline is valid? [True, True] Translation: X:197.20, Y:-83.23, Z:-0.38 [[ 7.27185384e-01 6.86423830e-01 -4.87266711e-03 1.97196547e+02] [-6.86408729e-01 7.27201708e-01 4.55318445e-03 -8.32315341e+01] [ 6.66882615e-03 3.36320598e-05 9.99977763e-01 -3.78508815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.497628 meters 0.012406547562893227 Centerline is valid? [True, True] Translation: X:197.24, Y:-83.27, Z:-0.38 [[ 7.26043486e-01 6.87636234e-01 -4.15531311e-03 1.97242622e+02] [-6.87625259e-01 7.26055375e-01 3.88525798e-03 -8.32739190e+01] [ 5.68863158e-03 3.64320058e-05 9.99983819e-01 -3.78002217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.557628 meters 0.012083002046260715 Centerline is valid? [True, True] Translation: X:197.29, Y:-83.32, Z:-0.38 [[ 7.27275933e-01 6.86342109e-01 -2.05608326e-03 1.97285865e+02] [-6.86339413e-01 7.27278839e-01 1.92368158e-03 -8.33180567e+01] [ 2.81564952e-03 1.21236627e-05 9.99996036e-01 -3.76458729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.617628 meters 0.011903202899357009 Centerline is valid? [True, True] Translation: X:197.33, Y:-83.36, Z:-0.38 [[ 7.30551903e-01 6.82857038e-01 -4.27994862e-04 1.97326981e+02] [-6.82856920e-01 7.30552028e-01 4.01023844e-04 -8.33641514e+01] [ 5.86514469e-04 -7.09478562e-07 9.99999828e-01 -3.75179501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.677628 meters 0.012033359218867114 Centerline is valid? [True, True] Translation: X:197.37, Y:-83.41, Z:-0.37 [[ 7.32410672e-01 6.80863114e-01 1.66901035e-04 1.97369975e+02] [-6.80863096e-01 7.32410691e-01 -1.55621241e-04 -8.34096267e+01] [-2.28196866e-04 3.41902242e-07 9.99999974e-01 -3.74458234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.737628 meters 0.012087642683663953 Centerline is valid? [True, True] Translation: X:197.42, Y:-83.45, Z:-0.37 [[ 7.32375507e-01 6.80898984e-01 1.64015925e-03 1.97415651e+02] [-6.80897252e-01 7.32377343e-01 -1.53588471e-03 -8.34524355e+01] [-2.24699782e-03 8.06441565e-06 9.99997475e-01 -3.73088795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.797628 meters 0.011940386174790858 Centerline is valid? [True, True] Translation: X:197.46, Y:-83.49, Z:-0.37 [[ 7.31742273e-01 6.81580780e-01 9.41306561e-04 1.97462790e+02] [-6.81580210e-01 7.31742878e-01 -8.81690627e-04 -8.34946892e+01] [-1.28973776e-03 3.59437922e-06 9.99999168e-01 -3.73139452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.857628 meters 0.012009346337176052 Centerline is valid? [True, True] Translation: X:197.51, Y:-83.54, Z:-0.38 [[ 7.31081317e-01 6.82286714e-01 -2.22427273e-03 1.97511456e+02] [-6.82283523e-01 7.31084701e-01 2.08678370e-03 -8.35350157e+01] [ 3.04991656e-03 -8.02394394e-06 9.99995349e-01 -3.78360486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.917628 meters 0.015165906183139207 Centerline is valid? [True, True] Translation: X:197.56, Y:-83.58, Z:-0.38 [[ 7.31444074e-01 6.81890146e-01 -3.92380655e-03 1.97556975e+02] [-6.81880202e-01 7.31454598e-01 3.68250582e-03 -8.35766500e+01] [ 5.38115077e-03 -1.79810588e-05 9.99985521e-01 -3.82828718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.97762799999998 meters 0.015550181651815025 Centerline is valid? [True, True] Translation: X:197.60, Y:-83.62, Z:-0.38 [[ 7.32353478e-01 6.80914121e-01 -3.78727219e-03 1.97602351e+02] [-6.80904833e-01 7.32363270e-01 3.55648764e-03 -8.36197245e+01] [ 5.19532170e-03 -2.58341592e-05 9.99986504e-01 -3.82074214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.03762799999998 meters 0.012206473678378868 Centerline is valid? [True, True] Translation: X:197.65, Y:-83.66, Z:-0.38 [[ 7.32318186e-01 6.80955241e-01 -3.16755048e-03 1.97648415e+02] [-6.80948737e-01 7.32325036e-01 2.97631982e-03 -8.36620694e+01] [ 4.34641710e-03 -2.26736353e-05 9.99990554e-01 -3.79230672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.097628 meters 0.012164240969956901 Centerline is valid? [True, True] Translation: X:197.69, Y:-83.71, Z:-0.38 [[ 7.32079007e-01 6.81213091e-01 -3.00859734e-03 1.97694678e+02] [-6.81207219e-01 7.32085189e-01 2.82859110e-03 -8.37053009e+01] [ 4.12942283e-03 -2.12739372e-05 9.99991474e-01 -3.79094155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.157628 meters 0.015220424148367617 Centerline is valid? [True, True] Translation: X:197.74, Y:-83.75, Z:-0.38 [[ 7.32501974e-01 6.80761364e-01 -2.19630255e-03 1.97740129e+02] [-6.80758228e-01 7.32505266e-01 2.06623706e-03 -8.37488573e+01] [ 3.01541754e-03 -1.83716984e-05 9.99995453e-01 -3.80579607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.217628 meters 0.012111096119856985 Centerline is valid? [True, True] Translation: X:197.79, Y:-83.79, Z:-0.38 [[ 7.31973594e-01 6.81332914e-01 -3.43314135e-04 1.97785145e+02] [-6.81332837e-01 7.31973674e-01 3.23611926e-04 -8.37911976e+01] [ 4.71784365e-04 -2.96419024e-06 9.99999889e-01 -3.77101543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.277628 meters 0.012135323318005754 Centerline is valid? [True, True] Translation: X:197.83, Y:-83.83, Z:-0.38 [[ 7.31263539e-01 6.82094469e-01 8.78223747e-04 1.97831068e+02] [-6.82093969e-01 7.31264066e-01 -8.26188466e-04 -8.38335077e+01] [-1.20575205e-03 5.13037982e-06 9.99999273e-01 -3.76900241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.337628 meters 0.011996194392105253 Centerline is valid? [True, True] Translation: X:197.88, Y:-83.87, Z:-0.38 [[ 7.29121640e-01 6.84383379e-01 1.01281813e-03 1.97877402e+02] [-6.84382714e-01 7.29122343e-01 -9.53460812e-04 -8.38745348e+01] [-1.39100106e-03 2.03368914e-06 9.99999033e-01 -3.76466968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.397628 meters 0.011927105964057666 Centerline is valid? [True, True] Translation: X:197.92, Y:-83.92, Z:-0.38 [[ 7.27913799e-01 6.85668308e-01 6.87505796e-04 1.97923841e+02] [-6.85668002e-01 7.27914124e-01 -6.47317326e-04 -8.39176861e+01] [-9.44290155e-04 -2.09511980e-07 9.99999554e-01 -3.77352138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.457628 meters 0.011974898836641441 Centerline is valid? [True, True] Translation: X:197.97, Y:-83.96, Z:-0.38 [[ 7.27229827e-01 6.86393995e-01 -2.51585030e-04 1.97969041e+02] [-6.86393953e-01 7.27229870e-01 2.37896975e-04 -8.39611898e+01] [ 3.46251204e-04 -3.19332644e-07 9.99999940e-01 -3.79316877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.517628 meters 0.011924081973021323 Centerline is valid? [True, True] Translation: X:198.01, Y:-84.01, Z:-0.38 [[ 7.27252888e-01 6.86369490e-01 -4.00891389e-04 1.98013647e+02] [-6.86369385e-01 7.27252998e-01 3.78921016e-04 -8.40060375e+01] [ 5.51629289e-04 -4.11827191e-07 9.99999848e-01 -3.79972010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.577628 meters 0.011907515111946657 Centerline is valid? [True, True] Translation: X:198.06, Y:-84.05, Z:-0.38 [[ 7.28208814e-01 6.85355193e-01 -4.26962785e-04 1.98057483e+02] [-6.85355074e-01 7.28208939e-01 4.03684126e-04 -8.40498644e+01] [ 5.87585129e-04 -1.34522740e-06 9.99999827e-01 -3.80799689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.637628 meters 0.011949166925185075 Centerline is valid? [True, True] Translation: X:198.10, Y:-84.09, Z:-0.38 [[ 7.29361258e-01 6.84128469e-01 -6.27043196e-04 1.98103760e+02] [-6.84128212e-01 7.29361527e-01 5.92950362e-04 -8.40924523e+01] [ 8.62995407e-04 -3.49708149e-06 9.99999628e-01 -3.82381889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.69762799999998 meters 0.012122634833358067 Centerline is valid? [True, True] Translation: X:198.15, Y:-84.14, Z:-0.38 [[ 7.30562276e-01 6.82845428e-01 -9.40081967e-04 1.98148836e+02] [-6.82844849e-01 7.30562880e-01 8.89065078e-04 -8.41356048e+01] [ 1.29388301e-03 -7.58727773e-06 9.99999163e-01 -3.83398457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.75762799999998 meters 0.01515408978653215 Centerline is valid? [True, True] Translation: X:198.19, Y:-84.18, Z:-0.39 [[ 7.32674903e-01 6.80574519e-01 -2.41062749e-03 1.98192652e+02] [-6.80570701e-01 7.32678868e-01 2.27991999e-03 -8.41802010e+01] [ 3.31787127e-03 -2.98377169e-05 9.99994495e-01 -3.87116538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.81762799999998 meters 0.01265686515614925 Centerline is valid? [True, True] Translation: X:198.24, Y:-84.22, Z:-0.39 [[ 7.33464545e-01 6.79721826e-01 -2.82829719e-03 1.98238699e+02] [-6.79716559e-01 7.33469997e-01 2.67620835e-03 -8.42216662e+01] [ 3.89354836e-03 -4.04635043e-05 9.99992419e-01 -3.85878822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.877628 meters 0.015173953873487482 Centerline is valid? [True, True] Translation: X:198.28, Y:-84.26, Z:-0.39 [[ 7.34726162e-01 6.78355660e-01 -3.32648379e-03 1.98283708e+02] [-6.78348353e-01 7.34733690e-01 3.14907547e-03 -8.42641477e+01] [ 4.58027288e-03 -5.71933350e-05 9.99989509e-01 -3.88483321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.937628 meters 0.01312168900688813 Centerline is valid? [True, True] Translation: X:198.33, Y:-84.31, Z:-0.39 [[ 7.34609556e-01 6.78487763e-01 -1.77616615e-03 1.98328969e+02] [-6.78485678e-01 7.34611703e-01 1.68253700e-03 -8.43061269e+01] [ 2.44637321e-03 -3.09044661e-05 9.99997007e-01 -3.85900101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.997628 meters 0.014843965516673885 Centerline is valid? [True, True] Translation: X:198.38, Y:-84.35, Z:-0.39 [[ 7.32647340e-01 6.80606005e-01 -1.82765151e-03 1.98376173e+02] [-6.80603802e-01 7.32649619e-01 1.73214480e-03 -8.43467701e+01] [ 2.51793633e-03 -2.51447106e-05 9.99996830e-01 -3.87836761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.057628 meters 0.012199305872641359 Centerline is valid? [True, True] Translation: X:198.42, Y:-84.39, Z:-0.39 [[ 7.28701885e-01 6.84830205e-01 -1.07349774e-03 1.98424553e+02] [-6.84829449e-01 7.28702676e-01 1.01745781e-03 -8.43868442e+01] [ 1.47904651e-03 -6.26055755e-06 9.99998906e-01 -3.86523336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.117628 meters 0.011959328364620362 Centerline is valid? [True, True] Translation: X:198.47, Y:-84.43, Z:-0.39 [[ 7.26452851e-01 6.87215685e-01 -9.25354974e-04 1.98469985e+02] [-6.87215125e-01 7.26453441e-01 8.77437760e-04 -8.44284245e+01] [ 1.27521630e-03 -1.49922818e-06 9.99999187e-01 -3.87149056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.177628 meters 0.012074467220515382 Centerline is valid? [True, True] Translation: X:198.52, Y:-84.47, Z:-0.39 [[ 7.23584896e-01 6.90233876e-01 -1.44769235e-03 1.98515328e+02] [-6.90232509e-01 7.23586344e-01 1.37367860e-03 -8.44714224e+01] [ 1.99568992e-03 5.27123543e-06 9.99998009e-01 -3.88394368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.237628 meters 0.012133507157991344 Centerline is valid? [True, True] Translation: X:198.56, Y:-84.51, Z:-0.39 [[ 7.21997572e-01 6.91894381e-01 -1.29281169e-03 1.98560744e+02] [-6.91893292e-01 7.21998730e-01 1.22738970e-03 -8.45140926e+01] [ 1.78263243e-03 8.31535847e-06 9.99998411e-01 -3.88619173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.297628 meters 0.012290608732017292 Centerline is valid? [True, True] Translation: X:198.61, Y:-84.56, Z:-0.39 [[ 7.20528229e-01 6.93424893e-01 -9.94006938e-04 1.98605030e+02] [-6.93424250e-01 7.20528915e-01 9.44427758e-04 -8.45585433e+01] [ 1.37110046e-03 8.78165570e-06 9.99999060e-01 -3.87973626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.357628 meters 0.01221163207536618 Centerline is valid? [True, True] Translation: X:198.65, Y:-84.60, Z:-0.39 [[ 7.19775433e-01 6.94206785e-01 -5.15677442e-04 1.98650404e+02] [-6.94206611e-01 7.19775618e-01 4.90554258e-04 -8.46018798e+01] [ 7.11718144e-04 4.89778611e-06 9.99999747e-01 -3.87579873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.417628 meters 0.01217261091661585 Centerline is valid? [True, True] Translation: X:198.70, Y:-84.65, Z:-0.39 [[ 7.19864347e-01 6.94114690e-01 3.44758946e-04 1.98695723e+02] [-6.94114613e-01 7.19864429e-01 -3.27050563e-04 -8.46453917e+01] [-4.75190302e-04 -3.87018264e-06 9.99999887e-01 -3.87169206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.47762799999998 meters 0.012032438364230956 Centerline is valid? [True, True] Translation: X:198.74, Y:-84.69, Z:-0.39 [[ 7.21594165e-01 6.92316143e-01 4.68289250e-04 1.98739088e+02] [-6.92316000e-01 7.21594317e-01 -4.44809744e-04 -8.46884623e+01] [-6.45863828e-04 -3.23202419e-06 9.99999791e-01 -3.87371102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.53762799999998 meters 0.011972584017143241 Centerline is valid? [True, True] Translation: X:198.78, Y:-84.74, Z:-0.39 [[ 7.26659584e-01 6.86997404e-01 -6.45789044e-04 1.98779452e+02] [-6.86997128e-01 7.26659871e-01 6.15059905e-04 -8.47359234e+01] [ 8.91813541e-04 -3.28395518e-06 9.99999602e-01 -3.88489519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.597628 meters 0.012382614656022346 Centerline is valid? [True, True] Translation: X:198.82, Y:-84.78, Z:-0.39 [[ 7.30453393e-01 6.82961790e-01 -1.01735981e-03 1.98822694e+02] [-6.82961102e-01 7.30454101e-01 9.69065924e-04 -8.47811651e+01] [ 1.40496965e-03 -1.30403118e-05 9.99999013e-01 -3.87730949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.657628 meters 0.014059481270483284 Centerline is valid? [True, True] Translation: X:198.86, Y:-84.83, Z:-0.39 [[ 7.36803147e-01 6.76102226e-01 -2.62723631e-03 1.98864811e+02] [-6.76097597e-01 7.36807828e-01 2.50267090e-03 -8.48260974e+01] [ 3.62782965e-03 -6.77076336e-05 9.99993417e-01 -3.88463036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.717628 meters 0.01586457990067029 Centerline is valid? [True, True] Translation: X:198.91, Y:-84.87, Z:-0.39 [[ 7.42741025e-01 6.69558429e-01 -5.22306422e-03 1.98909149e+02] [-6.69539973e-01 7.42759363e-01 4.97527090e-03 -8.48697925e+01] [ 7.21071442e-03 -1.98287533e-04 9.99973983e-01 -3.90431509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.777628 meters 0.018792720278522232 Centerline is valid? [True, True] Translation: X:198.95, Y:-84.91, Z:-0.39 [[ 7.45998114e-01 6.65918273e-01 -6.29823391e-03 1.98951361e+02] [-6.65891289e-01 7.46024646e-01 6.00157187e-03 -8.49130496e+01] [ 8.69519410e-03 -2.83222201e-04 9.99962156e-01 -3.91620557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.837628 meters 0.02224424751594845 Centerline is valid? [True, True] Translation: X:199.00, Y:-84.95, Z:-0.39 [[ 7.50692538e-01 6.60626204e-01 -5.80789299e-03 1.98997791e+02] [-6.60603093e-01 7.50714937e-01 5.53500951e-03 -8.49531903e+01] [ 8.01664435e-03 -3.18378259e-04 9.99967816e-01 -3.91325023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.897628 meters 0.018751402115824482 Centerline is valid? [True, True] Translation: X:199.05, Y:-84.99, Z:-0.39 [[ 7.49646054e-01 6.61828192e-01 -3.77343679e-03 1.99047629e+02] [-6.61818440e-01 7.49655524e-01 3.59839382e-03 -8.49907799e+01] [ 5.21029621e-03 -2.00191678e-04 9.99986406e-01 -3.85504879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.957628 meters 0.01651958713986823 Centerline is valid? [True, True] Translation: X:199.10, Y:-85.03, Z:-0.38 [[ 7.45308574e-01 6.66715237e-01 -2.43371704e-03 1.99097075e+02] [-6.66711202e-01 7.45312540e-01 2.32199859e-03 -8.50285031e+01] [ 3.36199166e-03 -1.08019045e-04 9.99994343e-01 -3.82416200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.017628 meters 0.013171824927326353 Centerline is valid? [True, True] Translation: X:199.15, Y:-85.06, Z:-0.38 [[ 7.34238670e-01 6.78890755e-01 -9.58189272e-04 1.99151669e+02] [-6.78890139e-01 7.34239295e-01 9.14773983e-04 -8.50599251e+01] [ 1.32457182e-03 -2.11571851e-05 9.99999123e-01 -3.82288854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.077628 meters 0.014367424275548548 Centerline is valid? [True, True] Translation: X:199.21, Y:-85.09, Z:-0.39 [[ 7.23722207e-01 6.90087999e-01 -2.17262198e-03 1.99205119e+02] [-6.90084883e-01 7.23725468e-01 2.07369879e-03 -8.50931846e+01] [ 3.00341651e-03 -1.48827920e-06 9.99995490e-01 -3.86098959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.137628 meters 0.011875678031957248 Centerline is valid? [True, True] Translation: X:199.25, Y:-85.13, Z:-0.38 [[ 7.18557298e-01 6.95464828e-01 -2.02055900e-03 1.99252807e+02] [-6.95462150e-01 7.18560139e-01 1.92992161e-03 -8.51325615e+01] [ 2.79408575e-03 1.84630466e-05 9.99996096e-01 -3.84453440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.19762799999998 meters 0.012209988721771588 Centerline is valid? [True, True] Translation: X:199.30, Y:-85.17, Z:-0.38 [[ 7.16826871e-01 6.97247387e-01 -2.30615164e-03 1.99298396e+02] [-6.97243905e-01 7.16830580e-01 2.20371622e-03 -8.51747687e+01] [ 3.18965539e-03 2.82671774e-05 9.99994913e-01 -3.84998730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.25762799999998 meters 0.012420200039146078 Centerline is valid? [True, True] Translation: X:199.34, Y:-85.22, Z:-0.39 [[ 7.15501324e-01 6.98600720e-01 -3.85867423e-03 1.99342112e+02] [-6.98590983e-01 7.15511727e-01 3.68873558e-03 -8.52191142e+01] [ 5.33787999e-03 5.63398331e-05 9.99985752e-01 -3.86111580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.31762799999998 meters 0.012274606073477771 Centerline is valid? [True, True] Translation: X:199.39, Y:-85.27, Z:-0.39 [[ 7.16048481e-01 6.98035078e-01 -4.64786393e-03 1.99385385e+02] [-6.98020923e-01 7.16063563e-01 4.44567135e-03 -8.52650969e+01] [ 6.43140055e-03 6.09900466e-05 9.99979316e-01 -3.87775756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.377628 meters 0.0121360349377283 Centerline is valid? [True, True] Translation: X:199.42, Y:-85.31, Z:-0.39 [[ 7.18299902e-01 6.95703220e-01 -6.50232615e-03 1.99423863e+02] [-6.95675394e-01 7.18329330e-01 6.22242694e-03 -8.53138040e+01] [ 8.99977405e-03 5.39396394e-05 9.99959500e-01 -3.90892229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.437628 meters 0.01199203200461627 Centerline is valid? [True, True] Translation: X:199.46, Y:-85.36, Z:-0.39 [[ 7.21801830e-01 6.92060919e-01 -7.33497217e-03 1.99461892e+02] [-6.92025282e-01 7.21839098e-01 7.02315736e-03 -8.53649039e+01] [ 1.01551224e-02 6.65834340e-06 9.99948435e-01 -3.91100273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.497628 meters 0.012350997438165177 Centerline is valid? [True, True] Translation: X:199.50, Y:-85.41, Z:-0.39 [[ 7.25325261e-01 6.88371305e-01 -6.94354538e-03 1.99500335e+02] [-6.88339167e-01 7.25358494e-01 6.65181568e-03 -8.54138613e+01] [ 9.61547866e-03 -4.52157040e-05 9.99953769e-01 -3.90751157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.557628 meters 0.013780097207440055 Centerline is valid? [True, True] Translation: X:199.54, Y:-85.47, Z:-0.39 [[ 7.31785592e-01 6.81504217e-01 -6.46912894e-03 1.99535795e+02] [-6.81476046e-01 7.31814174e-01 6.19780550e-03 -8.54665104e+01] [ 8.95803084e-03 -1.26908356e-04 9.99959868e-01 -3.89321978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.617628 meters 0.01403561161171392 Centerline is valid? [True, True] Translation: X:199.58, Y:-85.51, Z:-0.39 [[ 7.33697095e-01 6.79449236e-01 -6.10814209e-03 1.99578493e+02] [-6.79424021e-01 7.33722505e-01 5.85529399e-03 -8.55111698e+01] [ 8.46005634e-03 -1.45993727e-04 9.99964202e-01 -3.88585175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.677628 meters 0.014125325688969763 Centerline is valid? [True, True] Translation: X:199.62, Y:-85.55, Z:-0.39 [[ 7.33687951e-01 6.79446432e-01 -7.38491469e-03 1.99623677e+02] [-6.79409540e-01 7.33725094e-01 7.08260374e-03 -8.55542183e+01] [ 1.02307471e-02 -1.79039533e-04 9.99947649e-01 -3.89214314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.737628 meters 0.016637202856916534 Centerline is valid? [True, True] Translation: X:199.67, Y:-85.60, Z:-0.39 [[ 7.36244504e-01 6.76653906e-01 -9.13896980e-03 1.99668752e+02] [-6.76597171e-01 7.36301173e-01 8.76644357e-03 -8.55964963e+01] [ 1.26608825e-02 -2.70844792e-04 9.99919811e-01 -3.93238267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.797628 meters 0.016255275015420276 Centerline is valid? [True, True] Translation: X:199.71, Y:-85.64, Z:-0.39 [[ 7.38920964e-01 6.73728981e-01 -9.22326480e-03 1.99713306e+02] [-6.73670951e-01 7.38978453e-01 8.84844419e-03 -8.56400827e+01] [ 1.27772472e-02 -3.24855338e-04 9.99918315e-01 -3.92314009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.857628 meters 0.018633140886172187 Centerline is valid? [True, True] Translation: X:199.76, Y:-85.68, Z:-0.39 [[ 7.44373345e-01 6.67714354e-01 -8.11571700e-03 1.99757009e+02] [-6.67669022e-01 7.44417488e-01 7.78971094e-03 -8.56834232e+01] [ 1.12427835e-02 -3.79840356e-04 9.99936726e-01 -3.91094083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.917628 meters 0.020489151373867694 Centerline is valid? [True, True] Translation: X:199.80, Y:-85.73, Z:-0.39 [[ 7.47174964e-01 6.64599170e-01 -6.12508051e-03 1.99800696e+02] [-6.64573239e-01 7.47200000e-01 5.87960636e-03 -8.57272831e+01] [ 8.48424166e-03 -3.22530079e-04 9.99963956e-01 -3.87928848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.97762799999998 meters 0.018887447471554235 Centerline is valid? [True, True] Translation: X:199.85, Y:-85.77, Z:-0.38 [[ 7.46190374e-01 6.65728358e-01 -2.38296258e-03 1.99850189e+02] [-6.65724434e-01 7.46194169e-01 2.28909413e-03 -8.57655620e+01] [ 3.30206766e-03 -1.21703592e-04 9.99994541e-01 -3.83217253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.03762799999998 meters 0.018526886564349723 Centerline is valid? [True, True] Translation: X:199.90, Y:-85.80, Z:-0.38 [[ 7.42578498e-01 6.69758851e-01 -5.05270530e-04 1.99896759e+02] [-6.69758675e-01 7.42578670e-01 4.85846748e-04 -8.58045327e+01] [ 7.00603278e-04 -2.23700279e-05 9.99999754e-01 -3.82486614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.097628 meters 0.014689581399654815 Centerline is valid? [True, True] Translation: X:199.95, Y:-85.84, Z:-0.38 [[ 7.34731794e-01 6.78357595e-01 4.04897187e-04 1.99948951e+02] [-6.78357484e-01 7.34731905e-01 -3.88676401e-04 -8.58384181e+01] [-5.61152471e-04 1.09078724e-05 9.99999842e-01 -3.82124290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.157628 meters 0.012689551482340328 Centerline is valid? [True, True] Translation: X:200.00, Y:-85.88, Z:-0.38 [[ 7.28638540e-01 6.84898438e-01 -8.45573038e-05 1.99998831e+02] [-6.84898434e-01 7.28638545e-01 8.14623764e-05 -8.58751456e+01] [ 1.17405165e-04 -1.44346211e-06 9.99999993e-01 -3.83711623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.217628 meters 0.011587983230006987 Centerline is valid? [True, True] Translation: X:200.05, Y:-85.91, Z:-0.39 [[ 7.20538466e-01 6.93413607e-01 -1.37456939e-03 2.00049975e+02] [-6.93412346e-01 7.20539777e-01 1.32252291e-03 -8.59113731e+01] [ 1.90748730e-03 2.14757667e-07 9.99998181e-01 -3.85950070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.277628 meters 0.0118401358856462 Centerline is valid? [True, True] Translation: X:200.10, Y:-85.95, Z:-0.39 [[ 7.17172500e-01 6.96893295e-01 -1.82805921e-03 2.00095976e+02] [-6.96891073e-01 7.17174829e-01 1.75957561e-03 -8.59527908e+01] [ 2.53727450e-03 1.20389133e-05 9.99996781e-01 -3.86517233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.337628 meters 0.012023784024441741 Centerline is valid? [True, True] Translation: X:200.14, Y:-86.00, Z:-0.39 [[ 7.16125573e-01 6.97966560e-01 -2.61624860e-03 2.00139583e+02] [-6.97962013e-01 7.16130352e-01 2.51936130e-03 -8.59968958e+01] [ 3.63200497e-03 2.18630875e-05 9.99993404e-01 -3.88473453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.397628 meters 0.011754233145539762 Centerline is valid? [True, True] Translation: X:200.18, Y:-86.04, Z:-0.39 [[ 7.18048713e-01 6.95988195e-01 -2.54519075e-03 2.00179468e+02] [-6.95983875e-01 7.18053224e-01 2.45211907e-03 -8.60445699e+01] [ 3.53422835e-03 1.06707816e-05 9.99993755e-01 -3.89265722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.457628 meters 0.01178468694843414 Centerline is valid? [True, True] Translation: X:200.22, Y:-86.09, Z:-0.39 [[ 7.19430123e-01 6.94561232e-01 -2.23429873e-03 2.00220473e+02] [-6.94557893e-01 7.19433593e-01 2.15394945e-03 -8.60920834e+01] [ 3.10347935e-03 2.23369673e-06 9.99995184e-01 -3.89469281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.517628 meters 0.01195710829293693 Centerline is valid? [True, True] Translation: X:200.26, Y:-86.14, Z:-0.39 [[ 7.21600727e-01 6.92306451e-01 -2.04171245e-03 2.00259284e+02] [-6.92303650e-01 7.21603615e-01 1.96942747e-03 -8.61429598e+01] [ 2.83675443e-03 -7.65530999e-06 9.99995976e-01 -3.88695656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.577628 meters 0.012081986763903914 Centerline is valid? [True, True] Translation: X:200.30, Y:-86.19, Z:-0.39 [[ 7.23022087e-01 6.90821402e-01 -2.20273703e-03 2.00299962e+02] [-6.90818131e-01 7.23025443e-01 2.12592791e-03 -8.61916553e+01] [ 3.06127141e-03 -1.54021608e-05 9.99995314e-01 -3.89738877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.637628 meters 0.012027385103549821 Centerline is valid? [True, True] Translation: X:200.34, Y:-86.24, Z:-0.39 [[ 7.21616551e-01 6.92290426e-01 -1.87616591e-03 2.00343645e+02] [-6.92288055e-01 7.21618990e-01 1.81164866e-03 -8.62357493e+01] [ 2.60806397e-03 -8.46840408e-06 9.99996599e-01 -3.89704031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.69762799999998 meters 0.011847833481351594 Centerline is valid? [True, True] Translation: X:200.39, Y:-86.28, Z:-0.39 [[ 7.20211591e-01 6.93749352e-01 -2.66479285e-03 2.00390189e+02] [-6.93744575e-01 7.20216521e-01 2.57448869e-03 -8.62786475e+01] [ 3.70527769e-03 -5.49101422e-06 9.99993135e-01 -3.90631800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.75762799999998 meters 0.012047393459149435 Centerline is valid? [True, True] Translation: X:200.44, Y:-86.32, Z:-0.39 [[ 7.22274619e-01 6.91593281e-01 -4.25533024e-03 2.00435115e+02] [-6.91581053e-01 7.22287154e-01 4.11269035e-03 -8.63217725e+01] [ 5.91787938e-03 -2.75860874e-05 9.99982489e-01 -3.93437155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.81762799999998 meters 0.01257757474584797 Centerline is valid? [True, True] Translation: X:200.48, Y:-86.37, Z:-0.39 [[ 7.25978242e-01 6.87707731e-01 -3.69714623e-03 2.00478316e+02] [-6.87698440e-01 7.25987654e-01 3.57506828e-03 -8.63668037e+01] [ 5.14268462e-03 -5.29000904e-05 9.99986775e-01 -3.92873229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.877628 meters 0.01722575242485934 Centerline is valid? [True, True] Translation: X:200.52, Y:-86.41, Z:-0.39 [[ 7.34532661e-01 6.78567740e-01 -2.75540403e-03 2.00518208e+02] [-6.78562515e-01 7.34537824e-01 2.66448089e-03 -8.64148673e+01] [ 3.83197926e-03 -8.74343467e-05 9.99992654e-01 -3.94567190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.937628 meters 0.017149686820526536 Centerline is valid? [True, True] Translation: X:200.56, Y:-86.46, Z:-0.39 [[ 7.39339224e-01 6.73331606e-01 -1.43531228e-03 2.00559837e+02] [-6.73330176e-01 7.39340614e-01 1.38900709e-03 -8.64603939e+01] [ 1.99644703e-03 -6.05083541e-05 9.99998005e-01 -3.90698464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.997628 meters 0.01852762153096827 Centerline is valid? [True, True] Translation: X:200.60, Y:-86.50, Z:-0.39 [[ 7.43856421e-01 6.68339367e-01 -3.41420521e-04 2.00604348e+02] [-6.68339285e-01 7.43856499e-01 3.30972949e-04 -8.65031916e+01] [ 4.75170125e-04 -1.80116063e-05 9.99999887e-01 -3.90009083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.057628 meters 0.019270441321942798 Centerline is valid? [True, True] Translation: X:200.65, Y:-86.55, Z:-0.39 [[ 7.44137736e-01 6.68026154e-01 2.94999774e-04 2.00648527e+02] [-6.68026093e-01 7.44137795e-01 -2.85079222e-04 -8.65462828e+01] [-4.09960858e-04 1.50706599e-05 9.99999916e-01 -3.89890968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.117628 meters 0.017946595337724996 Centerline is valid? [True, True] Translation: X:200.70, Y:-86.59, Z:-0.39 [[ 7.41939033e-01 6.70465015e-01 1.77055200e-03 2.00696709e+02] [-6.70462828e-01 7.41941141e-01 -1.71451213e-03 -8.65852517e+01] [-2.46316577e-03 8.49741727e-05 9.99996963e-01 -3.89179506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.177628 meters 0.016889729398179013 Centerline is valid? [True, True] Translation: X:200.74, Y:-86.62, Z:-0.39 [[ 7.37624813e-01 6.75207773e-01 2.02465150e-03 2.00743321e+02] [-6.75204929e-01 7.37627587e-01 -1.96106270e-03 -8.66244698e+01] [-2.81756358e-03 7.94738367e-05 9.99996027e-01 -3.89471312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.237628 meters 0.013408160433364544 Centerline is valid? [True, True] Translation: X:200.80, Y:-86.66, Z:-0.39 [[ 7.29621146e-01 6.83850862e-01 9.90320106e-04 2.00796266e+02] [-6.83850190e-01 7.29621818e-01 -9.59394659e-04 -8.66587489e+01] [-1.37864202e-03 2.27640387e-05 9.99999049e-01 -3.91817615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.297628 meters 0.012500389106247164 Centerline is valid? [True, True] Translation: X:200.84, Y:-86.70, Z:-0.39 [[ 7.24862314e-01 6.88893681e-01 3.49109996e-04 2.00842674e+02] [-6.88893598e-01 7.24862398e-01 -3.37950057e-04 -8.66982917e+01] [-4.85868367e-04 4.46761929e-06 9.99999882e-01 -3.93133779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.357628 meters 0.011696301257853372 Centerline is valid? [True, True] Translation: X:200.89, Y:-86.74, Z:-0.39 [[ 7.20559098e-01 6.93393405e-01 -4.14607960e-04 2.00889131e+02] [-6.93393288e-01 7.20559218e-01 4.02647535e-04 -8.67391951e+01] [ 5.77942733e-04 -2.64496811e-06 9.99999833e-01 -3.93906706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.417628 meters 0.011540867828023906 Centerline is valid? [True, True] Translation: X:200.93, Y:-86.78, Z:-0.40 [[ 7.19334618e-01 6.94663676e-01 -2.90634930e-04 2.00933966e+02] [-6.94663618e-01 7.19334677e-01 2.82672996e-04 -8.67828713e+01] [ 4.05426446e-04 -1.44295992e-06 9.99999918e-01 -3.95215703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.47762799999998 meters 0.011783713068210315 Centerline is valid? [True, True] Translation: X:200.98, Y:-86.83, Z:-0.40 [[ 7.20561022e-01 6.93391357e-01 -4.90184471e-04 2.00976316e+02] [-6.93391193e-01 7.20561188e-01 4.76565828e-04 -8.68300175e+01] [ 6.83654531e-04 -3.50516493e-06 9.99999766e-01 -3.95304409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.53762799999998 meters 0.012717087486273494 Centerline is valid? [True, True] Translation: X:201.01, Y:-86.88, Z:-0.39 [[ 7.25020740e-01 6.88726896e-01 4.35846026e-04 2.01014098e+02] [-6.88726766e-01 7.25020871e-01 -4.22824763e-04 -8.68790061e+01] [-6.07208252e-04 6.37789842e-06 9.99999816e-01 -3.94180579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.597628 meters 0.014003363478950644 Centerline is valid? [True, True] Translation: X:201.05, Y:-86.93, Z:-0.39 [[ 7.28436706e-01 6.85112895e-01 5.36216887e-04 2.01053383e+02] [-6.85112697e-01 7.28436903e-01 -5.20555642e-04 -8.69259518e+01] [-7.47239551e-04 1.18228398e-05 9.99999721e-01 -3.94444422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.657628 meters 0.01614010351169397 Centerline is valid? [True, True] Translation: X:201.09, Y:-86.97, Z:-0.39 [[ 7.32421045e-01 6.80851915e-01 2.85594342e-04 2.01091793e+02] [-6.80851859e-01 7.32421101e-01 -2.77141150e-04 -8.69748267e+01] [-3.97867405e-04 8.53657215e-06 9.99999921e-01 -3.94781303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.717628 meters 0.016479378995533273 Centerline is valid? [True, True] Translation: X:201.14, Y:-87.02, Z:-0.40 [[ 7.32310852e-01 6.80970495e-01 -3.34744200e-05 2.01137405e+02] [-6.80970495e-01 7.32310852e-01 3.31765429e-05 -8.70185570e+01] [ 4.71059278e-05 -1.50045005e-06 9.99999999e-01 -3.95603220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.777628 meters 0.01709969416179324 Centerline is valid? [True, True] Translation: X:201.18, Y:-87.06, Z:-0.40 [[ 7.32150766e-01 6.81137366e-01 -2.67302056e-03 2.01181393e+02] [-6.81132402e-01 7.32155641e-01 2.60160129e-03 -8.70610284e+01] [ 3.72911493e-03 -8.40834637e-05 9.99993043e-01 -3.98259953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.837628 meters 0.014883363262484087 Centerline is valid? [True, True] Translation: X:201.23, Y:-87.10, Z:-0.40 [[ 7.31162079e-01 6.82189419e-01 -4.42840136e-03 2.01229950e+02] [-6.82175805e-01 7.31175477e-01 4.31195611e-03 -8.70994875e+01] [ 6.17950931e-03 -1.31790530e-04 9.99980898e-01 -3.99707263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.897628 meters 0.01703860266194519 Centerline is valid? [True, True] Translation: X:201.28, Y:-87.14, Z:-0.40 [[ 7.30615576e-01 6.82760336e-01 -6.26126441e-03 2.01276033e+02] [-6.82733115e-01 7.30642382e-01 6.09936672e-03 -8.71411085e+01] [ 8.73915081e-03 -1.81519777e-04 9.99961796e-01 -4.03579452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.957628 meters 0.013916153374075695 Centerline is valid? [True, True] Translation: X:201.32, Y:-87.18, Z:-0.40 [[ 7.28876305e-01 6.84626584e-01 -5.07666325e-03 2.01323663e+02] [-6.84608726e-01 7.28893973e-01 4.94659209e-03 -8.71820641e+01] [ 7.08691769e-03 -1.29925807e-04 9.99974879e-01 -4.00331521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.017628 meters 0.013636292187836265 Centerline is valid? [True, True] Translation: X:201.37, Y:-87.22, Z:-0.40 [[ 7.26681729e-01 6.86964410e-01 -3.68293426e-03 2.01368226e+02] [-6.86955036e-01 7.26691058e-01 3.58968374e-03 -8.72233931e+01] [ 5.14234037e-03 -7.85473515e-05 9.99986775e-01 -3.98257416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.077628 meters 0.012235584282548357 Centerline is valid? [True, True] Translation: X:201.42, Y:-87.26, Z:-0.40 [[ 7.21703684e-01 6.92200056e-01 -1.69576421e-03 2.01415287e+02] [-6.92198081e-01 7.21705676e-01 1.65369387e-03 -8.72628708e+01] [ 2.36852964e-03 -1.96722241e-05 9.99997195e-01 -3.96265518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.137628 meters 0.011785543347801193 Centerline is valid? [True, True] Translation: X:201.46, Y:-87.30, Z:-0.40 [[ 7.18455712e-01 6.95571647e-01 -1.21373383e-03 2.01462297e+02] [-6.95570640e-01 7.18456738e-01 1.18374431e-03 -8.73042900e+01] [ 1.69539423e-03 -6.23023890e-06 9.99998563e-01 -3.96805318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.19762799999998 meters 0.011760464439479115 Centerline is valid? [True, True] Translation: X:201.51, Y:-87.35, Z:-0.40 [[ 7.14574130e-01 6.99559349e-01 -7.27190399e-04 2.01507807e+02] [-6.99558989e-01 7.14574500e-01 7.10163156e-04 -8.73471210e+01] [ 1.01643299e-03 1.24836078e-06 9.99999483e-01 -3.96680093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.25762799999998 meters 0.01189304788154966 Centerline is valid? [True, True] Translation: X:201.55, Y:-87.39, Z:-0.40 [[ 7.12790098e-01 7.01375833e-01 -1.48868189e-03 2.01552260e+02] [-7.01374326e-01 7.12791653e-01 1.45395946e-03 -8.73910365e+01] [ 2.08089205e-03 7.75535594e-06 9.99997835e-01 -3.97522717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.31762799999998 meters 0.01198982747973633 Centerline is valid? [True, True] Translation: X:201.60, Y:-87.44, Z:-0.40 [[ 7.11453717e-01 7.02723303e-01 -3.68334674e-03 2.01595454e+02] [-7.02714092e-01 7.11463252e-01 3.59817780e-03 -8.74362006e+01] [ 5.14908924e-03 2.84026906e-05 9.99986743e-01 -4.00251041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.377628 meters 0.011981561914244999 Centerline is valid? [True, True] Translation: X:201.64, Y:-87.48, Z:-0.40 [[ 7.11175290e-01 7.03002490e-01 -4.14800253e-03 2.01638093e+02] [-7.02990800e-01 7.11187386e-01 4.05439264e-03 -8.74824191e+01] [ 5.80025520e-03 3.26237534e-05 9.99983178e-01 -4.01799825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.437628 meters 0.011927387702262718 Centerline is valid? [True, True] Translation: X:201.68, Y:-87.53, Z:-0.40 [[ 7.12092399e-01 7.02071193e-01 -4.52281647e-03 2.01681147e+02] [-7.02057259e-01 7.12106762e-01 4.42328710e-03 -8.75285930e+01] [ 6.32619064e-03 2.54870095e-05 9.99979989e-01 -4.01460258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.497628 meters 0.01200004473603083 Centerline is valid? [True, True] Translation: X:201.73, Y:-87.57, Z:-0.40 [[ 7.11717157e-01 7.02457525e-01 -3.48045950e-03 2.01727064e+02] [-7.02449271e-01 7.11725667e-01 3.40547232e-03 -8.75686084e+01] [ 4.86933202e-03 2.11131579e-05 9.99988145e-01 -4.01832557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.557628 meters 0.012079713434013789 Centerline is valid? [True, True] Translation: X:201.77, Y:-87.61, Z:-0.40 [[ 7.11070753e-01 7.03112726e-01 -3.29825975e-03 2.01774183e+02] [-7.03105311e-01 7.11078402e-01 3.22914605e-03 -8.76109547e+01] [ 4.61577496e-03 2.28726322e-05 9.99989347e-01 -4.01883134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.617628 meters 0.012174909646202079 Centerline is valid? [True, True] Translation: X:201.82, Y:-87.65, Z:-0.40 [[ 7.11669539e-01 7.02504832e-01 -3.66433172e-03 2.01820740e+02] [-7.02495662e-01 7.11678973e-01 3.58954348e-03 -8.76535747e+01] [ 5.12949948e-03 1.96083886e-05 9.99986844e-01 -4.03753839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.677628 meters 0.012161332921215538 Centerline is valid? [True, True] Translation: X:201.86, Y:-87.70, Z:-0.41 [[ 7.12411373e-01 7.01746381e-01 -4.69609228e-03 2.01864940e+02] [-7.01731287e-01 7.12426850e-01 4.60267721e-03 -8.76986952e+01] [ 6.57553430e-03 1.63952926e-05 9.99978381e-01 -4.05298792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.737628 meters 0.014582605938533602 Centerline is valid? [True, True] Translation: X:201.91, Y:-87.74, Z:-0.41 [[ 7.14369397e-01 6.99737218e-01 -6.64759375e-03 2.01908524e+02] [-6.99706858e-01 7.14400326e-01 6.51827496e-03 -8.77427433e+01] [ 9.31012273e-03 -5.08921596e-06 9.99956660e-01 -4.10183299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.797628 meters 0.012283902932943713 Centerline is valid? [True, True] Translation: X:201.95, Y:-87.79, Z:-0.41 [[ 7.15103708e-01 6.98986356e-01 -6.69036463e-03 2.01952623e+02] [-6.98955537e-01 7.15135004e-01 6.56372063e-03 -8.77864430e+01] [ 9.37246510e-03 -1.74735526e-05 9.99956077e-01 -4.09494281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.857628 meters 0.012165012159101877 Centerline is valid? [True, True] Translation: X:202.00, Y:-87.83, Z:-0.41 [[ 7.16322582e-01 6.97752066e-01 -4.90025064e-03 2.01995586e+02] [-6.97735488e-01 7.16339342e-01 4.80999163e-03 -8.78313284e+01] [ 6.86642392e-03 -2.64268521e-05 9.99976425e-01 -4.07075640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.917628 meters 0.015607032555980394 Centerline is valid? [True, True] Translation: X:202.04, Y:-87.88, Z:-0.41 [[ 7.18684770e-01 6.95331375e-01 -2.54556091e-03 2.02038056e+02] [-6.95326880e-01 7.18689278e-01 2.50047685e-03 -8.78774440e+01] [ 3.56812734e-03 -2.70577057e-05 9.99993634e-01 -4.06551498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.97762799999998 meters 0.012366779763224804 Centerline is valid? [True, True] Translation: X:202.08, Y:-87.92, Z:-0.40 [[ 7.18561140e-01 6.95462048e-01 -1.55851701e-03 2.02082402e+02] [-6.95460360e-01 7.18562830e-01 1.53205014e-03 -8.79217100e+01] [ 2.18537512e-03 -1.69848964e-05 9.99997612e-01 -4.04343999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.03762799999998 meters 0.012516211261201655 Centerline is valid? [True, True] Translation: X:202.13, Y:-87.97, Z:-0.40 [[ 7.18905709e-01 6.95107475e-01 4.24974767e-04 2.02125320e+02] [-6.95107350e-01 7.18905834e-01 -4.17178140e-04 -8.79662853e+01] [-5.95500483e-04 4.50866203e-06 9.99999823e-01 -4.04505473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.097628 meters 0.012438371691409093 Centerline is valid? [True, True] Translation: X:202.17, Y:-88.01, Z:-0.40 [[ 7.18764963e-01 6.95251654e-01 1.43709409e-03 2.02168986e+02] [-6.95250219e-01 7.18766399e-01 -1.41295387e-03 -8.80117987e+01] [-2.01529346e-03 1.64417549e-05 9.99997969e-01 -4.02860658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.157628 meters 0.012084885205095824 Centerline is valid? [True, True] Translation: X:202.22, Y:-88.05, Z:-0.40 [[ 7.16866878e-01 6.97209757e-01 6.58112822e-04 2.02215521e+02] [-6.97209457e-01 7.16867180e-01 -6.47100641e-04 -8.80529499e+01] [-9.22944363e-04 5.04253341e-06 9.99999574e-01 -4.04457823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.217628 meters 0.011693657482651257 Centerline is valid? [True, True] Translation: X:202.26, Y:-88.09, Z:-0.41 [[ 7.14549953e-01 6.99584202e-01 -5.55596004e-04 2.02262780e+02] [-6.99583988e-01 7.14550169e-01 5.47563146e-04 -8.80919794e+01] [ 7.80067745e-04 -2.57515265e-06 9.99999696e-01 -4.06655410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.277628 meters 0.011660914918991837 Centerline is valid? [True, True] Translation: X:202.31, Y:-88.13, Z:-0.41 [[ 7.12042685e-01 7.02128665e-01 -3.24867402e-03 2.02311976e+02] [-7.02121369e-01 7.12050095e-01 3.20076230e-03 -8.81306171e+01] [ 4.56056561e-03 1.88407112e-06 9.99989601e-01 -4.10742918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.337628 meters 0.01162337631678449 Centerline is valid? [True, True] Translation: X:202.36, Y:-88.17, Z:-0.41 [[ 7.11897929e-01 7.02271946e-01 -3.93094834e-03 2.02358111e+02] [-7.02261255e-01 7.11908782e-01 3.87513974e-03 -8.81734926e+01] [ 5.51987857e-03 1.84875863e-06 9.99984765e-01 -4.12355160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.397628 meters 0.01163769143440877 Centerline is valid? [True, True] Translation: X:202.40, Y:-88.22, Z:-0.41 [[ 7.14336506e-01 6.99798021e-01 -2.46688466e-03 2.02401199e+02] [-6.99793790e-01 7.14340766e-01 2.43347843e-03 -8.82197216e+01] [ 3.46513967e-03 -1.20119106e-05 9.99993996e-01 -4.10228008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.457628 meters 0.011841361833167767 Centerline is valid? [True, True] Translation: X:202.45, Y:-88.26, Z:-0.41 [[ 7.16375289e-01 6.97713981e-01 -1.28276889e-03 2.02445184e+02] [-6.97712832e-01 7.16376438e-01 1.26643628e-03 -8.82647317e+01] [ 1.80255571e-03 -1.22393420e-05 9.99998375e-01 -4.09277492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.517628 meters 0.012223760062482807 Centerline is valid? [True, True] Translation: X:202.49, Y:-88.31, Z:-0.41 [[ 7.18064786e-01 6.95975915e-01 -6.99508625e-04 2.02487711e+02] [-6.95975572e-01 7.18065126e-01 6.91155093e-04 -8.83106386e+01] [ 9.83320047e-04 -9.45321825e-06 9.99999516e-01 -4.08953388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.577628 meters 0.01204071856058056 Centerline is valid? [True, True] Translation: X:202.53, Y:-88.35, Z:-0.41 [[ 7.17251470e-01 6.96809353e-01 -2.65621954e-03 2.02532557e+02] [-6.96804411e-01 7.17256387e-01 2.62449177e-03 -8.83549773e+01] [ 3.73396084e-03 -3.15550911e-05 9.99993028e-01 -4.11196827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.637628 meters 0.011978050004491654 Centerline is valid? [True, True] Translation: X:202.58, Y:-88.40, Z:-0.41 [[ 7.15083156e-01 6.99024989e-01 -4.48832967e-03 2.02576649e+02] [-6.99010917e-01 7.15097241e-01 4.43556158e-03 -8.83978326e+01] [ 6.31016055e-03 -3.44039323e-05 9.99980090e-01 -4.13325339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.69762799999998 meters 0.01161521393021405 Centerline is valid? [True, True] Translation: X:202.63, Y:-88.44, Z:-0.41 [[ 7.11477985e-01 7.02680488e-01 -6.26161951e-03 2.02625059e+02] [-7.02653209e-01 7.11505539e-01 6.19163438e-03 -8.84389852e+01] [ 8.80591763e-03 -5.46451745e-06 9.99961227e-01 -4.14880272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.75762799999998 meters 0.011653022571846926 Centerline is valid? [True, True] Translation: X:202.67, Y:-88.48, Z:-0.42 [[ 7.09797303e-01 7.04375467e-01 -6.55659960e-03 2.02671838e+02] [-7.04345595e-01 7.09827585e-01 6.48703966e-03 -8.84815184e+01] [ 9.22336686e-03 1.36287880e-05 9.99957464e-01 -4.15368226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.81762799999998 meters 0.011780897152443097 Centerline is valid? [True, True] Translation: X:202.71, Y:-88.53, Z:-0.41 [[ 7.09831871e-01 7.04338239e-01 -6.80883047e-03 2.02714794e+02] [-7.04305989e-01 7.09864526e-01 6.74011180e-03 -8.85263461e+01] [ 9.58066569e-03 1.11539051e-05 9.99954104e-01 -4.14810276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.877628 meters 0.011693275231838425 Centerline is valid? [True, True] Translation: X:202.76, Y:-88.57, Z:-0.41 [[ 7.10417006e-01 7.03751572e-01 -6.43440007e-03 2.02757772e+02] [-7.03722714e-01 7.10446145e-01 6.37319880e-03 -8.85720724e+01] [ 9.05644340e-03 4.04665720e-07 9.99958990e-01 -4.13777174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.937628 meters 0.011719743006906454 Centerline is valid? [True, True] Translation: X:202.80, Y:-88.62, Z:-0.41 [[ 7.10118268e-01 7.04056417e-01 -6.05046545e-03 2.02801683e+02] [-7.04030881e-01 7.10144043e-01 5.99636202e-03 -8.86166447e+01] [ 8.51847916e-03 1.58831434e-06 9.99963717e-01 -4.13443081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.997628 meters 0.011719833143928014 Centerline is valid? [True, True] Translation: X:202.85, Y:-88.66, Z:-0.41 [[ 7.09258562e-01 7.04922133e-01 -6.08925116e-03 2.02846432e+02] [-7.04896272e-01 7.09284700e-01 6.03822279e-03 -8.86606193e+01] [ 8.57548957e-03 9.62922682e-06 9.99963230e-01 -4.13177755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.057628 meters 0.011812872656143204 Centerline is valid? [True, True] Translation: X:202.89, Y:-88.70, Z:-0.41 [[ 7.07547014e-01 7.06635290e-01 -6.61743924e-03 2.02890884e+02] [-7.06604796e-01 7.07577958e-01 6.56476501e-03 -8.87023189e+01] [ 9.32124876e-03 3.10344231e-05 9.99956556e-01 -4.14355358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.117628 meters 0.011814368345628098 Centerline is valid? [True, True] Translation: X:202.94, Y:-88.75, Z:-0.41 [[ 7.06224246e-01 7.07957156e-01 -6.63168721e-03 2.02936285e+02] [-7.07926552e-01 7.06255381e-01 6.58286780e-03 -8.87456052e+01] [ 9.34405314e-03 4.57666142e-05 9.99956342e-01 -4.13308132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.177628 meters 0.012044340097461638 Centerline is valid? [True, True] Translation: X:202.98, Y:-88.79, Z:-0.41 [[ 7.04969986e-01 7.09206281e-01 -6.61581895e-03 2.02981679e+02] [-7.09175846e-01 7.05001026e-01 6.57059008e-03 -8.87870677e+01] [ 9.32406291e-03 5.97102043e-05 9.99956528e-01 -4.13930591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.237628 meters 0.011976601420514953 Centerline is valid? [True, True] Translation: X:203.03, Y:-88.83, Z:-0.41 [[ 7.05298803e-01 7.08872998e-01 -7.25755474e-03 2.03025603e+02] [-7.08836312e-01 7.05336140e-01 7.21205152e-03 -8.88323937e+01] [ 1.02314442e-02 5.77670339e-05 9.99947656e-01 -4.13763239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.297628 meters 0.01180581280337724 Centerline is valid? [True, True] Translation: X:203.07, Y:-88.88, Z:-0.41 [[ 7.08763707e-01 7.05414001e-01 -6.71526139e-03 2.03066134e+02] [-7.05382409e-01 7.08795518e-01 6.67612374e-03 -8.88788122e+01] [ 9.46917833e-03 5.03304675e-06 9.99955166e-01 -4.13206249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.357628 meters 0.012038108237598493 Centerline is valid? [True, True] Translation: X:203.11, Y:-88.92, Z:-0.41 [[ 7.11068536e-01 7.03090097e-01 -6.77152338e-03 2.03109081e+02] [-7.03057830e-01 7.11100777e-01 6.73594009e-03 -8.89247087e+01] [ 9.55120831e-03 -2.89425238e-05 9.99954386e-01 -4.14388440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.417628 meters 0.012494599046972902 Centerline is valid? [True, True] Translation: X:203.15, Y:-88.97, Z:-0.41 [[ 7.14259898e-01 6.99841338e-01 -7.40945552e-03 2.03150948e+02] [-6.99802492e-01 7.14298324e-01 7.37402257e-03 -8.89711095e+01] [ 1.04532075e-02 -8.18131710e-05 9.99945360e-01 -4.14785846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.47762799999998 meters 0.012413336905515658 Centerline is valid? [True, True] Translation: X:203.20, Y:-89.01, Z:-0.42 [[ 7.14599143e-01 6.99493818e-01 -7.51420573e-03 2.03196380e+02] [-6.99453801e-01 7.14638643e-01 7.48265755e-03 -8.90147511e+01] [ 1.06040145e-02 -9.12609061e-05 9.99943772e-01 -4.15438037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.53762799999998 meters 0.012283082802241479 Centerline is valid? [True, True] Translation: X:203.24, Y:-89.06, Z:-0.41 [[ 7.13456060e-01 7.00667154e-01 -6.78161596e-03 2.03241858e+02] [-7.00634580e-01 7.13488287e-01 6.75648920e-03 -8.90567458e+01] [ 9.57265361e-03 -6.90235140e-05 9.99954179e-01 -4.13918855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.597628 meters 0.012084814297935172 Centerline is valid? [True, True] Translation: X:203.29, Y:-89.10, Z:-0.41 [[ 7.12266580e-01 7.01888591e-01 -5.35956552e-03 2.03286354e+02] [-7.01868262e-01 7.12286742e-01 5.34221547e-03 -8.90982323e+01] [ 7.56718756e-03 -4.33726062e-05 9.99971367e-01 -4.11642980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.657628 meters 0.011863521597868857 Centerline is valid? [True, True] Translation: X:203.33, Y:-89.14, Z:-0.41 [[ 7.09553483e-01 7.04641199e-01 -3.82569482e-03 2.03333788e+02] [-7.04630869e-01 7.09563796e-01 3.81539671e-03 -8.91381031e+01] [ 5.40306025e-03 -1.15253559e-05 9.99985403e-01 -4.10168854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.717628 meters 0.01173653749930493 Centerline is valid? [True, True] Translation: X:203.38, Y:-89.18, Z:-0.41 [[ 7.07754346e-01 7.06448776e-01 -3.72995564e-03 2.03381031e+02] [-7.06438970e-01 7.07764175e-01 3.72211064e-03 -8.91804332e+01] [ 5.26940948e-03 6.46035374e-07 9.99986117e-01 -4.11554208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.777628 meters 0.011857545288041116 Centerline is valid? [True, True] Translation: X:203.43, Y:-89.22, Z:-0.41 [[ 7.06104714e-01 7.08097346e-01 -3.77910707e-03 2.03426296e+02] [-7.08087298e-01 7.06114827e-01 3.77220657e-03 -8.92227807e+01] [ 5.33957300e-03 1.23648725e-05 9.99985744e-01 -4.12106157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.837628 meters 0.011850470529161437 Centerline is valid? [True, True] Translation: X:203.47, Y:-89.27, Z:-0.41 [[ 7.05986912e-01 7.08216901e-01 -3.36181965e-03 2.03470482e+02] [-7.08208941e-01 7.05994916e-01 3.35783766e-03 -8.92670963e+01] [ 4.75150496e-03 1.02812910e-05 9.99988711e-01 -4.11819876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.897628 meters 0.01166111078770309 Centerline is valid? [True, True] Translation: X:203.51, Y:-89.31, Z:-0.41 [[ 7.08215179e-01 7.05990667e-01 -2.90499154e-03 2.03513087e+02] [-7.05984697e-01 7.08221136e-01 2.90325059e-03 -8.93131196e+01] [ 4.10704423e-03 -5.24656157e-06 9.99991566e-01 -4.11276184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.957628 meters 0.011996989566587834 Centerline is valid? [True, True] Translation: X:203.55, Y:-89.36, Z:-0.41 [[ 7.10758304e-01 7.03427812e-01 -3.45635583e-03 2.03553116e+02] [-7.03419325e-01 7.10766707e-01 3.45556020e-03 -8.93596533e+01] [ 4.88739980e-03 -2.48006218e-05 9.99988056e-01 -4.11482244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.017628 meters 0.012335306288041937 Centerline is valid? [True, True] Translation: X:203.60, Y:-89.41, Z:-0.41 [[ 7.12058331e-01 7.02108073e-01 -4.14558392e-03 2.03595623e+02] [-7.02095830e-01 7.12070398e-01 4.14649847e-03 -8.94054194e+01] [ 5.86323765e-03 -4.19515973e-05 9.99982810e-01 -4.12778390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.077628 meters 0.013015392550339766 Centerline is valid? [True, True] Translation: X:204.24, Y:-88.91, Z:0.51 [[ 7.52574653e-01 -6.58466778e-01 -7.27281859e-03 2.04244989e+02] [-6.58435617e-01 -7.52609793e-01 6.40608454e-03 -8.89102695e+01] [-9.69178835e-03 -3.23740549e-05 -9.99953033e-01 5.12372149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.137628 meters 0.012565125040208092 Centerline is valid? [True, True] Translation: X:204.26, Y:-88.94, Z:0.51 [[ 8.01520668e-01 -5.97936742e-01 -6.02256150e-03 2.04263664e+02] [-5.97919362e-01 -8.01543293e-01 4.55928108e-03 -8.89353845e+01] [-7.55350545e-03 -5.33518937e-05 -9.99971470e-01 5.09027506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.19762799999998 meters 0.012389857597600732 Centerline is valid? [True, True] Translation: X:204.28, Y:-88.96, Z:0.51 [[ 8.46218978e-01 -5.32801759e-01 -5.97714029e-03 2.04283305e+02] [-5.32787940e-01 -8.46240085e-01 3.83784891e-03 -8.89589814e+01] [-7.10290836e-03 -6.31123178e-05 -9.99974772e-01 5.08156240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.25762799999998 meters 0.012264388120757532 Centerline is valid? [True, True] Translation: X:204.30, Y:-88.98, Z:0.51 [[ 8.85692435e-01 -4.64235492e-01 -5.85821361e-03 2.04303750e+02] [-4.64224793e-01 -8.85711805e-01 3.15269479e-03 -8.89819095e+01] [-6.65228178e-03 -7.27899226e-05 -9.99977871e-01 5.08709899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.31762799999998 meters 0.012148131213028449 Centerline is valid? [True, True] Translation: X:204.33, Y:-89.00, Z:0.51 [[ 9.19542116e-01 -3.92941505e-01 -6.26667254e-03 2.04326684e+02] [-3.92931822e-01 -9.19563466e-01 2.75966654e-03 -8.90022732e+01] [-6.84699065e-03 -7.52545495e-05 -9.99976556e-01 5.08002298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.377628 meters 0.01223145334779469 Centerline is valid? [True, True] Translation: X:204.35, Y:-89.02, Z:0.51 [[ 9.47351259e-01 -3.20141729e-01 -5.90464345e-03 2.04350752e+02] [-3.20135001e-01 -9.47369657e-01 2.07704605e-03 -8.90206481e+01] [-6.25882915e-03 -7.74091585e-05 -9.99980410e-01 5.07245199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.437628 meters 0.012570454007038913 Centerline is valid? [True, True] Translation: X:204.38, Y:-89.03, Z:0.51 [[ 9.68917730e-01 -2.47302033e-01 -6.33532604e-03 2.04377276e+02] [-2.47296344e-01 -9.68938440e-01 1.67850508e-03 -8.90346687e+01] [-6.55363865e-03 -5.96303691e-05 -9.99978523e-01 5.07134650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.497628 meters 0.012695612003242323 Centerline is valid? [True, True] Translation: X:204.40, Y:-89.05, Z:0.51 [[ 9.85068587e-01 -1.72076850e-01 -5.42551669e-03 2.04401441e+02] [-1.72073891e-01 -9.85083526e-01 1.01109336e-03 -8.90481343e+01] [-5.51857288e-03 -6.24065400e-05 -9.99984771e-01 5.06266919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.557628 meters 0.01300435734601005 Centerline is valid? [True, True] Translation: X:204.43, Y:-89.06, Z:0.51 [[ 9.95395621e-01 -9.56961641e-02 -5.45904921e-03 2.04425688e+02] [-9.56944196e-02 -9.95410589e-01 5.80477262e-04 -8.90588543e+01] [-5.48954484e-03 -5.54039791e-05 -9.99984931e-01 5.06180935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.617628 meters 0.012854955364646673 Centerline is valid? [True, True] Translation: X:204.45, Y:-89.07, Z:0.51 [[ 9.99827498e-01 -1.78604052e-02 -5.09705147e-03 2.04451172e+02] [-1.78598765e-02 -9.99840489e-01 1.49221928e-04 -8.90699755e+01] [-5.09890359e-03 -5.81634768e-05 -9.99986999e-01 5.05028999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.677628 meters 0.012966143438925565 Centerline is valid? [True, True] Translation: X:204.48, Y:-89.08, Z:0.50 [[ 9.98059428e-01 6.21949009e-02 -3.02875221e-03 2.04476105e+02] [ 6.21948909e-02 -9.98064019e-01 -9.75757918e-05 -8.90782608e+01] [-3.02895732e-03 -9.09864744e-05 -9.99995409e-01 5.02344759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.737628 meters 0.012322473924708848 Centerline is valid? [True, True] Translation: X:204.50, Y:-89.09, Z:0.50 [[ 9.89739933e-01 1.42862179e-01 -2.29385125e-03 2.04503735e+02] [ 1.42862042e-01 -9.89742586e-01 -2.24484091e-04 -8.90878669e+01] [-2.30239256e-03 -1.05523405e-04 -9.99997344e-01 5.01828053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.797628 meters 0.011873774997147217 Centerline is valid? [True, True] Translation: X:204.53, Y:-89.10, Z:0.51 [[ 9.74605064e-01 2.23888149e-01 -4.36637177e-03 2.04532817e+02] [ 2.23886379e-01 -9.74614840e-01 -8.96202654e-04 -8.90976799e+01] [-4.45617988e-03 -1.04127521e-04 -9.99990066e-01 5.05070122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.857628 meters 0.01175877238540236 Centerline is valid? [True, True] Translation: X:204.56, Y:-89.10, Z:0.51 [[ 9.53410192e-01 3.01618031e-01 -5.96399437e-03 2.04562168e+02] [ 3.01612843e-01 -9.53428839e-01 -1.77228791e-03 -8.91028717e+01] [-6.22079822e-03 -1.09099941e-04 -9.99980645e-01 5.06017843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.917628 meters 0.011777848685426402 Centerline is valid? [True, True] Translation: X:204.59, Y:-89.10, Z:0.51 [[ 9.26148138e-01 3.77102808e-01 -6.56498385e-03 2.04590308e+02] [ 3.77094249e-01 -9.26171398e-01 -2.54349344e-03 -8.91040517e+01] [-7.03945878e-03 -1.19965947e-04 -9.99975216e-01 5.06581846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.97762799999998 meters 0.011776408917072727 Centerline is valid? [True, True] Translation: X:204.62, Y:-89.10, Z:0.51 [[ 8.93164026e-01 4.49682319e-01 -6.62080560e-03 2.04619002e+02] [ 4.49671036e-01 -8.93188555e-01 -3.18819607e-03 -8.91009204e+01] [-7.34730319e-03 -1.29602478e-04 -9.99973000e-01 5.06185869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.03762799999998 meters 0.011743970373423056 Centerline is valid? [True, True] Translation: X:204.65, Y:-89.10, Z:0.51 [[ 8.55136635e-01 5.18354610e-01 -7.05936817e-03 2.04647251e+02] [ 5.18338207e-01 -8.55165763e-01 -4.12576045e-03 -8.90951494e+01] [-8.17553691e-03 -1.31051329e-04 -9.99966571e-01 5.05729215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.097628 meters 0.011955347746483862 Centerline is valid? [True, True] Translation: X:204.68, Y:-89.09, Z:0.51 [[ 8.13442257e-01 5.81594050e-01 -7.74955696e-03 2.04675039e+02] [ 5.81568907e-01 -8.13479163e-01 -5.40897704e-03 -8.90866740e+01] [-9.44993198e-03 -1.07010877e-04 -9.99955343e-01 5.06685727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.157628 meters 0.012166291363836259 Centerline is valid? [True, True] Translation: X:204.70, Y:-89.07, Z:0.51 [[ 7.67002310e-01 6.41598737e-01 -7.64966144e-03 2.04699575e+02] [ 6.41567883e-01 -7.67040452e-01 -6.29267042e-03 -8.90738996e+01] [-9.90496916e-03 -8.12843474e-05 -9.99950941e-01 5.05974121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.217628 meters 0.012755810224625602 Centerline is valid? [True, True] Translation: X:204.72, Y:-89.06, Z:0.51 [[ 7.17387882e-01 6.96630195e-01 -7.81015805e-03 2.04723414e+02] [ 6.96589375e-01 -7.17430394e-01 -7.54134235e-03 -8.90593577e+01] [-1.08567716e-02 -3.04055043e-05 -9.99941063e-01 5.06175267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.277628 meters 0.012809573091466393 Centerline is valid? [True, True] Translation: X:204.75, Y:-89.05, Z:0.51 [[ 6.62124743e-01 7.49353132e-01 -7.79154974e-03 2.04750873e+02] [ 7.49301240e-01 -6.62170585e-01 -8.81863795e-03 -8.90482233e+01] [-1.17676090e-02 8.20504112e-07 -9.99930759e-01 5.06129867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.337628 meters 0.013240841630661877 Centerline is valid? [True, True] Translation: X:204.77, Y:-89.03, Z:0.51 [[ 6.02223755e-01 7.98295470e-01 -7.13378590e-03 2.04773551e+02] [ 7.98239191e-01 -6.02266006e-01 -9.47903803e-03 -8.90326386e+01] [-1.18635099e-02 1.40343951e-05 -9.99929626e-01 5.05569951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.397628 meters 0.013107427596040711 Centerline is valid? [True, True] Translation: X:204.80, Y:-89.02, Z:0.51 [[ 5.37790390e-01 8.43053189e-01 -6.54349391e-03 2.04797926e+02] [ 8.42990406e-01 -5.37830197e-01 -1.02885595e-02 -8.90163715e+01] [-1.21930915e-02 1.69858127e-05 -9.99925661e-01 5.05667720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.457628 meters 0.013025969458306459 Centerline is valid? [True, True] Translation: X:204.82, Y:-89.00, Z:0.51 [[ 4.69776068e-01 8.82764130e-01 -6.15926313e-03 2.04822529e+02] [ 8.82687627e-01 -4.69816443e-01 -1.16216873e-02 -8.89994773e+01] [-1.31529318e-02 2.28852219e-05 -9.99913496e-01 5.06475978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.517628 meters 0.01336408689989232 Centerline is valid? [True, True] Translation: X:204.84, Y:-88.98, Z:0.51 [[ 3.99328079e-01 9.16790482e-01 -5.68319456e-03 2.04840977e+02] [ 9.16696267e-01 -3.99368516e-01 -1.31431819e-02 -8.89800222e+01] [-1.43192331e-02 3.86783567e-05 -9.99897474e-01 5.07862494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.577628 meters 0.013324976213253955 Centerline is valid? [True, True] Translation: X:204.86, Y:-88.96, Z:0.51 [[ 3.26542003e-01 9.45169875e-01 -4.92221798e-03 2.04858508e+02] [ 9.45060053e-01 -3.26579094e-01 -1.44080173e-02 -8.89582602e+01] [-1.52255174e-02 5.30312505e-05 -9.99884084e-01 5.07447385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.637628 meters 0.013474343488314059 Centerline is valid? [True, True] Translation: X:204.87, Y:-88.94, Z:0.51 [[ 2.51843702e-01 9.67760068e-01 -3.89889325e-03 2.04873640e+02] [ 9.67640098e-01 -2.51873872e-01 -1.52378951e-02 -8.89351742e+01] [-1.57286557e-02 6.48424730e-05 -9.99876295e-01 5.08350318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.69762799999998 meters 0.013244183729448307 Centerline is valid? [True, True] Translation: X:204.89, Y:-88.91, Z:0.50 [[ 1.76107601e-01 9.84368106e-01 -2.35458333e-03 2.04887512e+02] [ 9.84276115e-01 -1.76123333e-01 -1.34573900e-02 -8.89111633e+01] [-1.36617226e-02 5.23885448e-05 -9.99906673e-01 5.04738338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.75762799999998 meters 0.013156243452191095 Centerline is valid? [True, True] Translation: X:204.90, Y:-88.89, Z:0.50 [[ 9.84387204e-02 9.95142421e-01 -1.17450113e-03 2.04900375e+02] [ 9.95067271e-01 -9.84457206e-02 -1.22297537e-02 -8.88858672e+01] [-1.22859713e-02 3.51736694e-05 -9.99924524e-01 5.03582946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.81762799999998 meters 0.012938508585554873 Centerline is valid? [True, True] Translation: X:204.91, Y:-88.86, Z:0.50 [[ 1.85671721e-02 9.99827597e-01 -1.93392306e-04 2.04909568e+02] [ 9.99779667e-01 -1.85681756e-02 -9.78977766e-03 -8.88612496e+01] [-9.79168081e-03 -1.15812092e-05 -9.99952060e-01 5.02414828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.877628 meters 0.01247328032240202 Centerline is valid? [True, True] Translation: X:204.92, Y:-88.83, Z:0.50 [[-6.23245321e-02 9.98055787e-01 5.45726353e-04 2.04918752e+02] [ 9.98011827e-01 6.23269089e-02 -9.36750685e-03 -8.88347874e+01] [-9.38330786e-03 -3.91841262e-05 -9.99955975e-01 5.02519004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.937628 meters 0.012169902609887215 Centerline is valid? [True, True] Translation: X:204.92, Y:-88.81, Z:0.50 [[-1.44993610e-01 9.89431478e-01 1.48411995e-03 2.04923118e+02] [ 9.89374004e-01 1.45001184e-01 -1.06647654e-02 -8.88085276e+01] [-1.07672537e-02 -7.79731353e-05 -9.99942028e-01 5.04264602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.997628 meters 0.012003619962635206 Centerline is valid? [True, True] Translation: X:204.93, Y:-88.78, Z:0.51 [[-2.26207702e-01 9.74075564e-01 2.62138463e-03 2.04925556e+02] [ 9.74003676e-01 2.26222856e-01 -1.18346320e-02 -8.87808185e+01] [-1.21208429e-02 -1.23846635e-04 -9.99926532e-01 5.06045980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.057628 meters 0.012083408097254257 Centerline is valid? [True, True] Translation: X:204.93, Y:-88.75, Z:0.51 [[-3.03992430e-01 9.52665115e-01 4.21669542e-03 2.04925780e+02] [ 9.52566147e-01 3.04021633e-01 -1.37325586e-02 -8.87531876e+01] [-1.43644962e-02 -1.57912564e-04 -9.99896813e-01 5.06350615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.117628 meters 0.012495798237240873 Centerline is valid? [True, True] Translation: X:204.92, Y:-88.73, Z:0.51 [[-3.79684534e-01 9.25096585e-01 5.99695835e-03 2.04921170e+02] [ 9.24972809e-01 3.79731839e-01 -1.51338593e-02 -8.87281300e+01] [-1.62775176e-02 -1.99068921e-04 -9.99867493e-01 5.09469585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.177628 meters 0.012402584951047856 Centerline is valid? [True, True] Translation: X:204.91, Y:-88.70, Z:0.51 [[-4.50737434e-01 8.92627651e-01 7.18620593e-03 2.04912536e+02] [ 8.92507273e-01 4.50794674e-01 -1.46604691e-02 -8.87045237e+01] [-1.63258434e-02 -1.94281159e-04 -9.99866706e-01 5.08886698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.237628 meters 0.012514134851907171 Centerline is valid? [True, True] Translation: X:204.90, Y:-88.69, Z:0.51 [[-5.18673203e-01 8.54938891e-01 7.58956789e-03 2.04898431e+02] [ 8.54842352e-01 5.18728697e-01 -1.28487800e-02 -8.86850843e+01] [-1.49218484e-02 -1.76433819e-04 -9.99888647e-01 5.07602397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.297628 meters 0.015127334569027593 Centerline is valid? [True, True] Translation: X:204.89, Y:-88.66, Z:0.51 [[-5.83918211e-01 8.11771395e-01 8.16858159e-03 2.04885712e+02] [ 8.11687847e-01 5.83975319e-01 -1.16475644e-02 -8.86646731e+01] [-1.42254096e-02 -1.70886553e-04 -9.99898799e-01 5.07073613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.357628 meters 0.012467198816439703 Centerline is valid? [True, True] Translation: X:204.87, Y:-88.64, Z:0.50 [[-6.47281199e-01 7.62223186e-01 6.54708549e-03 2.04873654e+02] [ 7.62181407e-01 6.47314285e-01 -7.98241727e-03 -8.86432210e+01] [-1.03224055e-02 -1.76801791e-04 -9.99946707e-01 5.02679847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.417628 meters 0.012641858137175499 Centerline is valid? [True, True] Translation: X:204.86, Y:-88.62, Z:0.50 [[-7.06271456e-01 7.07904852e-01 7.16596001e-03 2.04860670e+02] [ 7.07865588e-01 7.06307781e-01 -7.45839818e-03 -8.86216835e+01] [-1.03412096e-02 -1.95117247e-04 -9.99946509e-01 5.02363988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.47762799999998 meters 0.012889692427514273 Centerline is valid? [True, True] Translation: X:204.84, Y:-88.61, Z:0.50 [[-7.59411727e-01 6.50554346e-01 8.53646036e-03 2.04843928e+02] [ 6.50510256e-01 7.59459678e-01 -7.57657817e-03 -8.86055285e+01] [-1.14120733e-02 -2.00687298e-04 -9.99934860e-01 5.03414991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.53762799999998 meters 0.012663140961587318 Centerline is valid? [True, True] Translation: X:204.87, Y:-88.59, Z:0.51 [[-7.98992658e-01 6.01223589e-01 1.18713293e-02 2.04865537e+02] [ 6.01155318e-01 7.99080838e-01 -9.06081079e-03 -8.85943762e+01] [-1.49337250e-02 -1.03008528e-04 -9.99888480e-01 5.07827685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.597628 meters 0.012783447296859722 Centerline is valid? [True, True] Translation: X:205.37, Y:-87.94, Z:-0.42 [[-7.59668295e-01 -6.50250022e-01 8.88768650e-03 2.05374275e+02] [ 6.50204472e-01 -7.59720280e-01 -7.69677082e-03 -8.79404226e+01] [ 1.17569811e-02 -6.81792546e-05 9.99930882e-01 -4.15397665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.657628 meters 0.014087210531406092 Centerline is valid? [True, True] Translation: X:205.37, Y:-87.97, Z:-0.41 [[-7.19827925e-01 -6.94115213e-01 7.19926053e-03 2.05374267e+02] [ 6.94077722e-01 -7.19863898e-01 -7.21697682e-03 -8.79715570e+01] [ 1.01919012e-02 -1.98135103e-04 9.99948042e-01 -4.11761512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.717628 meters 0.015313318428776711 Centerline is valid? [True, True] Translation: X:204.78, Y:-88.58, Z:0.50 [[-7.46786351e-01 6.65007725e-01 8.65282378e-03 2.04782129e+02] [ 6.64964798e-01 7.46836470e-01 -7.55672233e-03 -8.85794354e+01] [-1.14875231e-02 1.10566127e-04 -9.99934010e-01 5.01099751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.777628 meters 0.018352145489116352 Centerline is valid? [True, True] Translation: X:204.81, Y:-88.57, Z:0.50 [[-7.86814035e-01 6.17148362e-01 7.18148634e-03 2.04807920e+02] [ 6.17124277e-01 7.86846795e-01 -5.45416149e-03 -8.85685655e+01] [-9.01675634e-03 1.40458759e-04 -9.99959338e-01 5.00072322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.837628 meters 0.019456694583233465 Centerline is valid? [True, True] Translation: X:204.83, Y:-88.55, Z:0.50 [[-8.27334414e-01 5.61688160e-01 4.91721139e-03 2.04825662e+02] [ 5.61678730e-01 8.27349023e-01 -3.25540064e-03 -8.85470203e+01] [-5.89677003e-03 6.85880698e-05 -9.99982612e-01 4.95805857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.897628 meters 0.01605493034358197 Centerline is valid? [True, True] Translation: X:204.85, Y:-88.52, Z:0.49 [[-8.66816909e-01 4.98612376e-01 3.76110349e-03 2.04854889e+02] [ 4.98607719e-01 8.66825068e-01 -2.15505216e-03 -8.85233491e+01] [-4.33475447e-03 7.27957883e-06 -9.99990605e-01 4.92876679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.957628 meters 0.013077087374186286 Centerline is valid? [True, True] Translation: X:204.87, Y:-88.48, Z:0.50 [[-9.05649334e-01 4.23996467e-01 5.12632851e-03 2.04868921e+02] [ 4.23989461e-01 9.05663842e-01 -2.43760868e-03 -8.84839751e+01] [-5.67626784e-03 -3.41094211e-05 -9.99983889e-01 4.96050535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.017628 meters 0.011908580980744536 Centerline is valid? [True, True] Translation: X:204.88, Y:-88.45, Z:0.50 [[-9.37841848e-01 3.46939075e-01 9.27072978e-03 2.04882086e+02] [ 3.46920980e-01 9.37887662e-01 -3.54508237e-03 -8.84480234e+01] [-9.92483068e-03 -1.08515945e-04 -9.99950742e-01 4.99750083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.077628 meters 0.012437896523149078 Centerline is valid? [True, True] Translation: X:205.15, Y:-87.72, Z:-0.41 [[-9.09273701e-01 -4.16087355e-01 9.62543907e-03 2.05154628e+02] [ 4.16065768e-01 -9.09324635e-01 -4.24097073e-03 -8.77159963e+01] [ 1.05172632e-02 1.48612544e-04 9.99944681e-01 -4.11962248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.137628 meters 0.012967097351763376 Centerline is valid? [True, True] Translation: X:204.83, Y:-88.42, Z:0.50 [[-9.42598634e-01 3.33659626e-01 1.33816544e-02 2.04834569e+02] [ 3.33622062e-01 9.42693580e-01 -5.01335759e-03 -8.84248705e+01] [-1.42875547e-02 -2.61168876e-04 -9.99897894e-01 5.02129384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.19762799999998 meters 0.013062022076657605 Centerline is valid? [True, True] Translation: X:204.84, Y:-88.40, Z:0.50 [[-9.63893945e-01 2.66023331e-01 1.18343050e-02 2.04844815e+02] [ 2.66000223e-01 9.63966561e-01 -3.51448458e-03 -8.84008517e+01] [-1.23428092e-02 -2.39662632e-04 -9.99923796e-01 5.00287510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.25762799999998 meters 0.012516033556983377 Centerline is valid? [True, True] Translation: X:205.07, Y:-87.66, Z:-0.41 [[-9.37445886e-01 -3.48094027e-01 5.07537018e-03 2.05073886e+02] [ 3.48087547e-01 -9.37459595e-01 -2.13706358e-03 -8.76561610e+01] [ 5.50185354e-03 -2.36708302e-04 9.99984837e-01 -4.06659877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.31762799999998 meters 0.012067450600719868 Centerline is valid? [True, True] Translation: X:204.80, Y:-88.40, Z:0.50 [[-9.62810528e-01 2.70105950e-01 6.21800025e-03 2.04804598e+02] [ 2.70099497e-01 9.62830598e-01 -1.87110049e-03 -8.84030749e+01] [-6.49227627e-03 -1.22036505e-04 -9.99978918e-01 4.95657448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.377628 meters 0.012104244509812831 Centerline is valid? [True, True] Translation: X:204.81, Y:-88.38, Z:0.50 [[-9.79265639e-01 2.02426359e-01 7.89793217e-03 2.04814122e+02] [ 2.02418818e-01 9.79297481e-01 -1.75117514e-03 -8.83823288e+01] [-8.08890909e-03 -1.16175546e-04 -9.99967277e-01 4.97013163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.437628 meters 0.012346222182896141 Centerline is valid? [True, True] Translation: X:204.82, Y:-88.35, Z:0.50 [[-9.91724411e-01 1.28005467e-01 9.86374431e-03 2.04819526e+02] [ 1.27997484e-01 9.91773449e-01 -1.43901638e-03 -8.83508218e+01] [-9.96680167e-03 -1.64573221e-04 -9.99950317e-01 5.00174577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.497628 meters 0.012591630463805735 Centerline is valid? [True, True] Translation: X:204.83, Y:-88.32, Z:0.50 [[-9.98329174e-01 5.61858394e-02 1.34911764e-02 2.04826135e+02] [ 5.61779726e-02 9.98420308e-01 -9.61671714e-04 -8.83225293e+01] [-1.35238968e-02 -2.02157989e-04 -9.99908527e-01 5.02922686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.557628 meters 0.012324247489979562 Centerline is valid? [True, True] Translation: X:204.82, Y:-88.30, Z:0.50 [[-9.99803037e-01 -1.11074355e-02 1.64472370e-02 2.04820911e+02] [-1.11086101e-02 9.99938297e-01 1.99421837e-05 -8.82974528e+01] [-1.64464437e-02 -1.62767688e-04 -9.99864735e-01 5.04174470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.617628 meters 0.012459382439458756 Centerline is valid? [True, True] Translation: X:204.83, Y:-88.28, Z:0.50 [[-9.97101299e-01 -7.42796454e-02 1.64782749e-02 2.04827173e+02] [-7.42700346e-02 9.97237451e-01 1.19528112e-03 -8.82751592e+01] [-1.65215379e-02 -3.20256835e-05 -9.99863510e-01 5.02437092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.677628 meters 0.01281339781775021 Centerline is valid? [True, True] Translation: X:204.78, Y:-87.47, Z:-0.41 [[-9.99737831e-01 1.87037994e-02 1.32074993e-02 2.04778130e+02] [-1.87043202e-02 -9.99825055e-01 8.41012356e-05 -8.74689180e+01] [ 1.32067617e-02 -1.62958109e-04 9.99912774e-01 -4.11832931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.737628 meters 0.014727708938052085 Centerline is valid? [True, True] Translation: X:204.74, Y:-88.29, Z:0.50 [[-9.97702486e-01 -6.60025113e-02 1.52779939e-02 2.04740047e+02] [-6.59919340e-02 9.97819440e-01 1.19598426e-03 -8.82870751e+01] [-1.53236172e-02 1.85012104e-04 -9.99882569e-01 5.01497153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.797628 meters 0.0161479908144478 Centerline is valid? [True, True] Translation: X:204.74, Y:-88.26, Z:0.50 [[-9.91394427e-01 -1.30145249e-01 1.41175171e-02 2.04738655e+02] [-1.30128212e-01 9.91494903e-01 2.12267974e-03 -8.82616915e+01] [-1.42737030e-02 2.67325597e-04 -9.99898090e-01 5.00189435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.857628 meters 0.017707992050750587 Centerline is valid? [True, True] Translation: X:204.72, Y:-88.24, Z:0.50 [[-9.80838939e-01 -1.94489378e-01 1.13515677e-02 2.04723382e+02] [-1.94473084e-01 9.80904585e-01 2.53263207e-03 -8.82384333e+01] [-1.16273749e-02 2.76529767e-04 -9.99932362e-01 4.95825093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.917628 meters 0.017671921770213577 Centerline is valid? [True, True] Translation: X:204.51, Y:-87.44, Z:-0.41 [[-9.81400982e-01 1.91791755e-01 8.24837687e-03 2.04511273e+02] [-1.91788302e-01 -9.81435566e-01 1.21502470e-03 -8.74446037e+01] [ 8.32828214e-03 -3.89515759e-04 9.99965243e-01 -4.05756754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.97762799999998 meters 0.016185692369915183 Centerline is valid? [True, True] Translation: X:204.57, Y:-88.26, Z:0.50 [[-9.78299471e-01 -2.06909592e-01 1.08887935e-02 2.04569360e+02] [-2.06894536e-01 9.78360047e-01 2.50378083e-03 -8.82621269e+01] [-1.11712168e-02 1.96615583e-04 -9.99937581e-01 4.95400990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.03762799999998 meters 0.014814187704534387 Centerline is valid? [True, True] Translation: X:204.53, Y:-88.24, Z:0.50 [[-9.58853975e-01 -2.83678170e-01 1.12138132e-02 2.04534917e+02] [-2.83657163e-01 9.58919537e-01 3.45474950e-03 -8.82351689e+01] [-1.17331816e-02 1.31721845e-04 -9.99931155e-01 4.96655486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.097628 meters 0.014115959972064582 Centerline is valid? [True, True] Translation: X:204.48, Y:-88.22, Z:0.50 [[-9.34669740e-01 -3.55359769e-01 1.05787920e-02 2.04482395e+02] [-3.55335841e-01 9.34729600e-01 4.12490493e-03 -8.82225464e+01] [-1.13541353e-02 9.63998479e-05 -9.99935535e-01 4.95954998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.157628 meters 0.01467692724736235 Centerline is valid? [True, True] Translation: X:204.42, Y:-88.22, Z:0.49 [[-9.07324772e-01 -4.20352404e-01 8.10031738e-03 2.04417537e+02] [-4.20334832e-01 9.07360926e-01 3.84440551e-03 -8.82235984e+01] [-8.96591657e-03 8.32788098e-05 -9.99959802e-01 4.93384081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.217628 meters 0.0157950685018538 Centerline is valid? [True, True] Translation: X:204.35, Y:-88.23, Z:0.49 [[-8.75903929e-01 -4.82442495e-01 6.44571013e-03 2.04350628e+02] [-4.82428695e-01 8.75927641e-01 3.65001827e-03 -8.82311266e+01] [-7.40689959e-03 8.74698137e-05 -9.99972565e-01 4.92062644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.277628 meters 0.018715437791035783 Centerline is valid? [True, True] Translation: X:204.28, Y:-88.25, Z:0.49 [[-8.41145233e-01 -5.40791410e-01 4.39854801e-03 2.04275232e+02] [-5.40783579e-01 8.41156731e-01 2.91111948e-03 -8.82511145e+01] [-5.27417667e-03 7.00117411e-05 -9.99986089e-01 4.91276246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.337628 meters 0.01878897747827792 Centerline is valid? [True, True] Translation: X:204.19, Y:-88.28, Z:0.49 [[-7.99385831e-01 -6.00800966e-01 4.52686936e-03 2.04189601e+02] [-6.00790633e-01 7.99398643e-01 3.52504263e-03 -8.82791228e+01] [-5.73662224e-03 9.81684307e-05 -9.99983541e-01 4.91676557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.397628 meters 0.01724870204409254 Centerline is valid? [True, True] Translation: X:204.10, Y:-88.32, Z:0.49 [[-7.49994977e-01 -6.61422914e-01 5.22146939e-03 2.04097705e+02] [-6.61405697e-01 7.50013142e-01 4.77399647e-03 -8.83175758e+01] [-7.07380132e-03 1.26963769e-04 -9.99974972e-01 4.91897005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.457628 meters 0.016183986155008507 Centerline is valid? [True, True] Translation: X:204.01, Y:-88.37, Z:0.49 [[-6.93481862e-01 -7.20453237e-01 5.48094590e-03 2.04005304e+02] [-7.20429475e-01 6.93503512e-01 5.85234578e-03 -8.83653134e+01] [-8.01739670e-03 1.09860670e-04 -9.99967854e-01 4.92714790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.517628 meters 0.015595327609560597 Centerline is valid? [True, True] Translation: X:203.92, Y:-88.43, Z:0.49 [[-6.34174498e-01 -7.73176450e-01 4.56970659e-03 2.03916707e+02] [-7.73155624e-01 6.34190959e-01 5.67526788e-03 -8.84259280e+01] [-7.28605008e-03 6.60158124e-05 -9.99973454e-01 4.91557338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.577628 meters 0.017437436668985895 Centerline is valid? [True, True] Translation: X:203.83, Y:-88.49, Z:0.50 [[-5.69382866e-01 -8.22055610e-01 5.26552651e-03 2.03830116e+02] [-8.22019345e-01 5.69407208e-01 7.72185878e-03 -8.84933438e+01] [-9.34602609e-03 6.83294277e-05 -9.99956323e-01 4.95064258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.637628 meters 0.01336846401235438 Centerline is valid? [True, True] Translation: X:203.75, Y:-88.57, Z:0.50 [[-4.99789367e-01 -8.66128085e-01 5.72093506e-03 2.03746936e+02] [-8.66070435e-01 4.99822108e-01 9.99312225e-03 -8.85712985e+01] [-1.15147737e-02 3.97235247e-05 -9.99933702e-01 4.95493783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.69762799999998 meters 0.013008243161307696 Centerline is valid? [True, True] Translation: X:203.67, Y:-88.66, Z:0.49 [[-4.29721340e-01 -9.02949753e-01 4.61661293e-03 2.03670870e+02] [-9.02897588e-01 4.29746138e-01 9.70583395e-03 -8.86606180e+01] [-1.07478519e-02 2.47528842e-06 -9.99942240e-01 4.94107807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.75762799999998 meters 0.012727581143156601 Centerline is valid? [True, True] Translation: X:203.61, Y:-88.75, Z:0.49 [[-3.59227846e-01 -9.33244488e-01 3.17498134e-03 2.03605904e+02] [-9.33208433e-01 3.59241876e-01 8.20330699e-03 -8.87510405e+01] [-8.79627729e-03 -1.60630629e-05 -9.99961312e-01 4.90861881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.81762799999998 meters 0.013798266268182006 Centerline is valid? [True, True] Translation: X:203.55, Y:-88.85, Z:0.49 [[-2.92093045e-01 -9.56387580e-01 2.10939142e-03 2.03550434e+02] [-9.56362346e-01 2.92100661e-01 6.94736108e-03 -8.88541564e+01] [-7.26052448e-03 1.19333236e-05 -9.99973642e-01 4.89684188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.877628 meters 0.01510860428471345 Centerline is valid? [True, True] Translation: X:203.50, Y:-88.95, Z:0.49 [[-2.23350839e-01 -9.74737354e-01 1.22180847e-03 2.03503766e+02] [-9.74722332e-01 2.23354180e-01 5.41156809e-03 -8.89513797e+01] [-5.54775359e-03 1.77542701e-05 -9.99984611e-01 4.88298463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.937628 meters 0.016679573566237497 Centerline is valid? [True, True] Translation: X:203.46, Y:-89.06, Z:0.49 [[-1.55197549e-01 -9.87883224e-01 6.76381881e-04 2.03463328e+02] [-9.87872929e-01 1.55199020e-01 4.50999681e-03 -8.90583077e+01] [-4.56032399e-03 3.17611009e-05 -9.99989601e-01 4.87439230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.997628 meters 0.018975908956731815 Centerline is valid? [True, True] Translation: X:203.43, Y:-89.18, Z:0.49 [[-8.27213774e-02 -9.96572664e-01 3.14319562e-04 2.03430571e+02] [-9.96563340e-01 8.27219631e-02 4.31123030e-03 -8.91770199e+01] [-4.32245540e-03 4.33915564e-05 -9.99990657e-01 4.87540710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.057628 meters 0.019357621898295208 Centerline is valid? [True, True] Translation: X:203.40, Y:-89.29, Z:0.49 [[-1.06613573e-02 -9.99943165e-01 -3.99281449e-05 2.03402492e+02] [-9.99930520e-01 1.06610217e-02 5.02959686e-03 -8.92908541e+01] [-5.02888533e-03 9.35477000e-05 -9.99987351e-01 4.88851346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.117628 meters 0.02118023389137778 Centerline is valid? [True, True] Translation: X:203.39, Y:-89.41, Z:0.49 [[ 6.39890455e-02 -9.97950473e-01 -5.04617340e-04 2.03385860e+02] [-9.97934050e-01 -6.39908882e-02 5.72689297e-03 -8.94145590e+01] [-5.74744646e-03 1.37116412e-04 -9.99983474e-01 4.90548650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.177628 meters 0.02135030149166097 Centerline is valid? [True, True] Translation: X:203.38, Y:-89.53, Z:0.49 [[ 1.39208771e-01 -9.90262515e-01 -1.03441710e-03 2.03376524e+02] [-9.90243431e-01 -1.39212513e-01 6.15007152e-03 -8.95347171e+01] [-6.23418910e-03 1.68180843e-04 -9.99980553e-01 4.90291486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.237628 meters 0.021424347205284553 Centerline is valid? [True, True] Translation: X:203.37, Y:-89.66, Z:0.49 [[ 2.18770670e-01 -9.75774877e-01 -1.66821472e-03 2.03374499e+02] [-9.75752166e-01 -2.18776963e-01 6.65964548e-03 -8.96631371e+01] [-6.86328170e-03 1.70829022e-04 -9.99976433e-01 4.91107639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.297628 meters 0.01926576419056519 Centerline is valid? [True, True] Translation: X:203.38, Y:-89.79, Z:0.49 [[ 2.98036242e-01 -9.54550765e-01 -2.68975685e-03 2.03377311e+02] [-9.54517491e-01 -2.98048318e-01 7.97241225e-03 -8.97881337e+01] [-8.41174972e-03 1.91352167e-04 -9.99964602e-01 4.92666500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.357628 meters 0.01693344597868598 Centerline is valid? [True, True] Translation: X:203.39, Y:-89.92, Z:0.49 [[ 3.79046097e-01 -9.25373231e-01 -2.90527660e-03 2.03391235e+02] [-9.25347853e-01 -3.79057220e-01 6.85380843e-03 -8.99189532e+01] [-7.44359691e-03 9.04821296e-05 -9.99972292e-01 4.92016278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.417628 meters 0.0151294114414868 Centerline is valid? [True, True] Translation: X:203.41, Y:-90.03, Z:0.49 [[ 4.54731711e-01 -8.90624553e-01 -2.64118095e-03 2.03409451e+02] [-8.90609671e-01 -4.54739381e-01 5.14872579e-03 -9.00344485e+01] [-5.78663059e-03 1.09724035e-05 -9.99983257e-01 4.90854365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.47762799999998 meters 0.013572001829331692 Centerline is valid? [True, True] Translation: X:203.44, Y:-90.16, Z:0.49 [[ 5.30027827e-01 -8.47977146e-01 -2.29398233e-03 2.03439364e+02] [-8.47968724e-01 -5.30032788e-01 3.77970943e-03 -9.01566021e+01] [-4.42099306e-03 -5.81259049e-05 -9.99990226e-01 4.89199018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.53762799999998 meters 0.013176710470516611 Centerline is valid? [True, True] Translation: X:203.48, Y:-90.27, Z:0.49 [[ 5.97471444e-01 -8.01886906e-01 -2.29431356e-03 2.03478598e+02] [-8.01880459e-01 -5.97475843e-01 3.21656192e-03 -9.02677898e+01] [-3.95011581e-03 -8.20386820e-05 -9.99992195e-01 4.88585988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.597628 meters 0.013045195831397167 Centerline is valid? [True, True] Translation: X:203.53, Y:-90.37, Z:0.49 [[ 6.59887361e-01 -7.51359677e-01 -2.70316216e-03 2.03525302e+02] [-7.51352766e-01 -6.59892891e-01 3.22398365e-03 -9.03716173e+01] [-4.20616881e-03 -9.64376980e-05 -9.99991149e-01 4.89064858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.657628 meters 0.013210844623488231 Centerline is valid? [True, True] Translation: X:203.58, Y:-90.47, Z:0.49 [[ 7.16142289e-01 -6.97946268e-01 -3.35091766e-03 2.03577964e+02] [-6.97937958e-01 -7.16150122e-01 3.40725639e-03 -9.04663795e+01] [-4.77784197e-03 -1.01347764e-04 -9.99988581e-01 4.90097267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.717628 meters 0.013298784022809654 Centerline is valid? [True, True] Translation: X:203.60, Y:-90.49, Z:0.49 [[ 7.67503917e-01 -6.41026171e-01 -4.81521210e-03 2.03598778e+02] [-6.41012778e-01 -7.67519016e-01 4.14476080e-03 -9.04889115e+01] [-6.35266699e-03 -9.45076648e-05 -9.99979817e-01 4.92633236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.777628 meters 0.013551431387828087 Centerline is valid? [True, True] Translation: X:203.62, Y:-90.51, Z:0.49 [[ 8.13777729e-01 -5.81145604e-01 -5.96609745e-03 2.03623007e+02] [-5.81129313e-01 -8.13799595e-01 4.35202308e-03 -9.05080274e+01] [-7.38436677e-03 -7.45053471e-05 -9.99972732e-01 4.93854426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.837628 meters 0.013989858052940769 Centerline is valid? [True, True] Translation: X:203.65, Y:-90.52, Z:0.49 [[ 8.54892501e-01 -5.18753185e-01 -7.34471169e-03 2.03650227e+02] [-5.18733641e-01 -8.54924050e-01 4.50319321e-03 -9.05211732e+01] [-8.61521649e-03 -3.97970709e-05 -9.99962888e-01 4.94109162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.897628 meters 0.014464933677901401 Centerline is valid? [True, True] Translation: X:203.68, Y:-90.53, Z:0.49 [[ 8.91672601e-01 -4.52623942e-01 -7.17907635e-03 2.03678431e+02] [-4.52609069e-01 -8.91701501e-01 3.66936193e-03 -9.05313311e+01] [-8.06243422e-03 -2.25544408e-05 -9.99967498e-01 4.92761184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.957628 meters 0.014867830077823654 Centerline is valid? [True, True] Translation: X:203.70, Y:-90.54, Z:0.49 [[ 9.23381186e-01 -3.83810703e-01 -7.51858133e-03 2.03704932e+02] [-3.83797971e-01 -9.23411796e-01 3.12619651e-03 -9.05427764e+01] [-8.14261437e-03 -1.05477815e-06 -9.99966848e-01 4.91966166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.017628 meters 0.017266967001453484 Centerline is valid? [True, True] Translation: X:203.73, Y:-90.55, Z:0.49 [[ 9.49151591e-01 -3.14710354e-01 -8.28558644e-03 2.03732664e+02] [-3.14698780e-01 -9.49187753e-01 2.69948029e-03 -9.05494255e+01] [-8.71413158e-03 4.52479349e-05 -9.99962030e-01 4.92637642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.077628 meters 0.01503889318307998 Centerline is valid? [True, True] Translation: X:203.76, Y:-90.57, Z:0.49 [[ 9.71807647e-01 -2.35661366e-01 -7.32247792e-03 2.03756870e+02] [-2.35654647e-01 -9.71835233e-01 1.77952303e-03 -9.05673872e+01] [-7.53560686e-03 -3.77813490e-06 -9.99971607e-01 4.90676075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.137628 meters 0.014845538889081083 Centerline is valid? [True, True] Translation: X:203.78, Y:-90.58, Z:0.49 [[ 9.87496344e-01 -1.57353814e-01 -9.52621551e-03 2.03779011e+02] [-1.57346573e-01 -9.87542291e-01 1.50955678e-03 -9.05814039e+01] [-9.64507521e-03 8.23556128e-06 -9.99953485e-01 4.91352206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.19762799999998 meters 0.015084102378124626 Centerline is valid? [True, True] Translation: X:203.80, Y:-90.59, Z:0.49 [[ 9.96693922e-01 -8.04142368e-02 -1.16093281e-02 2.03802798e+02] [-8.04092614e-02 -9.96761531e-01 8.95459524e-04 -9.05902309e+01] [-1.16437394e-02 4.09984357e-05 -9.99932209e-01 4.91979765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.25762799999998 meters 0.01597622755365155 Centerline is valid? [True, True] Translation: X:203.83, Y:-90.60, Z:0.49 [[ 9.99913824e-01 -7.08734096e-03 -1.10505490e-02 2.03826771e+02] [-7.08789420e-03 -9.99974881e-01 -1.09006425e-05 -9.05964775e+01] [-1.10501942e-02 8.92248255e-05 -9.99938941e-01 4.91669188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.31762799999998 meters 0.016113290033519367 Centerline is valid? [True, True] Translation: X:203.85, Y:-90.60, Z:0.49 [[ 9.97612154e-01 6.83853364e-02 -9.66622016e-03 2.03851385e+02] [ 6.83812095e-02 -9.97658978e-01 -7.57181373e-04 -9.06040021e+01] [-9.69537143e-03 9.43855149e-05 -9.99952994e-01 4.89658598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.377628 meters 0.016299416422155058 Centerline is valid? [True, True] Translation: X:203.88, Y:-90.61, Z:0.49 [[ 9.89566957e-01 1.43924394e-01 -6.55793240e-03 2.03876900e+02] [ 1.43920900e-01 -9.89588686e-01 -1.00402672e-03 -9.06105913e+01] [-6.63415964e-03 4.97281336e-05 -9.99977992e-01 4.87025885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.437628 meters 0.016212154608448066 Centerline is valid? [True, True] Translation: X:203.90, Y:-90.62, Z:0.49 [[ 9.75098390e-01 2.21738559e-01 -3.89130046e-03 2.03902936e+02] [ 2.21736842e-01 -9.75106154e-01 -8.72800110e-04 -9.06158619e+01] [-3.98796446e-03 -1.17786913e-05 -9.99992048e-01 4.85337466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.497628 meters 0.015145237456467574 Centerline is valid? [True, True] Translation: X:203.93, Y:-90.62, Z:0.48 [[ 9.53374456e-01 3.01786276e-01 -1.47996804e-03 2.03929875e+02] [ 3.01786027e-01 -9.53375602e-01 -3.94147676e-04 -9.06209899e+01] [-1.52991378e-03 -7.08633493e-05 -9.99998827e-01 4.84427648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.557628 meters 0.014239687002237243 Centerline is valid? [True, True] Translation: X:203.96, Y:-90.62, Z:0.49 [[ 9.24563275e-01 3.81028257e-01 -4.67152823e-04 2.03957670e+02] [ 3.81028257e-01 -9.24563388e-01 -9.40015372e-05 -9.06228362e+01] [-4.67729639e-04 -9.10880566e-05 -9.99999886e-01 4.85255590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.617628 meters 0.013713549991732518 Centerline is valid? [True, True] Translation: X:203.98, Y:-90.62, Z:0.49 [[ 8.90055864e-01 4.55851284e-01 -4.08240553e-04 2.03984754e+02] [ 4.55851282e-01 -8.90055952e-01 -1.04527679e-04 -9.06202774e+01] [-4.11006011e-04 -9.30615056e-05 -9.99999911e-01 4.86861002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.677628 meters 0.013450734705505337 Centerline is valid? [True, True] Translation: X:204.01, Y:-90.61, Z:0.49 [[ 8.50292413e-01 5.26310175e-01 -6.41221081e-04 2.04008827e+02] [ 5.26310105e-01 -8.50292650e-01 -2.87983305e-04 -9.06119891e+01] [-6.96794116e-04 -9.26111147e-05 -9.99999753e-01 4.87294738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.737628 meters 0.013469960692136086 Centerline is valid? [True, True] Translation: X:204.03, Y:-90.60, Z:0.49 [[ 8.07482239e-01 5.89889525e-01 -1.66778538e-03 2.04032786e+02] [ 5.89888478e-01 -8.07483957e-01 -1.11483224e-03 -9.06027277e+01] [-2.00433779e-03 -8.36001469e-05 -9.99997988e-01 4.89206681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.797628 meters 0.013807333639125575 Centerline is valid? [True, True] Translation: X:204.05, Y:-90.59, Z:0.49 [[ 7.61244037e-01 6.48460850e-01 -2.45807911e-03 2.04053164e+02] [ 6.48457741e-01 -7.61248003e-01 -2.00898608e-03 -9.05890722e+01] [-3.17395664e-03 -6.46317561e-05 -9.99994961e-01 4.90054809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.857628 meters 0.014938360086729729 Centerline is valid? [True, True] Translation: X:204.07, Y:-90.57, Z:0.49 [[ 7.12627638e-01 7.01537642e-01 -2.60504074e-03 2.04070480e+02] [ 7.01533143e-01 -7.12632398e-01 -2.51267975e-03 -9.05722010e+01] [-3.61917586e-03 -3.69173823e-05 -9.99993450e-01 4.91281037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.917628 meters 0.014706393431356605 Centerline is valid? [True, True] Translation: X:204.09, Y:-90.56, Z:0.49 [[ 6.55310179e-01 7.55356929e-01 -2.11653596e-03 2.04094030e+02] [ 7.55353207e-01 -6.55313595e-01 -2.37167196e-03 -9.05613394e+01] [-3.17845363e-03 -4.45514497e-05 -9.99994948e-01 4.91459902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.97762799999998 meters 0.014472139410182907 Centerline is valid? [True, True] Translation: X:204.12, Y:-90.55, Z:0.49 [[ 5.92037849e-01 8.05900044e-01 -4.03785229e-03 2.04116080e+02] [ 8.05881362e-01 -5.92051618e-01 -5.48746501e-03 -9.05478482e+01] [-6.81296527e-03 -5.24292208e-06 -9.99976791e-01 4.94200231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.03762799999998 meters 0.014066240676779567 Centerline is valid? [True, True] Translation: X:204.14, Y:-90.53, Z:0.50 [[ 5.25365156e-01 8.50863647e-01 -4.74419961e-03 2.04137243e+02] [ 8.50828859e-01 -5.25386577e-01 -7.69403956e-03 -9.05337239e+01] [-9.03911735e-03 5.67835504e-06 -9.99959146e-01 4.95465613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.097628 meters 0.014045225445411666 Centerline is valid? [True, True] Translation: X:204.15, Y:-90.52, Z:0.50 [[ 4.55782801e-01 8.90080171e-01 -4.39627235e-03 2.04154485e+02] [ 8.90038807e-01 -4.55804003e-01 -8.58095097e-03 -9.05169836e+01] [-9.64157284e-03 -1.80312939e-06 -9.99953519e-01 4.96508561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.157628 meters 0.013535610310310094 Centerline is valid? [True, True] Translation: X:204.17, Y:-90.50, Z:0.50 [[ 3.80944148e-01 9.24589289e-01 -4.02528709e-03 2.04170306e+02] [ 9.24538674e-01 -3.80965413e-01 -9.67440678e-03 -9.04976371e+01] [-1.04783480e-02 -3.61249462e-05 -9.99945100e-01 4.97441888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.217628 meters 0.013230559821673985 Centerline is valid? [True, True] Translation: X:204.18, Y:-90.48, Z:0.50 [[ 3.04467016e-01 9.52518616e-01 -2.85000174e-03 2.04182983e+02] [ 9.52479045e-01 -3.04480346e-01 -8.68254804e-03 -9.04768023e+01] [-9.13805816e-03 -7.10174500e-05 -9.99958245e-01 4.96211956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.277628 meters 0.01311318295376391 Centerline is valid? [True, True] Translation: X:204.19, Y:-90.45, Z:0.49 [[ 2.27329284e-01 9.73817182e-01 -1.22181135e-03 2.04190916e+02] [ 9.73805143e-01 -2.27332550e-01 -4.84312167e-03 -9.04543877e+01] [-4.99407259e-03 -8.88227906e-05 -9.99987526e-01 4.92220581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.337628 meters 0.013075751515036529 Centerline is valid? [True, True] Translation: X:204.20, Y:-90.43, Z:0.49 [[ 1.49188672e-01 9.88808703e-01 -2.99439272e-04 2.04201412e+02] [ 9.88807769e-01 -1.49188944e-01 -1.36172223e-03 -9.04317511e+01] [-1.39115582e-03 -9.29343464e-05 -9.99999028e-01 4.89216070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.397628 meters 0.013233058646970074 Centerline is valid? [True, True] Translation: X:204.21, Y:-90.41, Z:0.49 [[ 6.86133562e-02 9.97643327e-01 5.77964762e-06 2.04211754e+02] [ 9.97642398e-01 -6.86133002e-02 1.36387894e-03 -9.04090075e+01] [ 1.36106128e-03 -8.78142898e-05 -9.99999070e-01 4.88637769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.457628 meters 0.013354623931547927 Centerline is valid? [True, True] Translation: X:204.22, Y:-90.39, Z:0.49 [[-1.08618081e-02 9.99941003e-01 -1.03256148e-04 2.04219733e+02] [ 9.99939532e-01 1.08619695e-02 1.71764461e-03 -9.03853789e+01] [ 1.71866484e-03 -8.45931785e-05 -9.99998520e-01 4.88585700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.517628 meters 0.013901471044902098 Centerline is valid? [True, True] Translation: X:204.22, Y:-90.36, Z:0.49 [[-9.22971026e-02 9.95731492e-01 -2.01013590e-04 2.04223106e+02] [ 9.95730673e-01 9.22972850e-02 1.27977186e-03 -9.03629456e+01] [ 1.29286215e-03 -8.20361632e-05 -9.99999161e-01 4.90099748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.577628 meters 0.014082868879214026 Centerline is valid? [True, True] Translation: X:204.23, Y:-90.34, Z:0.49 [[-1.71781949e-01 9.85134976e-01 -2.05083766e-04 2.04226956e+02] [ 9.85134743e-01 1.71782050e-01 6.82466093e-04 -9.03388875e+01] [ 7.07550928e-04 -8.47997880e-05 -9.99999746e-01 4.90668610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.637628 meters 0.014411522858848719 Centerline is valid? [True, True] Translation: X:204.23, Y:-90.32, Z:0.49 [[-2.50957987e-01 9.67997974e-01 1.08426161e-04 2.04232459e+02] [ 9.67997632e-01 2.50957990e-01 -8.19060945e-04 -9.03152680e+01] [-8.20059747e-04 -1.00593619e-04 -9.99999659e-01 4.94341716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.69762799999998 meters 0.015407375130181162 Centerline is valid? [True, True] Translation: X:204.23, Y:-90.29, Z:0.50 [[-3.27116788e-01 9.44983747e-01 5.70004457e-04 2.04234924e+02] [ 9.44981625e-01 3.27117263e-01 -2.00591723e-03 -9.02909503e+01] [-2.08201748e-03 -1.17525462e-04 -9.99997826e-01 4.96423451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.75762799999998 meters 0.014465426882304037 Centerline is valid? [True, True] Translation: X:204.23, Y:-90.27, Z:0.50 [[-3.99687758e-01 9.16650942e-01 8.63530962e-04 2.04233203e+02] [ 9.16648109e-01 3.99688673e-01 -2.28230592e-03 -9.02666986e+01] [-2.43722142e-03 -1.20655714e-04 -9.99997023e-01 4.97846117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.81762799999998 meters 0.014506503699443767 Centerline is valid? [True, True] Translation: X:204.23, Y:-90.24, Z:0.50 [[-4.70096044e-01 8.82612949e-01 2.02276727e-03 2.04231742e+02] [ 8.82603398e-01 4.70100373e-01 -4.10873340e-03 -9.02425975e+01] [-4.57732495e-03 -1.46198045e-04 -9.99989513e-01 4.99869241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.877628 meters 0.014595023252707536 Centerline is valid? [True, True] Translation: X:204.23, Y:-90.22, Z:0.50 [[-5.37889430e-01 8.43011633e-01 2.51969307e-03 2.04226656e+02] [ 8.43001039e-01 5.37895310e-01 -4.22892991e-03 -9.02182390e+01] [-4.92036819e-03 -1.50592820e-04 -9.99987884e-01 5.00316923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.937628 meters 0.01466401408686899 Centerline is valid? [True, True] Translation: X:204.22, Y:-90.20, Z:0.50 [[-6.02396696e-01 7.98192605e-01 2.60480258e-03 2.04217849e+02] [ 7.98184072e-01 6.02402310e-01 -3.69364419e-03 -9.01952513e+01] [-4.51737857e-03 -1.45927128e-04 -9.99989786e-01 5.00614549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.997628 meters 0.014276709403754034 Centerline is valid? [True, True] Translation: X:204.21, Y:-90.17, Z:0.50 [[-6.62878334e-01 7.48724059e-01 2.14421279e-03 2.04207771e+02] [ 7.48719490e-01 6.62881789e-01 -2.61887714e-03 -9.01711433e+01] [-3.38217593e-03 -1.30583006e-04 -9.99994272e-01 4.99288551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.057628 meters 0.014291927112691344 Centerline is valid? [True, True] Translation: X:204.20, Y:-90.15, Z:0.50 [[-7.18564947e-01 6.95458405e-01 1.42272468e-03 2.04195497e+02] [ 6.95456725e-01 7.18566347e-01 -1.53247511e-03 -9.01500303e+01] [-2.08809477e-03 -1.11739453e-04 -9.99997814e-01 4.98621660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.117628 meters 0.014071127037885904 Centerline is valid? [True, True] Translation: X:204.21, Y:-90.14, Z:0.50 [[-7.64940381e-01 6.44100921e-01 4.66246213e-04 2.04213228e+02] [ 6.44100728e-01 7.64940518e-01 -5.05666796e-04 -9.01355951e+01] [-6.82351068e-04 -8.64954265e-05 -9.99999763e-01 4.97503679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.177628 meters 0.013763809349553891 Centerline is valid? [True, True] Translation: X:204.23, Y:-90.12, Z:0.50 [[-8.07829563e-01 5.89416139e-01 1.14218098e-04 2.04234836e+02] [ 5.89416116e-01 8.07829567e-01 -1.84256232e-04 -9.01223096e+01] [-2.00872353e-04 -8.15256441e-05 -9.99999976e-01 4.97396707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.237628 meters 0.013546560071592531 Centerline is valid? [True, True] Translation: X:204.25, Y:-90.10, Z:0.50 [[-8.46632483e-01 5.32174569e-01 1.91485879e-03 2.04250881e+02] [ 5.32172952e-01 8.46634644e-01 -1.31531464e-03 -9.01024603e+01] [-2.32116278e-03 -9.45520455e-05 -9.99997302e-01 4.98910529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.297628 meters 0.013431295870853224 Centerline is valid? [True, True] Translation: X:204.27, Y:-90.08, Z:0.50 [[-8.81252630e-01 4.72620966e-01 4.81915663e-03 2.04274725e+02] [ 4.72613249e-01 8.81265801e-01 -2.70266094e-03 -9.00833530e+01] [-5.52429215e-03 -1.04129793e-04 -9.99984736e-01 5.02576559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.357628 meters 0.013281574782600699 Centerline is valid? [True, True] Translation: X:204.29, Y:-90.06, Z:0.50 [[-9.11054608e-01 4.12247838e-01 5.58768515e-03 2.04293767e+02] [ 4.12239508e-01 9.11071739e-01 -2.62198595e-03 -9.00638789e+01] [-6.17169006e-03 -8.53078038e-05 -9.99980951e-01 5.03411836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.41762799999998 meters 0.013477807556594872 Centerline is valid? [True, True] Translation: X:204.31, Y:-90.05, Z:0.50 [[-9.35544543e-01 3.53190278e-01 3.61045269e-03 2.04310449e+02] [ 3.53187415e-01 9.35551508e-01 -1.42300428e-03 -9.00477805e+01] [-3.88035574e-03 -5.61174376e-05 -9.99992470e-01 4.99553897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.47762799999998 meters 0.01393499023211035 Centerline is valid? [True, True] Translation: X:204.32, Y:-90.03, Z:0.50 [[-9.56429043e-01 2.91963610e-01 8.58141143e-04 2.04321940e+02] [ 2.91963428e-01 9.56429425e-01 -3.32945186e-04 -9.00252150e+01] [-9.17959319e-04 -6.78926156e-05 -9.99999576e-01 4.96537659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.53762799999998 meters 0.014292699847275612 Centerline is valid? [True, True] Translation: X:204.34, Y:-90.00, Z:0.50 [[-9.74229091e-01 2.25560549e-01 3.43352208e-04 2.04339019e+02] [ 2.25560507e-01 9.74229148e-01 -1.55065102e-04 -9.00005457e+01] [-3.69480299e-04 -7.36222353e-05 -9.99999929e-01 4.97942762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.597628 meters 0.014337750171742129 Centerline is valid? [True, True] Translation: X:204.35, Y:-89.98, Z:0.50 [[-9.87707580e-01 1.56257402e-01 4.16669358e-03 2.04351419e+02] [ 1.56255935e-01 9.87716368e-01 -6.77199367e-04 -8.99757701e+01] [-4.22132887e-03 -1.78043446e-05 -9.99991090e-01 4.99972073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.657628 meters 0.013870757294467548 Centerline is valid? [True, True] Translation: X:204.35, Y:-89.95, Z:0.50 [[-9.96572189e-01 8.22468413e-02 8.90668411e-03 2.04354885e+02] [ 8.22437206e-02 9.96611989e-01 -7.16705785e-04 -8.99470011e+01] [-8.93545495e-03 1.82697856e-05 -9.99960078e-01 5.04258270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.717628 meters 0.013495248165842336 Centerline is valid? [True, True] Translation: X:204.42, Y:-89.14, Z:-0.43 [[-9.91179547e-01 -1.32152827e-01 9.93655986e-03 2.04416688e+02] [ 1.32146634e-01 -9.91229352e-01 -1.28012753e-03 -8.91401975e+01] [ 1.00185823e-02 4.42467167e-05 9.99949812e-01 -4.34972669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.777628 meters 0.013293839800180562 Centerline is valid? [True, True] Translation: X:204.29, Y:-89.94, Z:0.51 [[-9.97587785e-01 6.79421929e-02 1.42291831e-02 2.04287717e+02] [ 6.79343332e-02 9.97689257e-01 -1.03554853e-03 -8.99366320e+01] [-1.42666606e-02 -6.64004948e-05 -9.99898224e-01 5.09335337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.837628 meters 0.015139516734120654 Centerline is valid? [True, True] Translation: X:204.29, Y:-89.91, Z:0.51 [[-9.99907089e-01 -4.35641930e-03 1.29164724e-02 2.04285938e+02] [-4.35713826e-03 9.99990507e-01 -2.75216807e-05 -8.99109756e+01] [-1.29162299e-02 -8.37979797e-05 -9.99916579e-01 5.08164878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.897628 meters 0.012907220342333704 Centerline is valid? [True, True] Translation: X:204.30, Y:-89.11, Z:-0.43 [[-9.97936324e-01 -6.36710160e-02 8.31229580e-03 2.04295470e+02] [ 6.36670062e-02 -9.97970919e-01 -7.46384202e-04 -8.91058085e+01] [ 8.34295252e-03 -2.15624919e-04 9.99965174e-01 -4.32125055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.957628 meters 0.012750677783869818 Centerline is valid? [True, True] Translation: X:204.22, Y:-89.91, Z:0.50 [[-9.99928766e-01 -8.59689772e-03 8.27987629e-03 2.04215774e+02] [-8.59724410e-03 9.99963043e-01 -6.24166587e-06 -8.99145790e+01] [-8.27951663e-03 -7.74253388e-05 -9.99965721e-01 5.03817014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.017628 meters 0.012663947120735472 Centerline is valid? [True, True] Translation: X:204.22, Y:-89.89, Z:0.50 [[-9.96853585e-01 -7.89373191e-02 7.19927481e-03 2.04222427e+02] [-7.89357734e-02 9.96879579e-01 4.99037939e-04 -8.98895024e+01] [-7.21620276e-03 -7.08125667e-05 -9.99973960e-01 5.03065465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.077628 meters 0.012502254692847997 Centerline is valid? [True, True] Translation: X:204.21, Y:-89.86, Z:0.50 [[-9.88520726e-01 -1.50929930e-01 6.85061531e-03 2.04214386e+02] [-1.50926865e-01 9.88544460e-01 9.65179139e-04 -8.98610186e+01] [-6.91781223e-03 -7.98423121e-05 -9.99976068e-01 5.03766650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.137628 meters 0.015095788431645281 Centerline is valid? [True, True] Translation: X:204.10, Y:-89.06, Z:-0.43 [[-9.96589866e-01 8.23320386e-02 5.48395339e-03 2.04101568e+02] [-8.23308837e-02 -9.96604954e-01 4.36388073e-04 -8.90611385e+01] [ 5.50126384e-03 -1.65987972e-05 9.99984868e-01 -4.33710343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.19762799999998 meters 0.012736996053769739 Centerline is valid? [True, True] Translation: X:204.11, Y:-89.87, Z:0.51 [[-9.87005714e-01 -1.60432306e-01 9.01091021e-03 2.04110638e+02] [-1.60426657e-01 9.87046839e-01 1.35093179e-03 -8.98723115e+01] [-9.11092354e-03 -1.12212809e-04 -9.99958488e-01 5.07072082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.25762799999998 meters 0.013029156363247585 Centerline is valid? [True, True] Translation: X:204.10, Y:-89.85, Z:0.51 [[-9.72872063e-01 -2.31040832e-01 1.18356287e-02 2.04098881e+02] [-2.31025318e-01 9.72944047e-01 2.68040108e-03 -8.98471629e+01] [-1.21346866e-02 -1.26642563e-04 -9.99926364e-01 5.09782239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.31762799999998 meters 0.012515954726538776 Centerline is valid? [True, True] Translation: X:203.90, Y:-89.07, Z:-0.43 [[-9.87421955e-01 1.57769442e-01 1.03289294e-02 2.03903213e+02] [-1.57760707e-01 -9.87475976e-01 1.66012990e-03 -8.90689384e+01] [ 1.04614874e-02 9.74950381e-06 9.99945277e-01 -4.34871432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.377628 meters 0.01436469007620297 Centerline is valid? [True, True] Translation: X:203.96, Y:-89.88, Z:0.51 [[-9.71964142e-01 -2.34818071e-01 1.20904864e-02 2.03963248e+02] [-2.34801082e-01 9.72039333e-01 2.82611941e-03 -8.98799647e+01] [-1.24160522e-02 -9.19725472e-05 -9.99922914e-01 5.07625164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.437628 meters 0.012506599877190876 Centerline is valid? [True, True] Translation: X:203.94, Y:-89.86, Z:0.50 [[-9.53373708e-01 -3.01630915e-01 9.86729680e-03 2.03940952e+02] [-3.01615405e-01 9.53424768e-01 3.05935537e-03 -8.98601275e+01] [-1.03305213e-02 -5.94197518e-05 -9.99946637e-01 5.04133657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.497628 meters 0.012653936763519655 Centerline is valid? [True, True] Translation: X:203.89, Y:-89.85, Z:0.50 [[-9.30160339e-01 -3.67092043e-01 6.72132993e-03 2.03890921e+02] [-3.67082748e-01 9.30184622e-01 2.61253496e-03 -8.98510717e+01] [-7.21111854e-03 -3.72078624e-05 -9.99973999e-01 5.01796611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.557628 meters 0.012886166348497843 Centerline is valid? [True, True] Translation: X:203.83, Y:-89.85, Z:0.50 [[-9.01619993e-01 -4.32495868e-01 5.35829351e-03 2.03826641e+02] [-4.32488434e-01 9.01635915e-01 2.53609490e-03 -8.98510237e+01] [-5.92808044e-03 -3.08060989e-05 -9.99982428e-01 5.00137690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.617628 meters 0.013197473559067552 Centerline is valid? [True, True] Translation: X:203.76, Y:-89.86, Z:0.50 [[-8.67523600e-01 -4.97357928e-01 6.15594607e-03 2.03757975e+02] [-4.97345512e-01 8.67545441e-01 3.51420768e-03 -8.98550659e+01] [-7.08838200e-03 -1.29740565e-05 -9.99974877e-01 5.01689215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.677628 meters 0.016072125141349817 Centerline is valid? [True, True] Translation: X:203.67, Y:-89.87, Z:0.51 [[-8.27960622e-01 -5.60709579e-01 9.27234939e-03 2.03673575e+02] [-5.60674044e-01 8.28012541e-01 6.31262136e-03 -8.98734373e+01] [-1.12171688e-02 2.78362859e-05 -9.99937085e-01 5.06004138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.737628 meters 0.01734435890486537 Centerline is valid? [True, True] Translation: X:203.59, Y:-89.90, Z:0.51 [[-7.83289482e-01 -6.21572466e-01 1.02594868e-02 2.03594148e+02] [-6.21518408e-01 7.83356667e-01 8.19759631e-03 -8.98983564e+01] [-1.31322376e-02 4.46310426e-05 -9.99913767e-01 5.07846047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.797628 meters 0.01655547635013571 Centerline is valid? [True, True] Translation: X:203.51, Y:-89.94, Z:0.51 [[-7.33896128e-01 -6.79178451e-01 1.06350505e-02 2.03505126e+02] [-6.79106060e-01 7.33973180e-01 9.91622917e-03 -8.99385224e+01] [-1.45407310e-02 5.51549814e-05 -9.99894276e-01 5.07262875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.857628 meters 0.01646522181476189 Centerline is valid? [True, True] Translation: X:203.42, Y:-89.99, Z:0.51 [[-6.80282799e-01 -7.32890433e-01 9.32351657e-03 2.03419000e+02] [-7.32820615e-01 6.80346685e-01 1.01160857e-02 -8.99876563e+01] [-1.37572060e-02 4.93339360e-05 -9.99905364e-01 5.06545076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.91762799999998 meters 0.01316065062795917 Centerline is valid? [True, True] Translation: X:203.34, Y:-90.05, Z:0.50 [[-6.22583410e-01 -7.82526333e-01 6.51425142e-03 2.03336361e+02] [-7.82483173e-01 6.22617489e-01 8.21871539e-03 -9.00468805e+01] [-1.04872481e-02 1.95437373e-05 -9.99945007e-01 5.02356217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.97762799999998 meters 0.012985151663007717 Centerline is valid? [True, True] Translation: X:203.25, Y:-90.12, Z:0.50 [[-5.60266838e-01 -8.28298612e-01 4.74119755e-03 2.03254249e+02] [-8.28269062e-01 5.60286898e-01 6.99655049e-03 -9.01184225e+01] [-8.45166393e-03 -7.05203007e-06 -9.99964284e-01 4.99908561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.03762799999998 meters 0.012848201117208403 Centerline is valid? [True, True] Translation: X:203.17, Y:-90.20, Z:0.50 [[-4.94252410e-01 -8.69308589e-01 4.13922245e-03 2.03174686e+02] [-8.69278389e-01 4.94269742e-01 7.24604541e-03 -9.01969281e+01] [-8.34494192e-03 -1.67612194e-05 -9.99965180e-01 4.99459918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.097628 meters 0.014120649368859341 Centerline is valid? [True, True] Translation: X:203.10, Y:-90.29, Z:0.50 [[-4.24212928e-01 -9.05549293e-01 4.88564071e-03 2.03097890e+02] [-9.05489671e-01 4.24241060e-01 1.03912933e-02 -9.02858251e+01] [-1.14825177e-02 -1.57762345e-05 -9.99934074e-01 5.04110888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.157628 meters 0.015084563272404738 Centerline is valid? [True, True] Translation: X:203.03, Y:-90.38, Z:0.51 [[-3.51319454e-01 -9.36241631e-01 5.12335530e-03 2.03029579e+02] [-9.36143282e-01 3.51356808e-01 1.35701305e-02 -9.03794486e+01] [-1.45050469e-02 -2.87438139e-05 -9.99894796e-01 5.06168590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.217628 meters 0.012905232515425752 Centerline is valid? [True, True] Translation: X:202.96, Y:-90.48, Z:0.51 [[-2.74657333e-01 -9.61529950e-01 4.84812259e-03 2.02963924e+02] [-9.61385474e-01 2.74700105e-01 1.66680048e-02 -9.04815861e+01] [-1.73585656e-02 -8.29248949e-05 -9.99849325e-01 5.06388727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.277628 meters 0.012990920851046677 Centerline is valid? [True, True] Translation: X:202.91, Y:-90.59, Z:0.51 [[-1.98775396e-01 -9.80038644e-01 3.54935370e-03 2.02908260e+02] [-9.79891248e-01 1.98807058e-01 1.69969602e-02 -9.05862752e+01] [-1.73633144e-02 -9.94031290e-05 -9.99849241e-01 5.05697559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.337628 meters 0.013100418279236631 Centerline is valid? [True, True] Translation: X:202.86, Y:-90.70, Z:0.50 [[-1.22485459e-01 -9.92468026e-01 2.12836861e-03 2.02861513e+02] [-9.92332093e-01 1.22503909e-01 1.64259018e-02 -9.06968539e+01] [-1.65629158e-02 -1.00114355e-04 -9.99862820e-01 5.04569990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.397628 meters 0.013071056983600511 Centerline is valid? [True, True] Translation: X:202.83, Y:-90.81, Z:0.50 [[-4.59674859e-02 -9.98942581e-01 8.42335296e-04 2.02825501e+02] [-9.98809757e-01 4.59751099e-02 1.62898574e-02 -9.08115991e+01] [-1.63113586e-02 -9.25289231e-05 -9.99866957e-01 5.03573146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.457628 meters 0.012989828538475441 Centerline is valid? [True, True] Translation: X:202.80, Y:-90.93, Z:0.50 [[ 3.07126728e-02 -9.99528180e-01 -3.85587015e-04 2.02799699e+02] [-9.99412243e-01 -3.07149832e-02 1.52236353e-02 -9.09309669e+01] [-1.52282958e-02 -8.21981475e-05 -9.99884039e-01 5.03567966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.517628 meters 0.012953658482776395 Centerline is valid? [True, True] Translation: X:202.78, Y:-91.05, Z:0.50 [[ 1.08058308e-01 -9.94143401e-01 -1.51684071e-03 2.02782539e+02] [-9.94034068e-01 -1.08068920e-01 1.47438306e-02 -9.10478549e+01] [-1.48214053e-02 -8.54020445e-05 -9.99890153e-01 5.01197361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.577628 meters 0.01302465609498643 Centerline is valid? [True, True] Translation: X:202.77, Y:-91.17, Z:0.50 [[ 1.85622603e-01 -9.82617478e-01 -2.67229574e-03 2.02773538e+02] [-9.82507599e-01 -1.85641810e-01 1.46948066e-02 -9.11709118e+01] [-1.49354636e-02 -1.02137387e-04 -9.99888455e-01 5.00475148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.637628 meters 0.013211132383562548 Centerline is valid? [True, True] Translation: X:202.77, Y:-91.29, Z:0.50 [[ 2.63207788e-01 -9.64729733e-01 -4.26653870e-03 2.02774058e+02] [-9.64594000e-01 -2.63242326e-01 1.61831012e-02 -9.12941681e+01] [-1.67354525e-02 -1.44040629e-04 -9.99859942e-01 5.01068970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.69762799999998 meters 0.013588810280659724 Centerline is valid? [True, True] Translation: X:202.78, Y:-91.42, Z:0.50 [[ 3.38971974e-01 -9.40776982e-01 -6.05566991e-03 2.02784359e+02] [-9.40616642e-01 -3.39026007e-01 1.73695173e-02 -9.14200855e+01] [-1.83938717e-02 -1.91715681e-04 -9.99830800e-01 5.01658968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.75762799999998 meters 0.013965785020691809 Centerline is valid? [True, True] Translation: X:202.80, Y:-91.53, Z:0.50 [[ 4.13164899e-01 -9.10624665e-01 -7.58199290e-03 2.02796435e+02] [-9.10460094e-01 -4.13234386e-01 1.73135568e-02 -9.15345878e+01] [-1.88992920e-02 -2.50251979e-04 -9.99821361e-01 5.02857661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.81762799999998 meters 0.01395524954313674 Centerline is valid? [True, True] Translation: X:202.82, Y:-91.65, Z:0.50 [[ 4.82826500e-01 -8.75676474e-01 -8.32369323e-03 2.02820569e+02] [-8.75537068e-01 -4.82898174e-01 1.56268017e-02 -9.16492395e+01] [-1.77035189e-02 -2.57331999e-04 -9.99843247e-01 5.01189904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.877628 meters 0.013815162482288952 Centerline is valid? [True, True] Translation: X:202.86, Y:-91.76, Z:0.50 [[ 5.48860242e-01 -8.35877259e-01 -7.85130950e-03 2.02857554e+02] [-8.35785756e-01 -5.48916347e-01 1.23698485e-02 -9.17641750e+01] [-1.46493872e-02 -2.27305392e-04 -9.99892666e-01 4.97648283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.937628 meters 0.013682003258082904 Centerline is valid? [True, True] Translation: X:202.90, Y:-91.87, Z:0.50 [[ 6.10939293e-01 -7.91638381e-01 -7.86470246e-03 2.02896608e+02] [-7.91568485e-01 -6.10989879e-01 1.05214315e-02 -9.18659647e+01] [-1.31344226e-02 -2.02505318e-04 -9.99913719e-01 4.96292253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.997628 meters 0.013696275125570851 Centerline is valid? [True, True] Translation: X:202.95, Y:-91.96, Z:0.50 [[ 6.68880401e-01 -7.43310837e-01 -9.38127591e-03 2.02945257e+02] [-7.43233634e-01 -6.68946158e-01 1.07146551e-02 -9.19648309e+01] [-1.42398877e-02 -1.94342991e-04 -9.99898589e-01 4.97502494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.057628 meters 0.013861995278807533 Centerline is valid? [True, True] Translation: X:203.00, Y:-92.06, Z:0.50 [[ 7.23971830e-01 -6.89713447e-01 -1.26550121e-02 2.03000449e+02] [-6.89602595e-01 -7.24082391e-01 1.23673462e-02 -9.20574238e+01] [-1.76931964e-02 -2.26681036e-04 -9.99843437e-01 4.98851675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.117628 meters 0.014312210448832505 Centerline is valid? [True, True] Translation: X:203.02, Y:-92.09, Z:0.50 [[ 7.77305171e-01 -6.28912416e-01 -1.63047121e-02 2.03016699e+02] [-6.28765546e-01 -7.77476092e-01 1.35946632e-02 -9.20855226e+01] [-2.12263764e-02 -3.15360764e-04 -9.99774645e-01 5.01841829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.177628 meters 0.01520038157869708 Centerline is valid? [True, True] Translation: X:203.03, Y:-92.11, Z:0.50 [[ 8.25971194e-01 -5.63394414e-01 -1.89293739e-02 2.03033798e+02] [-5.63234890e-01 -8.26187969e-01 1.34126169e-02 -9.21110733e+01] [-2.31958144e-02 -4.16751329e-04 -9.99730854e-01 5.04666576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.237628 meters 0.016326531952534907 Centerline is valid? [True, True] Translation: X:203.05, Y:-92.13, Z:0.50 [[ 8.67352037e-01 -4.97327073e-01 -1.91370198e-02 2.03054829e+02] [-4.97195915e-01 -8.67563038e-01 1.14279504e-02 -9.21339759e+01] [-2.22860002e-02 -3.97208045e-04 -9.99751557e-01 5.03348847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.297628 meters 0.014679722765428307 Centerline is valid? [True, True] Translation: X:203.08, Y:-92.16, Z:0.50 [[ 9.03461677e-01 -4.28263790e-01 -1.86312935e-02 2.03077584e+02] [-4.28164294e-01 -9.03653689e-01 9.23836763e-03 -9.21551195e+01] [-2.07926954e-02 -3.69256490e-04 -9.99783740e-01 5.00448259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.357628 meters 0.013905248134835723 Centerline is valid? [True, True] Translation: X:203.10, Y:-92.17, Z:0.50 [[ 9.32906496e-01 -3.59818218e-01 -1.47078286e-02 2.03103089e+02] [-3.59769439e-01 -9.33022396e-01 5.92947222e-03 -9.21719780e+01] [-1.58562656e-02 -2.40215916e-04 -9.99874253e-01 4.95157987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.41762799999998 meters 0.013211690641902944 Centerline is valid? [True, True] Translation: X:203.13, Y:-92.18, Z:0.49 [[ 9.56442098e-01 -2.91744522e-01 -1.01806992e-02 2.03129236e+02] [-2.91726657e-01 -9.56496273e-01 3.23080008e-03 -9.21846074e+01] [-1.06803691e-02 -1.20091861e-04 -9.99942956e-01 4.91148522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.47762799999998 meters 0.013139266089511305 Centerline is valid? [True, True] Translation: X:203.15, Y:-92.20, Z:0.49 [[ 9.75375890e-01 -2.20349109e-01 -9.38847902e-03 2.03154842e+02] [-2.20338176e-01 -9.75421071e-01 2.19621885e-03 -9.21953152e+01] [-9.64165512e-03 -7.34985711e-05 -9.99953515e-01 4.91622368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.53762799999998 meters 0.013508363318632526 Centerline is valid? [True, True] Translation: X:203.18, Y:-92.20, Z:0.49 [[ 9.88724210e-01 -1.49330462e-01 -1.11736379e-02 2.03178525e+02] [-1.49320881e-01 -9.88787345e-01 1.69161112e-03 -9.22018560e+01] [-1.13009608e-02 -4.07941508e-06 -9.99936142e-01 4.92992151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.597628 meters 0.013530852438977708 Centerline is valid? [True, True] Translation: X:203.20, Y:-92.22, Z:0.49 [[ 9.97317111e-01 -7.21392894e-02 -1.24299113e-02 2.03201778e+02] [-7.21338394e-02 -9.97394567e-01 8.86814214e-04 -9.22154179e+01] [-1.24615001e-02 1.21822321e-05 -9.99922352e-01 4.92805251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.657628 meters 0.013799759329285921 Centerline is valid? [True, True] Translation: X:203.23, Y:-92.23, Z:0.49 [[ 9.99881352e-01 4.85052570e-03 -1.46203578e-02 2.03226523e+02] [ 4.84932502e-03 -9.99988235e-01 -1.17573927e-04 -9.22265197e+01] [-1.46207561e-02 4.66611099e-05 -9.99893110e-01 4.94562036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.717628 meters 0.015987583651285085 Centerline is valid? [True, True] Translation: X:203.25, Y:-92.23, Z:0.50 [[ 9.96644181e-01 8.04042007e-02 -1.53473599e-02 2.03251143e+02] [ 8.03931956e-02 -9.96762336e-01 -1.33367759e-03 -9.22325713e+01] [-1.54049036e-02 9.53787054e-05 -9.99881333e-01 4.97312886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.777628 meters 0.014295737424255996 Centerline is valid? [True, True] Translation: X:203.28, Y:-92.24, Z:0.49 [[ 9.87460272e-01 1.57320191e-01 -1.31365615e-02 2.03277207e+02] [ 1.57305143e-01 -9.87547645e-01 -2.17757148e-03 -9.22373474e+01] [-1.33155563e-02 8.38166460e-05 -9.99911341e-01 4.94395018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.837628 meters 0.01423791479096974 Centerline is valid? [True, True] Translation: X:203.30, Y:-92.24, Z:0.49 [[ 9.72207235e-01 2.33877460e-01 -1.06970056e-02 2.03303549e+02] [ 2.33862629e-01 -9.72266080e-01 -2.63453977e-03 -9.22398405e+01] [-1.10164952e-02 5.96887688e-05 -9.99939315e-01 4.91424371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.897628 meters 0.013909922634514656 Centerline is valid? [True, True] Translation: X:203.33, Y:-92.24, Z:0.49 [[ 9.50267987e-01 3.11301671e-01 -9.05656944e-03 2.03330661e+02] [ 3.11287319e-01 -9.50311143e-01 -2.98935320e-03 -9.22419690e+01] [-9.53714950e-03 2.14914323e-05 -9.99954520e-01 4.90555020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.957628 meters 0.013113239014313285 Centerline is valid? [True, True] Translation: X:203.36, Y:-92.24, Z:0.49 [[ 9.20198785e-01 3.91364412e-01 -8.25183789e-03 2.03357557e+02] [ 3.91349147e-01 -9.20235782e-01 -3.45684633e-03 -9.22439548e+01] [-8.94652313e-03 -4.83639317e-05 -9.99959978e-01 4.90687489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.017628 meters 0.012989120887670527 Centerline is valid? [True, True] Translation: X:203.39, Y:-92.24, Z:0.49 [[ 8.84372232e-01 4.66704313e-01 -8.53458935e-03 2.03385134e+02] [ 4.66683612e-01 -8.84413407e-01 -4.39669423e-03 -9.22415326e+01] [-9.60006140e-03 -9.46386925e-05 -9.99953914e-01 4.90954800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.077628 meters 0.013377317364119429 Centerline is valid? [True, True] Translation: X:203.41, Y:-92.24, Z:0.49 [[ 8.42119496e-01 5.39222543e-01 -8.59092650e-03 2.03412340e+02] [ 5.39196318e-01 -8.42163301e-01 -5.32022309e-03 -9.22363920e+01] [-1.01037472e-02 -1.51932348e-04 -9.99948944e-01 4.92206450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.137628 meters 0.013328891531416484 Centerline is valid? [True, True] Translation: X:203.44, Y:-92.23, Z:0.49 [[ 7.96754915e-01 6.04234791e-01 -9.05109595e-03 2.03437732e+02] [ 6.04198224e-01 -7.96806305e-01 -6.64962730e-03 -9.22270137e+01] [-1.12299065e-02 -1.70532860e-04 -9.99936928e-01 4.93484297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.19762799999998 meters 0.013123927693980858 Centerline is valid? [True, True] Translation: X:203.46, Y:-92.21, Z:0.49 [[ 7.48480639e-01 6.63093616e-01 -9.14268517e-03 2.03460828e+02] [ 6.63046602e-01 -7.48536461e-01 -7.89752149e-03 -9.22138848e+01] [-1.20804293e-02 -1.50884398e-04 -9.99927018e-01 4.93844220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.25762799999998 meters 0.012845339850662704 Centerline is valid? [True, True] Translation: X:203.48, Y:-92.20, Z:0.49 [[ 6.97974177e-01 7.16083583e-01 -7.50669851e-03 2.03478698e+02] [ 7.16043505e-01 -6.98014538e-01 -7.57655769e-03 -9.21967896e+01] [-1.06652333e-02 -8.68810868e-05 -9.99943121e-01 4.92060786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.31762799999998 meters 0.012753353318809576 Centerline is valid? [True, True] Translation: X:203.50, Y:-92.18, Z:0.49 [[ 6.42658726e-01 7.66129783e-01 -5.90916084e-03 2.03496604e+02] [ 7.66098118e-01 -6.42685890e-01 -6.96568390e-03 -9.21801610e+01] [-9.13435219e-03 -5.04394548e-05 -9.99958280e-01 4.90471701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.377628 meters 0.01289250674003909 Centerline is valid? [True, True] Translation: X:203.52, Y:-92.16, Z:0.49 [[ 5.82114221e-01 8.13095672e-01 -4.29667927e-03 2.03515534e+02] [ 8.13074051e-01 -5.82130077e-01 -5.92977759e-03 -9.21644658e+01] [-7.32270273e-03 -4.17105602e-05 -9.99973188e-01 4.88513997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.437628 meters 0.014989121454316788 Centerline is valid? [True, True] Translation: X:203.54, Y:-92.15, Z:0.49 [[ 5.17845459e-01 8.55463303e-01 -4.31488332e-03 2.03536433e+02] [ 8.55434019e-01 -5.17863435e-01 -7.07829734e-03 -9.21493477e+01] [-8.28974391e-03 -2.56338368e-05 -9.99965639e-01 4.90189793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.497628 meters 0.012850085801214365 Centerline is valid? [True, True] Translation: X:203.56, Y:-92.13, Z:0.49 [[ 4.49830343e-01 8.93106125e-01 -3.75663183e-03 2.03556005e+02] [ 8.93075358e-01 -4.49846028e-01 -7.41317181e-03 -9.21330864e+01] [-8.31065506e-03 -2.02857045e-05 -9.99965466e-01 4.88605357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.557628 meters 0.013235280782514803 Centerline is valid? [True, True] Translation: X:203.57, Y:-92.11, Z:0.49 [[ 3.81536113e-01 9.24345591e-01 -3.92731285e-03 2.03572934e+02] [ 9.24295894e-01 -3.81556324e-01 -9.58499339e-03 -9.21147343e+01] [-1.03583374e-02 2.70219758e-05 -9.99946351e-01 4.90089808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.617628 meters 0.013632353165827466 Centerline is valid? [True, True] Translation: X:203.59, Y:-92.09, Z:0.49 [[ 3.10300652e-01 9.50631827e-01 -3.55460814e-03 2.03587225e+02] [ 9.50566895e-01 -3.10321004e-01 -1.11109402e-02 -9.20948867e+01] [-1.16654830e-02 6.88391735e-05 -9.99931954e-01 4.91477686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.677628 meters 0.014997980394017478 Centerline is valid? [True, True] Translation: X:203.60, Y:-92.07, Z:0.49 [[ 2.38863575e-01 9.71049221e-01 -2.75738198e-03 2.03601672e+02] [ 9.70978479e-01 -2.38879459e-01 -1.17216848e-02 -9.20744345e+01] [-1.20410148e-02 1.22524985e-04 -9.99927497e-01 4.91778967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.737628 meters 0.016057384101858745 Centerline is valid? [True, True] Translation: X:203.61, Y:-92.05, Z:0.49 [[ 1.67515394e-01 9.85868292e-01 -1.51794774e-03 2.03609673e+02] [ 9.85819730e-01 -1.67522211e-01 -9.78617278e-03 -9.20537922e+01] [-9.90216740e-03 1.42911761e-04 -9.99950962e-01 4.88883275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.797628 meters 0.017637459464506032 Centerline is valid? [True, True] Translation: X:203.62, Y:-92.03, Z:0.49 [[ 9.31711971e-02 9.95649919e-01 -6.04967699e-04 2.03620577e+02] [ 9.95619358e-01 -9.31730778e-02 -7.80206873e-03 -9.20322267e+01] [-7.82449581e-03 1.24610532e-04 -9.99969380e-01 4.86823255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.857628 meters 0.01534520089072978 Centerline is valid? [True, True] Translation: X:203.63, Y:-92.01, Z:0.48 [[ 1.49023475e-02 9.99888954e-01 -1.21577157e-05 2.03634739e+02] [ 9.99872044e-01 -1.49021662e-02 -5.81559531e-03 -9.20097286e+01] [-5.81513069e-03 7.45098621e-05 -9.99983089e-01 4.83425145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.91762799999998 meters 0.015143621013728568 Centerline is valid? [True, True] Translation: X:203.65, Y:-91.99, Z:0.48 [[-6.48206716e-02 9.97896899e-01 2.43146254e-04 2.03646184e+02] [ 9.97890619e-01 6.48211263e-02 -3.54047047e-03 -9.19859077e+01] [-3.54878552e-03 1.31376919e-05 -9.99993703e-01 4.81442541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.97762799999998 meters 0.01457825740375495 Centerline is valid? [True, True] Translation: X:203.66, Y:-91.96, Z:0.48 [[-1.45697658e-01 9.89328995e-01 5.76284598e-04 2.03655016e+02] [ 9.89321527e-01 1.45698797e-01 -3.84402581e-03 -9.19604525e+01] [-3.88697016e-03 1.00652022e-05 -9.99992446e-01 4.81096560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.03762799999998 meters 0.013361845390661565 Centerline is valid? [True, True] Translation: X:203.66, Y:-91.93, Z:0.48 [[-2.29261064e-01 9.73364529e-01 9.26272432e-04 2.03663115e+02] [ 9.73356359e-01 2.29262935e-01 -3.98801832e-03 -9.19341468e+01] [-4.09415551e-03 -1.27041615e-05 -9.99991619e-01 4.81344050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.097628 meters 0.011867490676117825 Centerline is valid? [True, True] Translation: X:203.67, Y:-91.91, Z:0.48 [[-3.13889134e-01 9.49458842e-01 1.23256352e-03 2.03671692e+02] [ 9.49450865e-01 3.13891550e-01 -3.89223158e-03 -9.19065829e+01] [-4.08240496e-03 -5.14707011e-05 -9.99991666e-01 4.82013074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.157628 meters 0.011685249463915465 Centerline is valid? [True, True] Translation: X:203.67, Y:-91.88, Z:0.48 [[-3.92822744e-01 9.19613236e-01 1.33725007e-03 2.03673729e+02] [ 9.19607240e-01 3.92825013e-01 -3.32156033e-03 -9.18786137e+01] [-3.57985612e-03 -7.50395906e-05 -9.99993589e-01 4.82193002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.217628 meters 0.01178564050395615 Centerline is valid? [True, True] Translation: X:203.67, Y:-91.85, Z:0.48 [[-4.65986700e-01 8.84790490e-01 1.47756621e-03 2.03672602e+02] [ 8.84785462e-01 4.65989036e-01 -2.98398353e-03 -9.18508551e+01] [-3.32872990e-03 -8.31675388e-05 -9.99994456e-01 4.81835555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.277628 meters 0.012142615521788377 Centerline is valid? [True, True] Translation: X:203.67, Y:-91.82, Z:0.48 [[-5.36640980e-01 8.43808287e-01 2.00837088e-03 2.03667169e+02] [ 8.43801681e-01 5.36644729e-01 -3.34029236e-03 -9.18246372e+01] [-3.89634802e-03 -9.78710427e-05 -9.99992404e-01 4.81995541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.337628 meters 0.012039924497331019 Centerline is valid? [True, True] Translation: X:203.66, Y:-91.80, Z:0.48 [[-6.00792043e-01 7.99400677e-01 2.73449757e-03 2.03657978e+02] [ 7.99391617e-01 6.00798258e-01 -3.80739843e-03 -9.17999271e+01] [-4.68651826e-03 -1.01520250e-04 -9.99989013e-01 4.81826911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.397628 meters 0.01187764581985301 Centerline is valid? [True, True] Translation: X:203.64, Y:-91.78, Z:0.48 [[-6.60049191e-01 7.51213698e-01 3.61184350e-03 2.03644992e+02] [ 7.51201648e-01 6.60059066e-01 -4.25604763e-03 -9.17788195e+01] [-5.58123133e-03 -9.59780090e-05 -9.99984420e-01 4.82467061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.457628 meters 0.011892453723358011 Centerline is valid? [True, True] Translation: X:203.63, Y:-91.76, Z:0.48 [[-7.15652132e-01 6.98438267e-01 5.10035997e-03 2.03630390e+02] [ 6.98419617e-01 7.15670301e-01 -5.10480580e-03 -9.17586610e+01] [-7.21556787e-03 -9.10736883e-05 -9.99973963e-01 4.83248619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.517628 meters 0.011994625400842514 Centerline is valid? [True, True] Translation: X:203.65, Y:-91.75, Z:0.48 [[-7.63177656e-01 6.46153394e-01 6.75700845e-03 2.03654849e+02] [ 6.46127036e-01 7.63207563e-01 -5.83686783e-03 -9.17482915e+01] [-8.92851191e-03 -8.86812696e-05 -9.99960136e-01 4.84529506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.577628 meters 0.012141412635660554 Centerline is valid? [True, True] Translation: X:203.67, Y:-91.73, Z:0.49 [[-8.07078926e-01 5.90360965e-01 9.87611932e-03 2.03673729e+02] [ 5.90315222e-01 8.07139344e-01 -7.34972427e-03 -9.17331254e+01] [-1.23103948e-02 -1.01784002e-04 -9.99924219e-01 4.87677732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.637628 meters 0.01223993391689193 Centerline is valid? [True, True] Translation: X:203.69, Y:-91.72, Z:0.49 [[-8.46603087e-01 5.32080216e-01 1.24039306e-02 2.03688402e+02] [ 5.32021305e-01 8.46693943e-01 -7.91821439e-03 -9.17153688e+01] [-1.47154581e-02 -1.04429394e-04 -9.99891716e-01 4.89360476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.69762799999998 meters 0.012336944191482126 Centerline is valid? [True, True] Translation: X:203.71, Y:-91.69, Z:0.49 [[-8.82734724e-01 4.69706530e-01 1.24572403e-02 2.03706350e+02] [ 4.69657834e-01 8.82822610e-01 -6.76445532e-03 -9.16942403e+01] [-1.41748422e-02 -1.20579115e-04 -9.99899525e-01 4.88890756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.75762799999998 meters 0.012196191132252314 Centerline is valid? [True, True] Translation: X:203.73, Y:-91.68, Z:0.49 [[-9.13381011e-01 4.06952314e-01 1.11777683e-02 2.03726974e+02] [ 4.06920492e-01 9.13449399e-01 -5.09007870e-03 -9.16753845e+01] [-1.22817450e-02 -1.00718265e-04 -9.99924571e-01 4.85713119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.81762799999998 meters 0.012104557412393373 Centerline is valid? [True, True] Translation: X:203.74, Y:-91.65, Z:0.48 [[-9.39284087e-01 3.42982139e-01 1.04238609e-02 2.03740637e+02] [ 3.42960109e-01 9.39341922e-01 -3.88808225e-03 -9.16530170e+01] [-1.11251123e-02 -7.70453206e-05 -9.99938111e-01 4.84354501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.877628 meters 0.012244028385132666 Centerline is valid? [True, True] Translation: X:204.04, Y:-90.90, Z:-0.43 [[-9.14417635e-01 -4.04694017e-01 7.94622294e-03 2.04035475e+02] [ 4.04678121e-01 -9.14452158e-01 -3.58745186e-03 -9.08951281e+01] [ 8.71826102e-03 -6.47666779e-05 9.99961993e-01 -4.26375959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.937628 meters 0.01238054884896693 Centerline is valid? [True, True] Translation: X:203.71, Y:-91.65, Z:0.49 [[-9.38140343e-01 3.46103559e-01 1.02480752e-02 2.03705455e+02] [ 3.46082915e-01 9.38196316e-01 -3.78013988e-03 -9.16456613e+01] [-1.09230262e-02 3.82006866e-07 -9.99940342e-01 4.85738176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.997628 meters 0.012991526578897758 Centerline is valid? [True, True] Translation: X:203.72, Y:-91.62, Z:0.49 [[-9.59132114e-01 2.82776868e-01 1.01405361e-02 2.03719541e+02] [ 2.82761537e-01 9.59185718e-01 -2.94477264e-03 -9.16236221e+01] [-1.05593710e-02 4.29275677e-05 -9.99944247e-01 4.86270362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.057628 meters 0.015383802020948937 Centerline is valid? [True, True] Translation: X:203.96, Y:-90.83, Z:-0.43 [[-9.45191080e-01 -3.26416671e-01 8.12276997e-03 2.03955347e+02] [ 3.26403349e-01 -9.45225972e-01 -2.95226303e-03 -9.08344596e+01] [ 8.64152101e-03 -1.39153361e-04 9.99962652e-01 -4.27491284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.117628 meters 0.013920738200673482 Centerline is valid? [True, True] Translation: X:203.68, Y:-91.61, Z:0.48 [[-9.59568023e-01 2.81393980e-01 6.82919914e-03 2.03676600e+02] [ 2.81387042e-01 9.59592324e-01 -1.97618327e-03 -9.16124660e+01] [-7.10933314e-03 2.53658697e-05 -9.99974728e-01 4.83079103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.177628 meters 0.015461560274530621 Centerline is valid? [True, True] Translation: X:203.68, Y:-91.59, Z:0.48 [[-9.77354552e-01 2.11498773e-01 6.80796107e-03 2.03684844e+02] [ 2.11493753e-01 9.77378263e-01 -1.45732722e-03 -9.15850464e+01] [-6.96217608e-03 1.55158433e-05 -9.99975764e-01 4.84060469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.237628 meters 0.012271318115195842 Centerline is valid? [True, True] Translation: X:203.86, Y:-90.79, Z:-0.42 [[-9.65573617e-01 -2.60062591e-01 5.91940915e-03 2.03857118e+02] [ 2.60057315e-01 -9.65591759e-01 -1.65776591e-03 -9.07900501e+01] [ 6.14685560e-03 -6.13093795e-05 9.99981106e-01 -4.24724077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.297628 meters 0.011920547751909533 Centerline is valid? [True, True] Translation: X:203.64, Y:-91.57, Z:0.48 [[-9.80146602e-01 1.98139329e-01 7.31062203e-03 2.03636649e+02] [ 1.98133422e-01 9.80173864e-01 -1.53088558e-03 -9.15667446e+01] [-7.46900929e-03 -5.20137406e-05 -9.99972105e-01 4.83588445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.357628 meters 0.011872795780859823 Centerline is valid? [True, True] Translation: X:203.64, Y:-91.54, Z:0.48 [[-9.92030439e-01 1.25787774e-01 7.28315026e-03 2.03636569e+02] [ 1.25783869e-01 9.92057171e-01 -9.93588699e-04 -9.15381073e+01] [-7.35028275e-03 -6.95674139e-05 -9.99972984e-01 4.83015406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.41762799999998 meters 0.011930475045002529 Centerline is valid? [True, True] Translation: X:203.65, Y:-91.51, Z:0.48 [[-9.98530759e-01 5.37321069e-02 7.01312864e-03 2.03646336e+02] [ 5.37302290e-02 9.98555384e-01 -4.56048151e-04 -9.15124325e+01] [-7.02750179e-03 -7.85610985e-05 -9.99975304e-01 4.82481146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.47762799999998 meters 0.012055394350534874 Centerline is valid? [True, True] Translation: X:203.65, Y:-91.49, Z:0.48 [[-9.99831568e-01 -1.67999145e-02 7.38901426e-03 2.03647967e+02] [-1.68000137e-02 9.99858869e-01 4.86390564e-05 -9.14870736e+01] [-7.38878857e-03 -7.55046771e-05 -9.99972700e-01 4.83895253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.53762799999998 meters 0.01216635660451231 Centerline is valid? [True, True] Translation: X:203.65, Y:-91.47, Z:0.48 [[-9.96299264e-01 -8.55446443e-02 8.36006072e-03 2.03648878e+02] [-8.55421210e-02 9.96334337e-01 6.59592365e-04 -9.14663499e+01] [-8.38584014e-03 -5.79859375e-05 -9.99964837e-01 4.83317817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.597628 meters 0.012188852588927086 Centerline is valid? [True, True] Translation: X:203.65, Y:-91.44, Z:0.48 [[-9.87688188e-01 -1.56239803e-01 7.82093346e-03 2.03646582e+02] [-1.56235370e-01 9.87719151e-01 1.17837197e-03 -9.14420311e+01] [-7.90899436e-03 -5.80423558e-05 -9.99968722e-01 4.83620219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.657628 meters 0.012404857275175363 Centerline is valid? [True, True] Translation: X:203.63, Y:-91.41, Z:0.48 [[-9.73155313e-01 -2.29971194e-01 9.05461916e-03 2.03633156e+02] [-2.29962125e-01 9.73197432e-01 2.04439091e-03 -9.14138914e+01] [-9.28208313e-03 -9.27095852e-05 -9.99956916e-01 4.84722145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.717628 meters 0.012473941992632015 Centerline is valid? [True, True] Translation: X:203.61, Y:-91.39, Z:0.49 [[-9.53718098e-01 -3.00506181e-01 1.08547312e-02 2.03610512e+02] [-3.00488074e-01 9.53779860e-01 3.30082154e-03 -9.13917033e+01] [-1.13449413e-02 -1.13664043e-04 -9.99935638e-01 4.85857809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.777628 meters 0.012415363218352026 Centerline is valid? [True, True] Translation: X:203.56, Y:-91.38, Z:0.49 [[-9.29399851e-01 -3.68920837e-01 1.06457768e-02 2.03564284e+02] [-3.68897994e-01 9.29460813e-01 4.10686932e-03 -9.13793276e+01] [-1.14099420e-02 -1.10281982e-04 -9.99934898e-01 4.85269575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.837628 meters 0.012276098951590214 Centerline is valid? [True, True] Translation: X:203.51, Y:-91.38, Z:0.48 [[-9.00724890e-01 -4.34285550e-01 9.52537912e-03 2.03505894e+02] [-4.34262245e-01 9.00775251e-01 4.49985916e-03 -9.13757221e+01] [-1.05344496e-02 -8.33773766e-05 -9.99944508e-01 4.84397550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.897628 meters 0.012315858711982099 Centerline is valid? [True, True] Translation: X:203.44, Y:-91.38, Z:0.48 [[-8.69223350e-01 -4.94371169e-01 6.92210079e-03 2.03441191e+02] [-4.94355729e-01 8.69250911e-01 3.90730262e-03 -9.13838366e+01] [-7.94870019e-03 -2.56615130e-05 -9.99968408e-01 4.81840023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.957628 meters 0.016357740151094157 Centerline is valid? [True, True] Translation: X:203.36, Y:-91.41, Z:0.48 [[-8.33668839e-01 -5.52224266e-01 6.68031377e-03 2.03363647e+02] [-5.52206231e-01 8.33695603e-01 4.46317865e-03 -9.14050062e+01] [-8.03402378e-03 3.19020799e-05 -9.99967726e-01 4.84243143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.017628 meters 0.014592652614899984 Centerline is valid? [True, True] Translation: X:203.29, Y:-91.43, Z:0.48 [[-7.94362758e-01 -6.07413852e-01 6.01836838e-03 2.03286876e+02] [-6.07395589e-01 7.94385552e-01 4.71099679e-03 -9.14341187e+01] [-7.64242959e-03 8.67099952e-05 -9.99970792e-01 4.81841269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.077628 meters 0.018379781564511876 Centerline is valid? [True, True] Translation: X:203.20, Y:-91.48, Z:0.49 [[-7.48672062e-01 -6.62908481e-01 6.51845491e-03 2.03199877e+02] [-6.62881658e-01 7.48700424e-01 5.96502930e-03 -9.14761249e+01] [-8.83463847e-03 1.44886583e-04 -9.99960963e-01 4.85191707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.137628 meters 0.018757817815778788 Centerline is valid? [True, True] Translation: X:203.11, Y:-91.52, Z:0.49 [[-6.96795934e-01 -7.17233815e-01 7.14711889e-03 2.03113351e+02] [-7.17193197e-01 6.96832560e-01 7.63558030e-03 -9.15229622e+01] [-1.04568415e-02 1.94576264e-04 -9.99945307e-01 4.86241934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.19762799999998 meters 0.018127742553496504 Centerline is valid? [True, True] Translation: X:203.02, Y:-91.59, Z:0.49 [[-6.39279900e-01 -7.68939146e-01 7.33473113e-03 2.03023046e+02] [-7.68884645e-01 6.39321940e-01 9.15751206e-03 -9.15853260e+01] [-1.17308240e-02 2.14651260e-04 -9.99931168e-01 4.85783185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.25762799999998 meters 0.01419175027256762 Centerline is valid? [True, True] Translation: X:202.93, Y:-91.65, Z:0.48 [[-5.75402085e-01 -8.17853750e-01 5.26158426e-03 2.02932786e+02] [-8.17817631e-01 5.75426129e-01 7.68719696e-03 -9.16492162e+01] [-9.31465592e-03 1.20212790e-04 -9.99956610e-01 4.80417785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.31762799999998 meters 0.013299341357384175 Centerline is valid? [True, True] Translation: X:202.85, Y:-91.73, Z:0.48 [[-5.05176638e-01 -8.63008329e-01 3.63176389e-03 2.02846017e+02] [-8.62985604e-01 5.05189691e-01 6.26288540e-03 -9.17262393e+01] [-7.23965193e-03 2.97034335e-05 -9.99973793e-01 4.79569838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.377628 meters 0.01263546913564205 Centerline is valid? [True, True] Translation: X:202.77, Y:-91.81, Z:0.48 [[-4.32835167e-01 -9.01468730e-01 2.80124787e-03 2.02766930e+02] [-9.01450061e-01 4.32844232e-01 5.80161168e-03 -9.18107123e+01] [-6.44247549e-03 -1.40435008e-05 -9.99979247e-01 4.79549000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.437628 meters 0.012356832166455075 Centerline is valid? [True, True] Translation: X:202.69, Y:-91.91, Z:0.48 [[-3.58282857e-01 -9.33610148e-01 2.34199888e-03 2.02694344e+02] [-9.33590965e-01 3.58290509e-01 5.98507116e-03 -9.19108677e+01] [-6.42683915e-03 -4.21206002e-05 -9.99979347e-01 4.79380848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.497628 meters 0.012339748704177096 Centerline is valid? [True, True] Translation: X:202.63, Y:-92.01, Z:0.48 [[-2.81094653e-01 -9.59677597e-01 2.16929880e-03 2.02634035e+02] [-9.59650954e-01 2.81103014e-01 7.15141570e-03 -9.20085954e+01] [-7.47284987e-03 -7.15449497e-05 -9.99972075e-01 4.78568287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.557628 meters 0.012482975077429992 Centerline is valid? [True, True] Translation: X:202.58, Y:-92.12, Z:0.48 [[-2.02821138e-01 -9.79213563e-01 2.09377654e-03 2.02578253e+02] [-9.79166813e-01 2.02831916e-01 9.56903702e-03 -9.21193136e+01] [-9.79481555e-03 -1.09353521e-04 -9.99952024e-01 4.81480995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.617628 meters 0.012760533083244777 Centerline is valid? [True, True] Translation: X:202.54, Y:-92.23, Z:0.48 [[-1.24896451e-01 -9.92168456e-01 1.62213125e-03 2.02535652e+02] [-9.92098676e-01 1.24906907e-01 1.17678447e-02 -9.22272791e+01] [-1.18782997e-02 -1.39552220e-04 -9.99929441e-01 4.83227920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.677628 meters 0.01322991137462611 Centerline is valid? [True, True] Translation: X:201.72, Y:-92.23, Z:-0.43 [[-2.07769342e-01 9.78175451e-01 2.16524505e-03 2.01719506e+02] [-9.78120270e-01 -2.07780620e-01 1.03899824e-02 -9.22322574e+01] [ 1.06131217e-02 4.08497388e-05 9.99943678e-01 -4.27524604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.737628 meters 0.014014552810952832 Centerline is valid? [True, True] Translation: X:202.49, Y:-92.52, Z:0.48 [[-1.07151789e-01 -9.94241822e-01 1.30121765e-03 2.02491448e+02] [-9.94190144e-01 1.07159490e-01 1.01390746e-02 -9.25237480e+01] [-1.02201298e-02 -2.07237778e-04 -9.99947752e-01 4.81338493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.797628 meters 0.014281036393445003 Centerline is valid? [True, True] Translation: X:202.45, Y:-92.64, Z:0.48 [[-2.88775397e-02 -9.99582854e-01 4.53024078e-04 2.02452286e+02] [-9.99543856e-01 2.88804158e-02 8.83180770e-03 -9.26419618e+01] [-8.84120707e-03 -1.97776556e-04 -9.99960896e-01 4.79668302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.857628 meters 0.013958322756196266 Centerline is valid? [True, True] Translation: X:202.43, Y:-92.76, Z:0.48 [[ 4.68975841e-02 -9.98899685e-01 -1.90994320e-04 2.02425136e+02] [-9.98870530e-01 -4.68976749e-02 7.63366592e-03 -9.27579474e+01] [-7.63422367e-03 -1.67221891e-04 -9.99970845e-01 4.79207533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.91762799999998 meters 0.01307711121773832 Centerline is valid? [True, True] Translation: X:202.41, Y:-92.87, Z:0.48 [[ 1.18889713e-01 -9.92906856e-01 -1.10091117e-03 2.02411395e+02] [-9.92851356e-01 -1.18894708e-01 1.04992293e-02 -9.28714531e+01] [-1.05556492e-02 -1.55209203e-04 -9.99944276e-01 4.82866231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.97762799999998 meters 0.01277330284337932 Centerline is valid? [True, True] Translation: X:202.40, Y:-92.99, Z:0.49 [[ 1.90865132e-01 -9.81613226e-01 -2.44452767e-03 2.02403933e+02] [-9.81524485e-01 -1.90880748e-01 1.31994814e-02 -9.29879220e+01] [-1.34233988e-02 -1.19956996e-04 -9.99909895e-01 4.85597641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.03762799999998 meters 0.015059186321007554 Centerline is valid? [True, True] Translation: X:202.40, Y:-93.10, Z:0.49 [[ 2.63065717e-01 -9.64770576e-01 -3.76346782e-03 2.02403852e+02] [-9.64667567e-01 -2.63092625e-01 1.40980606e-02 -9.31043898e+01] [-1.45915346e-02 -7.82210693e-05 -9.99893535e-01 4.87900551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.097628 meters 0.01279999963431806 Centerline is valid? [True, True] Translation: X:202.41, Y:-93.22, Z:0.48 [[ 3.32548240e-01 -9.43075458e-01 -4.51088174e-03 2.02414982e+02] [-9.42988096e-01 -3.32578833e-01 1.28363194e-02 -9.32219954e+01] [-1.36058416e-02 -1.49876569e-05 -9.99907436e-01 4.84286878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.157628 meters 0.013824876443678965 Centerline is valid? [True, True] Translation: X:202.44, Y:-93.34, Z:0.48 [[ 3.95975303e-01 -9.18249338e-01 -4.65966791e-03 2.02439651e+02] [-9.18188264e-01 -3.96002710e-01 1.05908464e-02 -9.33396721e+01] [-1.15702788e-02 8.47387833e-05 -9.99933058e-01 4.81739764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.217628 meters 0.01738686278844662 Centerline is valid? [True, True] Translation: X:202.46, Y:-93.45, Z:0.48 [[ 4.58146169e-01 -8.88866045e-01 -4.38659617e-03 2.02462576e+02] [-8.88828090e-01 -4.58167148e-01 8.21525084e-03 -9.34452425e+01] [-9.31205179e-03 1.35144200e-04 -9.99956633e-01 4.82385636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.277628 meters 0.016254705738424875 Centerline is valid? [True, True] Translation: X:202.50, Y:-93.56, Z:0.48 [[ 5.22201154e-01 -8.52816036e-01 -3.28082148e-03 2.02499641e+02] [-8.52800286e-01 -5.22211452e-01 5.18374070e-03 -9.35586799e+01] [-6.13405974e-03 9.09301270e-05 -9.99981182e-01 4.79879822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.337628 meters 0.019044991634294104 Centerline is valid? [True, True] Translation: X:202.54, Y:-93.66, Z:0.48 [[ 5.82602131e-01 -8.12749030e-01 -3.71096779e-03 2.02539512e+02] [-8.12733848e-01 -5.82613937e-01 4.96915046e-03 -9.36600143e+01] [-6.20073377e-03 1.20991477e-04 -9.99980768e-01 4.79493741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.397628 meters 0.01786775198331945 Centerline is valid? [True, True] Translation: X:202.59, Y:-93.76, Z:0.48 [[ 6.43798643e-01 -7.65190046e-01 -2.73864477e-03 2.02590437e+02] [-7.65183513e-01 -6.43804466e-01 3.16257544e-03 -9.37630889e+01] [-4.18312298e-03 5.95040483e-05 -9.99991249e-01 4.76698167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.457628 meters 0.0188821523454407 Centerline is valid? [True, True] Translation: X:202.64, Y:-93.87, Z:0.48 [[ 7.04641896e-01 -7.09535678e-01 -6.23853251e-03 2.02639802e+02] [-7.09509583e-01 -7.04669499e-01 6.08678885e-03 -9.38684839e+01] [-8.71489744e-03 1.37292160e-04 -9.99962015e-01 4.84293459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.517628 meters 0.013934292603468488 Centerline is valid? [True, True] Translation: X:202.65, Y:-93.90, Z:0.48 [[ 7.62039155e-01 -6.47486352e-01 -7.59941502e-03 2.02652472e+02] [-6.47455458e-01 -7.62077040e-01 6.32574118e-03 -9.38998432e+01] [-9.88717078e-03 9.98202720e-05 -9.99951116e-01 4.84197965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.577628 meters 0.013357052583884088 Centerline is valid? [True, True] Translation: X:202.67, Y:-93.93, Z:0.48 [[ 8.11383196e-01 -5.84447222e-01 -8.87432512e-03 2.02670402e+02] [-5.84413549e-01 -8.11431719e-01 6.27443440e-03 -9.39274628e+01] [-1.08679846e-02 9.53052034e-05 -9.99940937e-01 4.83292955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.637628 meters 0.013024114058119644 Centerline is valid? [True, True] Translation: X:202.69, Y:-93.95, Z:0.48 [[ 8.55711571e-01 -5.17413782e-01 -6.37844168e-03 2.02689084e+02] [-5.17399676e-01 -8.55735343e-01 3.82081567e-03 -9.39528439e+01] [-7.43520067e-03 3.06874703e-05 -9.99972358e-01 4.82855714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.69762799999998 meters 0.012564955711537954 Centerline is valid? [True, True] Translation: X:202.71, Y:-93.97, Z:0.48 [[ 8.95043449e-01 -4.45947261e-01 -5.31642968e-03 2.02710706e+02] [-4.45939347e-01 -8.95059238e-01 2.65683804e-03 -9.39724537e+01] [-5.94332914e-03 -7.18031106e-06 -9.99982338e-01 4.82639998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.75762799999998 meters 0.012264529601518666 Centerline is valid? [True, True] Translation: X:202.74, Y:-93.99, Z:0.48 [[ 9.27855341e-01 -3.72905238e-01 -5.11368295e-03 2.02735463e+02] [-3.72899451e-01 -9.27869432e-01 2.07758381e-03 -9.39892575e+01] [-5.51957198e-03 -2.08076744e-05 -9.99984767e-01 4.82012116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.81762799999998 meters 0.01213404110239726 Centerline is valid? [True, True] Translation: X:202.76, Y:-94.00, Z:0.48 [[ 9.54790210e-01 -2.97237946e-01 -5.02583524e-03 2.02760963e+02] [-2.97233644e-01 -9.54803436e-01 1.59959236e-03 -9.40020201e+01] [-5.27414430e-03 -3.34278020e-05 -9.99986091e-01 4.81884805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.877628 meters 0.012140755609805747 Centerline is valid? [True, True] Translation: X:202.79, Y:-94.01, Z:0.49 [[ 9.75593608e-01 -2.19466088e-01 -7.19357877e-03 2.02788162e+02] [-2.19459823e-01 -9.75620128e-01 1.65870718e-03 -9.40141918e+01] [-7.38223022e-03 -3.95226003e-05 -9.99972750e-01 4.85070445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.937628 meters 0.012316265069706726 Centerline is valid? [True, True] Translation: X:202.81, Y:-94.02, Z:0.49 [[ 9.89745653e-01 -1.42486993e-01 -1.00497936e-02 2.02812555e+02] [-1.42479330e-01 -9.89796674e-01 1.47810214e-03 -9.40195526e+01] [-1.01578626e-02 -3.10573104e-05 -9.99948407e-01 4.87087679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.997628 meters 0.01220283466283946 Centerline is valid? [True, True] Translation: X:202.84, Y:-94.03, Z:0.49 [[ 9.97815208e-01 -6.50503861e-02 -1.15437152e-02 2.02837313e+02] [-6.50457846e-02 -9.97881980e-01 7.74012991e-04 -9.40278886e+01] [-1.15696152e-02 -2.14519220e-05 -9.99933070e-01 4.87328854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.057628 meters 0.012732275346430323 Centerline is valid? [True, True] Translation: X:202.86, Y:-94.03, Z:0.49 [[ 9.99839487e-01 1.13218580e-02 -1.38857993e-02 2.02860792e+02] [ 1.13205810e-02 -9.99935906e-01 -1.70564201e-04 -9.40298056e+01] [-1.38868404e-02 1.33415071e-05 -9.99903573e-01 4.90552989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.117628 meters 0.012281361427378002 Centerline is valid? [True, True] Translation: X:202.89, Y:-94.04, Z:0.49 [[ 9.95605754e-01 9.27229714e-02 -1.31009187e-02 2.02886244e+02] [ 9.27153640e-02 -9.95691945e-01 -1.18815083e-03 -9.40383050e+01] [-1.31546481e-02 -3.17266478e-05 -9.99913473e-01 4.88923151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.177628 meters 0.011942477600532266 Centerline is valid? [True, True] Translation: X:202.91, Y:-94.04, Z:0.49 [[ 9.84853463e-01 1.73094713e-01 -1.00934460e-02 2.02910777e+02] [ 1.73086306e-01 -9.84905181e-01 -1.70723656e-03 -9.40438677e+01] [-1.02366008e-02 -6.56594321e-05 -9.99947602e-01 4.86793150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.237628 meters 0.011910999931205875 Centerline is valid? [True, True] Translation: X:202.94, Y:-94.05, Z:0.49 [[ 9.68148678e-01 2.50212718e-01 -9.04067963e-03 2.02936901e+02] [ 2.50202481e-01 -9.68190886e-01 -2.26436474e-03 -9.40450266e+01] [-9.31967648e-03 -6.97587517e-05 -9.99956568e-01 4.86512022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.297628 meters 0.014670945370454295 Centerline is valid? [True, True] Translation: X:202.96, Y:-94.04, Z:0.49 [[ 9.46838731e-01 3.21589137e-01 -8.76613214e-03 2.02960296e+02] [ 3.21575688e-01 -9.46879309e-01 -2.94129981e-03 -9.40385939e+01] [-9.24635921e-03 -3.40383963e-05 -9.99957251e-01 4.87516152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.357628 meters 0.012081687472129586 Centerline is valid? [True, True] Translation: X:202.98, Y:-94.03, Z:0.48 [[ 9.19670811e-01 3.92639512e-01 -6.30972312e-03 2.02983461e+02] [ 3.92630455e-01 -9.19692456e-01 -2.66706645e-03 -9.40296116e+01] [-6.85020042e-03 -2.45662886e-05 -9.99976537e-01 4.82680235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.41762799999998 meters 0.012506632632092495 Centerline is valid? [True, True] Translation: X:203.01, Y:-94.03, Z:0.48 [[ 8.88931841e-01 4.58009973e-01 -5.20069697e-03 2.03008922e+02] [ 4.58002091e-01 -8.88947054e-01 -2.68695279e-03 -9.40251100e+01] [-5.85379542e-03 6.58780269e-06 -9.99982866e-01 4.80551634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.47762799999998 meters 0.014227535563505 Centerline is valid? [True, True] Translation: X:203.03, Y:-94.02, Z:0.48 [[ 8.53776528e-01 5.20622563e-01 -4.21739478e-03 2.03030545e+02] [ 5.20616041e-01 -8.53786944e-01 -2.60614862e-03 -9.40158842e+01] [-4.95757638e-03 2.94251434e-05 -9.99987711e-01 4.80014077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.53762799999998 meters 0.016730267071718694 Centerline is valid? [True, True] Translation: X:203.05, Y:-94.01, Z:0.48 [[ 8.16540477e-01 5.77276844e-01 -3.61854418e-03 2.03051871e+02] [ 5.77270802e-01 -8.16548492e-01 -2.64213067e-03 -9.40051543e+01] [-4.47995765e-03 6.85267309e-05 -9.99989963e-01 4.79812326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.597628 meters 0.018744386022458957 Centerline is valid? [True, True] Translation: X:203.07, Y:-93.99, Z:0.48 [[ 7.73229206e-01 6.34120262e-01 -2.84409026e-03 2.03073653e+02] [ 6.34115619e-01 -7.73234433e-01 -2.42771154e-03 -9.39945990e+01] [-3.73860960e-03 7.36954115e-05 -9.99993009e-01 4.79302459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.657628 meters 0.018818410905254587 Centerline is valid? [True, True] Translation: X:203.10, Y:-93.99, Z:0.48 [[ 7.22715038e-01 6.91142258e-01 -2.31381360e-03 2.03099910e+02] [ 6.91138428e-01 -7.22718739e-01 -2.30181076e-03 -9.39884736e+01] [-3.26311513e-03 6.43877564e-05 -9.99994674e-01 4.80028410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.717628 meters 0.01874843031066376 Centerline is valid? [True, True] Translation: X:203.12, Y:-93.98, Z:0.48 [[ 6.65710181e-01 7.46206524e-01 -2.40390472e-03 2.03123449e+02] [ 7.46201233e-01 -6.65714517e-01 -2.81105594e-03 -9.39788965e+01] [-3.69794255e-03 7.75518873e-05 -9.99993160e-01 4.80483640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.777628 meters 0.01660300000525802 Centerline is valid? [True, True] Translation: X:203.15, Y:-93.97, Z:0.48 [[ 5.99675247e-01 8.00237175e-01 -3.17215120e-03 2.03150770e+02] [ 8.00225060e-01 -5.99683628e-01 -4.40457001e-03 -9.39694604e+01] [-5.42698780e-03 1.02876719e-04 -9.99985268e-01 4.80263214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.837628 meters 0.014274104450871121 Centerline is valid? [True, True] Translation: X:203.18, Y:-93.96, Z:0.48 [[ 5.27143228e-01 8.49768180e-01 -3.74921649e-03 2.03178996e+02] [ 8.49745489e-01 -5.27156554e-01 -6.21055683e-03 -9.39591297e+01] [-7.25395762e-03 8.79731785e-05 -9.99973686e-01 4.81684387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.897628 meters 0.013596429638016308 Centerline is valid? [True, True] Translation: X:203.20, Y:-93.94, Z:0.48 [[ 4.55127993e-01 8.90420661e-01 -3.09146067e-03 2.03199987e+02] [ 8.90399353e-01 -4.55138489e-01 -6.16014765e-03 -9.39438251e+01] [-6.89216548e-03 5.10210537e-05 -9.99976247e-01 4.81886090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.957628 meters 0.012726558182219334 Centerline is valid? [True, True] Translation: X:203.22, Y:-93.93, Z:0.48 [[ 3.80241427e-01 9.24885514e-01 -1.80082888e-03 2.03221418e+02] [ 9.24875165e-01 -3.80245691e-01 -4.37533158e-03 -9.39260168e+01] [-4.73143822e-03 -1.85957939e-06 -9.99988807e-01 4.80167264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.017628 meters 0.01253248611063565 Centerline is valid? [True, True] Translation: X:203.24, Y:-93.91, Z:0.48 [[ 3.05598158e-01 9.52159936e-01 -1.10519969e-03 2.03238375e+02] [ 9.52153935e-01 -3.05600156e-01 -3.38077029e-03 -9.39057969e+01] [-3.55678322e-03 -1.91630565e-05 -9.99993674e-01 4.78275866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.077628 meters 0.012540395453279791 Centerline is valid? [True, True] Translation: X:203.25, Y:-93.88, Z:0.48 [[ 2.29024849e-01 9.73420427e-01 -5.39485188e-04 2.03252412e+02] [ 9.73418079e-01 -2.29025482e-01 -2.13825533e-03 -9.38849062e+01] [-2.20497728e-03 -3.54310307e-05 -9.99997568e-01 4.77794722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.137628 meters 0.012209985391550679 Centerline is valid? [True, True] Translation: X:203.26, Y:-93.86, Z:0.48 [[ 1.50087964e-01 9.88672597e-01 -3.14728997e-04 2.03264180e+02] [ 9.88670978e-01 -1.50088288e-01 -1.78997465e-03 -9.38615526e+01] [-1.81693603e-03 -4.25097746e-05 -9.99998348e-01 4.79043426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.19762799999998 meters 0.011888455088476954 Centerline is valid? [True, True] Translation: X:203.28, Y:-93.84, Z:0.48 [[ 7.00013422e-02 9.97546872e-01 -2.24370946e-04 2.03280211e+02] [ 9.97543504e-01 -7.00016890e-02 -2.59250707e-03 -9.38374902e+01] [-2.60185367e-03 -4.23408044e-05 -9.99996614e-01 4.80568042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.25762799999998 meters 0.012040839020675369 Centerline is valid? [True, True] Translation: X:203.29, Y:-93.81, Z:0.48 [[-9.08442939e-03 9.99958735e-01 4.63137533e-05 2.03288511e+02] [ 9.99929976e-01 9.08451938e-03 -7.58378419e-03 -9.38123134e+01] [-7.58389198e-03 -2.25838417e-05 -9.99971242e-01 4.83892845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.31762799999998 meters 0.012842749229645284 Centerline is valid? [True, True] Translation: X:203.29, Y:-93.79, Z:0.49 [[-8.21343240e-02 9.96620754e-01 1.01231528e-03 2.03289310e+02] [ 9.96553292e-01 8.21405428e-02 -1.15960162e-02 -9.37873807e+01] [-1.16399826e-02 5.63951725e-05 -9.99932252e-01 4.87169921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.377628 meters 0.01651386077270354 Centerline is valid? [True, True] Translation: X:203.29, Y:-93.76, Z:0.49 [[-1.54298046e-01 9.88022110e-01 2.10304112e-03 2.03289267e+02] [ 9.87942279e-01 1.54312314e-01 -1.25603867e-02 -9.37628028e+01] [-1.27344649e-02 1.39640109e-04 -9.99918904e-01 4.89080580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.437628 meters 0.01664447232459522 Centerline is valid? [True, True] Translation: X:203.28, Y:-93.74, Z:0.49 [[-2.23128129e-01 9.74784906e-01 2.86807196e-03 2.03282058e+02] [ 9.74716870e-01 2.23146447e-01 -1.15189258e-02 -9.37404982e+01] [-1.18684751e-02 2.25361755e-04 -9.99929542e-01 4.85723918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.497628 meters 0.0165955184651956 Centerline is valid? [True, True] Translation: X:203.28, Y:-93.72, Z:0.48 [[-2.94511143e-01 9.55643276e-01 3.01911244e-03 2.03280861e+02] [ 9.55600277e-01 2.94526539e-01 -9.06802869e-03 -9.37162877e+01] [-9.55500939e-03 2.14429188e-04 -9.99954327e-01 4.82253859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.557628 meters 0.017315381242948392 Centerline is valid? [True, True] Translation: X:203.28, Y:-93.69, Z:0.48 [[-3.67140083e-01 9.30161605e-01 2.74733617e-03 2.03278697e+02] [ 9.30138647e-01 3.67150329e-01 -6.53706281e-03 -9.36919757e+01] [-7.08921022e-03 1.55385766e-04 -9.99974859e-01 4.80265661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.617628 meters 0.017219278535180127 Centerline is valid? [True, True] Translation: X:203.27, Y:-93.67, Z:0.48 [[-4.40230522e-01 8.97879808e-01 2.98974090e-03 2.03274805e+02] [ 8.97861055e-01 4.40240655e-01 -5.80438427e-03 -9.36681897e+01] [-6.52784493e-03 1.29104800e-04 -9.99978685e-01 4.79156051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.677628 meters 0.01460670820506389 Centerline is valid? [True, True] Translation: X:203.28, Y:-93.64, Z:0.48 [[-5.16451942e-01 8.56307517e-01 3.85073902e-03 2.03278621e+02] [ 8.56284998e-01 5.16466290e-01 -6.21073943e-03 -9.36390254e+01] [-7.30707976e-03 8.97816117e-05 -9.99973299e-01 4.79933353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.737628 meters 0.01335355905315161 Centerline is valid? [True, True] Translation: X:203.28, Y:-93.61, Z:0.48 [[-5.89426077e-01 8.07802025e-01 5.72610460e-03 2.03277019e+02] [ 8.07764675e-01 5.89453888e-01 -7.76810361e-03 -9.36109125e+01] [-9.65036445e-03 4.66221810e-05 -9.99953433e-01 4.82086702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.797628 meters 0.014631288225716145 Centerline is valid? [True, True] Translation: X:203.27, Y:-93.58, Z:0.49 [[-6.60277604e-01 7.50973784e-01 8.47711468e-03 2.03273488e+02] [ 7.50910333e-01 6.60332014e-01 -9.76229778e-03 -9.35824183e+01] [-1.29289399e-02 -8.02735747e-05 -9.99916415e-01 4.85595451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.857628 meters 0.012939001295916526 Centerline is valid? [True, True] Translation: X:203.26, Y:-93.56, Z:0.48 [[-7.19750076e-01 6.94171970e-01 9.22521522e-03 2.03262414e+02] [ 6.94112631e-01 7.19809183e-01 -9.07722978e-03 -9.35579692e+01] [-1.29415531e-02 -1.29998415e-04 -9.99916246e-01 4.84402737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.91762799999998 meters 0.01280885012886012 Centerline is valid? [True, True] Translation: X:203.29, Y:-93.55, Z:0.48 [[-7.66534791e-01 6.42140707e-01 8.92899315e-03 2.03285105e+02] [ 6.42095491e-01 7.66586786e-01 -7.62098447e-03 -9.35451627e+01] [-1.17385925e-02 -1.08483495e-04 -9.99931094e-01 4.83060893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.97762799999998 meters 0.012672378500055396 Centerline is valid? [True, True] Translation: X:203.30, Y:-93.53, Z:0.48 [[-8.08022752e-01 5.89119627e-01 6.10715538e-03 2.03303695e+02] [ 5.89102231e-01 8.08045829e-01 -4.52775074e-03 -9.35347973e+01] [-7.60224826e-03 -6.07867539e-05 -9.99971101e-01 4.76947398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.03762799999998 meters 0.012587223890408885 Centerline is valid? [True, True] Translation: X:203.32, Y:-93.52, Z:0.48 [[-8.46282026e-01 5.32709023e-01 5.27526903e-03 2.03322716e+02] [ 5.32698365e-01 8.46298467e-01 -3.37005803e-03 -9.35182937e+01] [-6.25971241e-03 -4.18923479e-05 -9.99980407e-01 4.75859992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.097628 meters 0.012926822628429086 Centerline is valid? [True, True] Translation: X:203.76, Y:-92.83, Z:-0.43 [[-8.12243480e-01 -5.83307711e-01 3.55572888e-03 2.03757539e+02] [ 5.83301816e-01 -8.12251261e-01 -2.62315155e-03 -9.28338634e+01] [ 4.41824979e-03 -5.65746314e-05 9.99990238e-01 -4.26700955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.157628 meters 0.013152211913944284 Centerline is valid? [True, True] Translation: X:203.29, Y:-93.50, Z:0.47 [[-8.44378848e-01 5.35733344e-01 3.76098127e-03 2.03286238e+02] [ 5.35727969e-01 8.44387224e-01 -2.39979378e-03 -9.35045645e+01] [-4.46137408e-03 -1.14722504e-05 -9.99990048e-01 4.74543330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.217628 meters 0.013211906183342975 Centerline is valid? [True, True] Translation: X:203.31, Y:-93.49, Z:0.48 [[-8.79835087e-01 4.75260310e-01 4.22588870e-03 2.03312274e+02] [ 4.75254790e-01 8.79845235e-01 -2.29057597e-03 -9.34879177e+01] [-4.80674788e-03 -6.95526345e-06 -9.99988447e-01 4.75454628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.277628 meters 0.013101377019479917 Centerline is valid? [True, True] Translation: X:203.32, Y:-93.46, Z:0.48 [[-9.12090706e-01 4.09929285e-01 6.96603665e-03 2.03323386e+02] [ 4.09917340e-01 9.12117307e-01 -3.12941053e-03 -9.34614513e+01] [-7.63667961e-03 1.19295754e-06 -9.99970840e-01 4.78020383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.337628 meters 0.014715234561289845 Centerline is valid? [True, True] Translation: X:203.34, Y:-93.44, Z:0.48 [[-9.40075755e-01 3.40759407e-01 1.18575447e-02 2.03340603e+02] [ 3.40732064e-01 9.40150534e-01 -4.31668024e-03 -9.34364723e+01] [-1.26188264e-02 -1.77607500e-05 -9.99920379e-01 4.82878658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.397628 meters 0.013155271701257054 Centerline is valid? [True, True] Translation: X:203.35, Y:-93.41, Z:0.49 [[-9.62632968e-01 2.70401771e-01 1.48543005e-02 2.03353194e+02] [ 2.70368668e-01 9.62747568e-01 -4.23137981e-03 -9.34107610e+01] [-1.54451143e-02 -5.71282758e-05 -9.99880715e-01 4.85003224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.457628 meters 0.013113293657616413 Centerline is valid? [True, True] Translation: X:203.36, Y:-93.39, Z:0.48 [[-9.79308868e-01 2.01706981e-01 1.63840031e-02 2.03361481e+02] [ 2.01677828e-01 9.79445910e-01 -3.42967520e-03 -9.33880747e+01] [-1.67390343e-02 -5.44211718e-05 -9.99859891e-01 4.84843304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.517628 meters 0.012849439114850958 Centerline is valid? [True, True] Translation: X:203.37, Y:-93.36, Z:0.48 [[-9.91119424e-01 1.32420077e-01 1.21330646e-02 2.03366605e+02] [ 1.32409617e-01 9.91193685e-01 -1.66496185e-03 -9.33639549e+01] [-1.22466914e-02 -4.36415966e-05 -9.99925006e-01 4.80293919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.577628 meters 0.012771130420734213 Centerline is valid? [True, True] Translation: X:203.49, Y:-92.55, Z:-0.43 [[-9.80374595e-01 -1.97013485e-01 7.16517532e-03 2.03491854e+02] [ 1.97006283e-01 -9.80400744e-01 -1.70433076e-03 -9.25539968e+01] [ 7.36051936e-03 -2.59298020e-04 9.99972877e-01 -4.27477378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.637628 meters 0.01280576130916597 Centerline is valid? [True, True] Translation: X:203.32, Y:-93.36, Z:0.47 [[-9.91476406e-01 1.30146573e-01 6.03372325e-03 2.03320100e+02] [ 1.30143954e-01 9.91494765e-01 -8.26336663e-04 -9.33601319e+01] [-6.08994990e-03 -3.40407019e-05 -9.99981456e-01 4.74949289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.69762799999998 meters 0.012805171274775855 Centerline is valid? [True, True] Translation: X:203.33, Y:-93.33, Z:0.47 [[-9.98289712e-01 5.82561346e-02 4.88617365e-03 2.03329020e+02] [ 5.82552316e-02 9.98301668e-01 -3.27052370e-04 -9.33315163e+01] [-4.89692811e-03 -4.18478384e-05 -9.99988009e-01 4.74440818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.75762799999998 meters 0.012873364674827997 Centerline is valid? [True, True] Translation: X:203.38, Y:-92.52, Z:-0.43 [[-9.92323930e-01 -1.23553019e-01 5.27916582e-03 2.03383457e+02] [ 1.23551635e-01 -9.92337970e-01 -5.88673210e-04 -9.25198020e+01] [ 5.31144905e-03 6.80950572e-05 9.99985892e-01 -4.28834238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.81762799999998 meters 0.012919064217723627 Centerline is valid? [True, True] Translation: X:203.26, Y:-93.33, Z:0.48 [[-9.98472069e-01 5.45435911e-02 8.86135304e-03 2.03262722e+02] [ 5.45411652e-02 9.98511390e-01 -5.15374537e-04 -9.33271026e+01] [-8.87627232e-03 -3.12785611e-05 -9.99960605e-01 4.79186188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.877628 meters 0.013465202024177806 Centerline is valid? [True, True] Translation: X:203.32, Y:-92.51, Z:-0.43 [[-9.93309461e-01 -1.14832483e-01 1.22399479e-02 2.03316082e+02] [ 1.14826672e-01 -9.93384843e-01 -1.17877104e-03 -9.25113969e+01] [ 1.22943400e-02 2.34588069e-04 9.99924394e-01 -4.34502852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.937628 meters 0.013567960488687096 Centerline is valid? [True, True] Translation: X:203.20, Y:-93.33, Z:0.49 [[-9.98420628e-01 5.39094742e-02 1.58119740e-02 2.03196518e+02] [ 5.39033918e-02 9.98545826e-01 -8.10912910e-04 -9.33266195e+01] [-1.58326965e-02 4.26868506e-05 -9.99874654e-01 4.86407123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.997628 meters 0.013444370915375729 Centerline is valid? [True, True] Translation: X:203.25, Y:-92.51, Z:-0.44 [[-9.93968929e-01 -1.08819369e-01 1.35688159e-02 2.03248825e+02] [ 1.08806916e-01 -9.94061526e-01 -1.65483157e-03 -9.25094704e+01] [ 1.36683155e-02 -1.68470154e-04 9.99906570e-01 -4.35765295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.057628 meters 0.013843832970275166 Centerline is valid? [True, True] Translation: X:203.14, Y:-93.33, Z:0.48 [[-9.98575119e-01 5.22932791e-02 1.06369238e-02 2.03137826e+02] [ 5.22907976e-02 9.98631769e-01 -5.11463391e-04 -9.33256506e+01] [-1.06491161e-02 4.54786112e-05 -9.99943296e-01 4.81405941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.117628 meters 0.013563791310743098 Centerline is valid? [True, True] Translation: X:203.14, Y:-93.30, Z:0.48 [[-9.99800580e-01 -1.83709240e-02 7.83005977e-03 2.03135983e+02] [-1.83701702e-02 9.99831240e-01 1.68190625e-04 -9.32973815e+01] [-7.83182819e-03 2.43175539e-05 -9.99969330e-01 4.78355466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.177628 meters 0.016576269578256572 Centerline is valid? [True, True] Translation: X:203.14, Y:-93.27, Z:0.48 [[-9.95880509e-01 -9.02818549e-02 8.43794280e-03 2.03136795e+02] [-9.02784184e-02 9.95916255e-01 7.88061624e-04 -9.32682671e+01] [-8.47463206e-03 2.30510811e-05 -9.99964089e-01 4.81325303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.237628 meters 0.01309340363528402 Centerline is valid? [True, True] Translation: X:203.13, Y:-93.24, Z:0.48 [[-9.86524006e-01 -1.63417824e-01 8.06230749e-03 2.03126066e+02] [-1.63412366e-01 9.86556950e-01 1.33558751e-03 -9.32400048e+01] [-8.17218429e-03 1.08393551e-07 -9.99966607e-01 4.79515901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.297628 meters 0.012923438450069795 Centerline is valid? [True, True] Translation: X:203.11, Y:-93.21, Z:0.48 [[-9.71740002e-01 -2.35891404e-01 8.75299100e-03 2.03114506e+02] [-2.35881992e-01 9.71779422e-01 2.10725796e-03 -9.32119041e+01] [-9.00306057e-03 -1.69660990e-05 -9.99959471e-01 4.81095365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.357628 meters 0.012973968590672716 Centerline is valid? [True, True] Translation: X:203.08, Y:-93.19, Z:0.49 [[-9.51765198e-01 -3.06592705e-01 1.19966891e-02 2.03080788e+02] [-3.06568666e-01 9.51840802e-01 3.83930850e-03 -9.31931796e+01] [-1.25960421e-02 -2.36887552e-05 -9.99920666e-01 4.85171812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.41762799999998 meters 0.013233257389045405 Centerline is valid? [True, True] Translation: X:203.03, Y:-93.19, Z:0.49 [[-9.26716272e-01 -3.75540156e-01 1.29051281e-02 2.03031571e+02] [-3.75504022e-01 9.26806124e-01 5.20949566e-03 -9.31855849e+01] [-1.39169265e-02 -1.82030934e-05 -9.99903155e-01 4.86549796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.47762799999998 meters 0.013157165686440668 Centerline is valid? [True, True] Translation: X:202.97, Y:-93.19, Z:0.49 [[-8.96653300e-01 -4.42561770e-01 1.23263892e-02 2.02972312e+02] [-4.42520124e-01 8.96738022e-01 6.07126694e-03 -9.31860716e+01] [-1.37404525e-02 -1.08537138e-05 -9.99905595e-01 4.85865193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.53762799999998 meters 0.013012607842916843 Centerline is valid? [True, True] Translation: X:202.90, Y:-93.20, Z:0.48 [[-8.60134666e-01 -5.09972327e-01 9.82758079e-03 2.02899971e+02] [-5.09939621e-01 8.60190806e-01 5.77574721e-03 -9.31956441e+01] [-1.13990659e-02 -4.35524284e-05 -9.99935028e-01 4.81821096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.597628 meters 0.013063954415669935 Centerline is valid? [True, True] Translation: X:202.82, Y:-93.21, Z:0.48 [[-8.16381600e-01 -5.77479612e-01 6.19515648e-03 2.02817063e+02] [-5.77463805e-01 8.16405101e-01 4.27373948e-03 -9.32103326e+01] [-7.52575477e-03 -8.84763580e-05 -9.99971677e-01 4.80109018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.657628 meters 0.013223612351129649 Centerline is valid? [True, True] Translation: X:202.73, Y:-93.24, Z:0.48 [[-7.68694736e-01 -6.39598060e-01 4.76702705e-03 2.02732302e+02] [-6.39586566e-01 7.68709511e-01 3.83567955e-03 -9.32379772e+01] [-6.11775223e-03 -1.00459786e-04 -9.99981281e-01 4.79317002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.717628 meters 0.013171361500203442 Centerline is valid? [True, True] Translation: X:202.65, Y:-93.28, Z:0.48 [[-7.19099751e-01 -6.94890201e-01 4.81210505e-03 2.02650152e+02] [-6.94875526e-01 7.19115846e-01 4.51702713e-03 -9.32775374e+01] [-6.59929888e-03 -9.56209392e-05 -9.99978220e-01 4.79017472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.777628 meters 0.013010514271249655 Centerline is valid? [True, True] Translation: X:202.57, Y:-93.33, Z:0.48 [[-6.66671124e-01 -7.45332156e-01 5.43962590e-03 2.02568638e+02] [-7.45308318e-01 6.66693311e-01 5.96166344e-03 -9.33259374e+01] [-8.06998167e-03 -7.97295586e-05 -9.99967434e-01 4.81093814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.837628 meters 0.012968497556465237 Centerline is valid? [True, True] Translation: X:202.49, Y:-93.39, Z:0.48 [[-6.08597658e-01 -7.93459419e-01 5.57149968e-03 2.02486130e+02] [-7.93427303e-01 6.08623155e-01 7.13935517e-03 -9.33850581e+01] [-9.05573231e-03 -7.55851261e-05 -9.99958993e-01 4.80579838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.897628 meters 0.015131832313045927 Centerline is valid? [True, True] Translation: X:202.40, Y:-93.46, Z:0.48 [[-5.48345582e-01 -8.36230873e-01 5.92027147e-03 2.02403596e+02] [-8.36183167e-01 5.48377538e-01 8.93239214e-03 -9.34576612e+01] [-1.07160860e-02 -5.23935806e-05 -9.99942580e-01 4.84428222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.957628 meters 0.015977808522276697 Centerline is valid? [True, True] Translation: X:202.32, Y:-93.53, Z:0.49 [[-4.82420507e-01 -8.75921224e-01 5.69774765e-03 2.02324364e+02] [-8.75861503e-01 4.82454150e-01 1.02284061e-02 -9.35304125e+01] [-1.17081800e-02 -5.60449706e-05 -9.99931455e-01 4.85365945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.017628 meters 0.013933303281381352 Centerline is valid? [True, True] Translation: X:202.25, Y:-93.62, Z:0.49 [[-4.11801896e-01 -9.11259235e-01 5.07994122e-03 2.02247499e+02] [-9.11192349e-01 4.11833219e-01 1.10409818e-02 -9.36153083e+01] [-1.21532852e-02 -8.21063242e-05 -9.99926143e-01 4.85293041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.077628 meters 0.012958131165419752 Centerline is valid? [True, True] Translation: X:202.18, Y:-93.71, Z:0.48 [[-3.38957860e-01 -9.40794016e-01 3.76669904e-03 2.02178236e+02] [-9.40739088e-01 3.38978775e-01 1.01665382e-02 -9.37130944e+01] [-1.08414493e-02 -9.74529995e-05 -9.99941225e-01 4.82458033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.137628 meters 0.012872182980074013 Centerline is valid? [True, True] Translation: X:202.12, Y:-93.81, Z:0.48 [[-2.66399017e-01 -9.63860415e-01 2.15953851e-03 2.02121394e+02] [-9.63831042e-01 2.66407758e-01 7.52522627e-03 -9.38088013e+01] [-7.82858553e-03 -7.67173699e-05 -9.99969353e-01 4.78956190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.19762799999998 meters 0.01273865394368994 Centerline is valid? [True, True] Translation: X:202.07, Y:-93.91, Z:0.48 [[-1.93541095e-01 -9.81091482e-01 1.16143859e-03 2.02068601e+02] [-9.81075528e-01 1.93544572e-01 5.59526711e-03 -9.39133829e+01] [-5.71425904e-03 -5.65448488e-05 -9.99983672e-01 4.79030215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.25762799999998 meters 0.012696296722987308 Centerline is valid? [True, True] Translation: X:202.03, Y:-94.02, Z:0.48 [[-1.21499312e-01 -9.92591296e-01 6.60335809e-04 2.02028844e+02] [-9.92578102e-01 1.21501101e-01 5.11806463e-03 -9.40227814e+01] [-5.16037794e-03 -3.35935342e-05 -9.99986685e-01 4.77900575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.31762799999998 meters 0.013100434330991595 Centerline is valid? [True, True] Translation: X:202.00, Y:-94.14, Z:0.48 [[-4.90839571e-02 -9.98794622e-01 2.60996903e-04 2.01997590e+02] [-9.98781535e-01 4.90846500e-02 5.11300581e-03 -9.41382130e+01] [-5.11965365e-03 -9.71232982e-06 -9.99986894e-01 4.77175829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.377628 meters 0.013228890164240333 Centerline is valid? [True, True] Translation: X:201.97, Y:-94.25, Z:0.48 [[ 2.59688999e-02 -9.99662742e-01 -1.36005991e-04 2.01970979e+02] [-9.99649466e-01 -2.59692559e-02 5.15188297e-03 -9.42520921e+01] [-5.15367743e-03 2.16958363e-06 -9.99986720e-01 4.78073143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.437628 meters 0.013091668341957758 Centerline is valid? [True, True] Translation: X:201.95, Y:-94.37, Z:0.48 [[ 1.02994725e-01 -9.94681633e-01 -7.32374715e-04 2.01949981e+02] [-9.94657911e-01 -1.02997327e-01 6.86952146e-03 -9.43743995e+01] [-6.90841946e-03 2.09378274e-05 -9.99976136e-01 4.81515140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.497628 meters 0.012843173490086386 Centerline is valid? [True, True] Translation: X:201.94, Y:-94.50, Z:0.48 [[ 1.81567517e-01 -9.83377140e-01 -1.62429664e-03 2.01939175e+02] [-9.83338896e-01 -1.81574781e-01 8.67269591e-03 -9.44967044e+01] [-8.82346221e-03 2.25542070e-05 -9.99961072e-01 4.83328002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.557628 meters 0.013378405428984504 Centerline is valid? [True, True] Translation: X:201.94, Y:-94.61, Z:0.49 [[ 2.55941596e-01 -9.66689076e-01 -2.47598143e-03 2.01935276e+02] [-9.66644223e-01 -2.55953572e-01 9.31208341e-03 -9.46139745e+01] [-9.63562560e-03 1.00436499e-05 -9.99953576e-01 4.85506794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.617628 meters 0.012317666144872999 Centerline is valid? [True, True] Translation: X:201.94, Y:-94.74, Z:0.49 [[ 3.33435197e-01 -9.42767018e-01 -3.36436508e-03 2.01940792e+02] [-9.42718172e-01 -3.33452169e-01 9.59687264e-03 -9.47387042e+01] [-1.01694698e-02 -2.82870224e-05 -9.99948289e-01 4.85235854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.677628 meters 0.012242641170786505 Centerline is valid? [True, True] Translation: X:201.96, Y:-94.85, Z:0.48 [[ 4.07129511e-01 -9.13363303e-01 -3.61083534e-03 2.01956752e+02] [-9.13326284e-01 -4.07145520e-01 8.22345800e-03 -9.48533765e+01] [-8.98114019e-03 -5.01416050e-05 -9.99959667e-01 4.84766680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.737628 meters 0.012207066197704888 Centerline is valid? [True, True] Translation: X:201.99, Y:-94.97, Z:0.48 [[ 4.75618997e-01 -8.79644623e-01 -3.45053357e-03 2.01985259e+02] [-8.79620801e-01 -4.75631512e-01 6.47398489e-03 -9.49683243e+01] [-7.33598849e-03 -4.39891010e-05 -9.99973090e-01 4.84040641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.797628 meters 0.012218396709516433 Centerline is valid? [True, True] Translation: X:202.02, Y:-95.08, Z:0.48 [[ 5.39784490e-01 -8.41799995e-01 -2.33948726e-03 2.02022952e+02] [-8.41791814e-01 -5.39789559e-01 3.71124142e-03 -9.50759546e+01] [-4.38695381e-03 -3.39093292e-05 -9.99990377e-01 4.80589701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.857628 meters 0.012314913438608136 Centerline is valid? [True, True] Translation: X:202.07, Y:-95.18, Z:0.48 [[ 6.01950982e-01 -7.98530900e-01 -1.84855926e-03 2.02067075e+02] [-7.98526961e-01 -6.01953819e-01 2.50857252e-03 -9.51822670e+01] [-3.11591998e-03 -3.39132884e-05 -9.99995145e-01 4.79814641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.91762799999998 meters 0.012357264633650314 Centerline is valid? [True, True] Translation: X:202.12, Y:-95.28, Z:0.48 [[ 6.60506961e-01 -7.50814643e-01 -2.81543169e-03 2.02116345e+02] [-7.50807671e-01 -6.60512961e-01 3.23564263e-03 -9.52838904e+01] [-4.28899699e-03 -2.33167703e-05 -9.99990802e-01 4.81982967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.97762799999998 meters 0.012298220028166641 Centerline is valid? [True, True] Translation: X:202.17, Y:-95.38, Z:0.48 [[ 7.17539509e-01 -6.96502039e-01 -4.68650079e-03 2.02173754e+02] [-6.96486961e-01 -7.17554813e-01 4.58299025e-03 -9.53832173e+01] [-6.55488325e-03 -2.43898806e-05 -9.99978516e-01 4.83390433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.03762799999998 meters 0.014931818812654195 Centerline is valid? [True, True] Translation: X:202.19, Y:-95.41, Z:0.49 [[ 7.71079470e-01 -6.36704953e-01 -6.57682735e-03 2.02188556e+02] [-6.36681392e-01 -7.71107516e-01 5.47752156e-03 -9.54126453e+01] [-8.55900610e-03 -3.62608281e-05 -9.99963370e-01 4.87117410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.097628 meters 0.012221976583430225 Centerline is valid? [True, True] Translation: X:202.20, Y:-95.44, Z:0.49 [[ 8.20205077e-01 -5.72043021e-01 -5.51480468e-03 2.02203536e+02] [-5.72029606e-01 -8.20223615e-01 3.91804202e-03 -9.54401861e+01] [-6.76466163e-03 -5.89664121e-05 -9.99977118e-01 4.85146494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.157628 meters 0.012229798590060804 Centerline is valid? [True, True] Translation: X:202.22, Y:-95.46, Z:0.48 [[ 8.63081650e-01 -5.05044529e-01 -4.48212141e-03 2.02224773e+02] [-5.05037339e-01 -8.63093286e-01 2.69566750e-03 -9.54614641e+01] [-5.22992102e-03 -6.29424820e-05 -9.99986322e-01 4.83713234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.217628 meters 0.012228176573066827 Centerline is valid? [True, True] Translation: X:202.25, Y:-95.48, Z:0.48 [[ 8.99253565e-01 -4.37407365e-01 -4.22165686e-03 2.02249321e+02] [-4.37402262e-01 -8.99263473e-01 2.11355431e-03 -9.54783850e+01] [-4.72086603e-03 -5.40589896e-05 -9.99988855e-01 4.83185400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.277628 meters 0.012267057735916341 Centerline is valid? [True, True] Translation: X:202.27, Y:-95.49, Z:0.48 [[ 9.28847435e-01 -3.70450095e-01 -3.02806019e-03 2.02274803e+02] [-3.70448002e-01 -9.28852370e-01 1.24568134e-03 -9.54933397e+01] [-3.27408365e-03 -3.53090678e-05 -9.99994640e-01 4.82247923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.337628 meters 0.01436457261368652 Centerline is valid? [True, True] Translation: X:202.30, Y:-95.51, Z:0.48 [[ 9.53691775e-01 -3.00767016e-01 -3.34675787e-03 2.02300153e+02] [-3.00765093e-01 -9.53697647e-01 1.07571685e-03 -9.55069747e+01] [-3.51533525e-03 -1.93143729e-05 -9.99993821e-01 4.83132668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.397628 meters 0.014052863256723886 Centerline is valid? [True, True] Translation: X:202.33, Y:-95.52, Z:0.48 [[ 9.72980177e-01 -2.30828205e-01 -5.28352811e-03 2.02327121e+02] [-2.30824951e-01 -9.72994522e-01 1.22591838e-03 -9.55172468e+01] [-5.42382045e-03 2.67758315e-05 -9.99985291e-01 4.84848522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.457628 meters 0.014065541508633213 Centerline is valid? [True, True] Translation: X:202.35, Y:-95.53, Z:0.49 [[ 9.87644002e-01 -1.56476529e-01 -8.62672455e-03 2.02350345e+02] [-1.56471389e-01 -9.87681673e-01 1.27175208e-03 -9.55275574e+01] [-8.71945709e-03 9.37972557e-05 -9.99961980e-01 4.85937849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.517628 meters 0.013801922490155268 Centerline is valid? [True, True] Translation: X:202.37, Y:-95.54, Z:0.49 [[ 9.96943660e-01 -7.75769047e-02 -9.22836082e-03 2.02373324e+02] [-7.75744410e-02 -9.96986367e-01 6.25157796e-04 -9.55411373e+01] [-9.24904773e-03 9.26378306e-05 -9.99957222e-01 4.85398808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.577628 meters 0.013652926889611247 Centerline is valid? [True, True] Translation: X:202.40, Y:-95.55, Z:0.48 [[ 9.99952012e-01 2.78991690e-03 -9.39092335e-03 2.02396485e+02] [ 2.78908148e-03 -9.99996105e-01 -1.02054976e-04 -9.55528550e+01] [-9.39117150e-03 7.58580287e-05 -9.99955899e-01 4.84972757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.637628 meters 0.014865610554016024 Centerline is valid? [True, True] Translation: X:202.42, Y:-95.56, Z:0.48 [[ 9.96557530e-01 8.24472807e-02 -8.69113688e-03 2.02422291e+02] [ 8.24436622e-02 -9.96595426e-01 -7.74405539e-04 -9.55627493e+01] [-8.72539489e-03 5.52105176e-05 -9.99961931e-01 4.84162927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.69762799999998 meters 0.012929363359938257 Centerline is valid? [True, True] Translation: X:202.45, Y:-95.57, Z:0.48 [[ 9.86649067e-01 1.62697142e-01 -7.29787720e-03 2.02448913e+02] [ 1.62692529e-01 -9.86676056e-01 -1.22528312e-03 -9.55692717e+01] [-7.39999075e-03 2.16143508e-05 -9.99972619e-01 4.81303072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.75762799999998 meters 0.012597074052719683 Centerline is valid? [True, True] Translation: X:202.48, Y:-95.57, Z:0.48 [[ 9.70216265e-01 2.42117317e-01 -7.72030428e-03 2.02476326e+02] [ 2.42109613e-01 -9.70246981e-01 -1.93148875e-03 -9.55742706e+01] [-7.95824880e-03 4.80192391e-06 -9.99968333e-01 4.81561292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.81762799999998 meters 0.012307622783976211 Centerline is valid? [True, True] Translation: X:202.50, Y:-95.58, Z:0.48 [[ 9.46530336e-01 3.22496092e-01 -8.75180114e-03 2.02504444e+02] [ 3.22482673e-01 -9.46570795e-01 -2.94213753e-03 -9.55773656e+01] [-9.23302722e-03 -3.74817995e-05 -9.99957374e-01 4.81389853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.877628 meters 0.012408811592654828 Centerline is valid? [True, True] Translation: X:202.53, Y:-95.58, Z:0.48 [[ 9.16375601e-01 4.00208743e-01 -9.41915996e-03 2.02532374e+02] [ 4.00188591e-01 -9.16424003e-01 -4.01712337e-03 -9.55784000e+01] [-1.02396322e-02 -8.82465176e-05 -9.99947570e-01 4.83098219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.937628 meters 0.012681094819622277 Centerline is valid? [True, True] Translation: X:202.56, Y:-95.57, Z:0.48 [[ 8.81224814e-01 4.72600648e-01 -9.56317231e-03 2.02557144e+02] [ 4.72574211e-01 -8.81276696e-01 -5.00004741e-03 -9.55721713e+01] [-1.07908265e-02 -1.13142763e-04 -9.99941771e-01 4.83146419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.997628 meters 0.012757605512112392 Centerline is valid? [True, True] Translation: X:202.58, Y:-95.56, Z:0.48 [[ 8.40762868e-01 5.41321789e-01 -9.40854674e-03 2.02581874e+02] [ 5.41289629e-01 -8.40815499e-01 -5.90194747e-03 -9.55622952e+01] [-1.11057047e-02 -1.30610497e-04 -9.99938321e-01 4.82221640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.057628 meters 0.012723597351492843 Centerline is valid? [True, True] Translation: X:202.61, Y:-95.55, Z:0.48 [[ 7.95756060e-01 6.05545209e-01 -9.34305131e-03 2.02605362e+02] [ 6.05505459e-01 -7.95810895e-01 -6.93959394e-03 -9.55505272e+01] [-1.16375399e-02 -1.35044643e-04 -9.99932272e-01 4.81479422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.117628 meters 0.012711853203791257 Centerline is valid? [True, True] Translation: X:202.63, Y:-95.54, Z:0.48 [[ 7.45608941e-01 6.66325697e-01 -8.79617727e-03 2.02628350e+02] [ 6.66281547e-01 -7.45660811e-01 -7.67172479e-03 -9.55389962e+01] [-1.16708320e-02 -1.40624002e-04 -9.99931884e-01 4.80613131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.177628 meters 0.012941559139850912 Centerline is valid? [True, True] Translation: X:202.65, Y:-95.52, Z:0.48 [[ 6.90358510e-01 7.23423585e-01 -7.96523768e-03 2.02648398e+02] [ 7.23377941e-01 -6.90404442e-01 -8.12778065e-03 -9.55246804e+01] [-1.13790637e-02 -1.50794698e-04 -9.99935245e-01 4.78632932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.237628 meters 0.013057498259534452 Centerline is valid? [True, True] Translation: X:202.67, Y:-95.51, Z:0.48 [[ 6.30745337e-01 7.75955450e-01 -7.31162806e-03 2.02668720e+02] [ 7.75906297e-01 -6.30787693e-01 -8.73522387e-03 -9.55097001e+01] [-1.13902296e-02 -1.63436528e-04 -9.99935116e-01 4.77975618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.297628 meters 0.013315067493786385 Centerline is valid? [True, True] Translation: X:202.69, Y:-95.50, Z:0.48 [[ 5.66077212e-01 8.24321676e-01 -7.09683086e-03 2.02691791e+02] [ 8.24261307e-01 -5.66121660e-01 -9.97819698e-03 -9.54962662e+01] [-1.22429137e-02 -2.01213154e-04 -9.99925032e-01 4.78691860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.357628 meters 0.0131674714526631 Centerline is valid? [True, True] Translation: X:202.71, Y:-95.48, Z:0.48 [[ 5.00219602e-01 8.65870103e-01 -7.02241129e-03 2.02712943e+02] [ 8.65790677e-01 -5.00268847e-01 -1.17296637e-02 -9.54804081e+01] [-1.36694587e-02 -2.12530502e-04 -9.99906546e-01 4.78177538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.41762799999998 meters 0.012931316815714853 Centerline is valid? [True, True] Translation: X:202.73, Y:-95.46, Z:0.48 [[ 4.32724794e-01 9.01505067e-01 -6.15366339e-03 2.02731173e+02] [ 9.01419949e-01 -4.32768507e-01 -1.23893323e-02 -9.54625917e+01] [-1.38321576e-02 -1.85863668e-04 -9.99904314e-01 4.77772011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.47762799999998 meters 0.012413206412799586 Centerline is valid? [True, True] Translation: X:202.75, Y:-95.44, Z:0.48 [[ 3.66103887e-01 9.30561249e-01 -4.86884520e-03 2.02745357e+02] [ 9.30482688e-01 -3.66136247e-01 -1.20919695e-02 -9.54426743e+01] [-1.30349789e-02 -1.03459149e-04 -9.99915036e-01 4.77268899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.53762799999998 meters 0.012744955630569295 Centerline is valid? [True, True] Translation: X:202.75, Y:-95.42, Z:0.48 [[ 3.02904154e-01 9.53013584e-01 -3.76596926e-03 2.02753715e+02] [ 9.52938235e-01 -3.02927561e-01 -1.19838699e-02 -9.54220796e+01] [-1.25616067e-02 4.12278680e-05 -9.99921099e-01 4.77896027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.597628 meters 0.014619770821310748 Centerline is valid? [True, True] Translation: X:202.76, Y:-95.40, Z:0.48 [[ 2.37356894e-01 9.71418349e-01 -2.84538710e-03 2.02758653e+02] [ 9.71339541e-01 -2.37373885e-01 -1.23747272e-02 -9.54000530e+01] [-1.26964576e-02 1.73389803e-04 -9.99919382e-01 4.76271765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.657628 meters 0.017591839306149198 Centerline is valid? [True, True] Translation: X:202.76, Y:-95.38, Z:0.47 [[ 1.74553812e-01 9.84646474e-01 -1.51269940e-03 2.02764444e+02] [ 9.84594515e-01 -1.74560147e-01 -1.01191238e-02 -9.53781224e+01] [-1.02278166e-02 2.76936106e-04 -9.99947656e-01 4.72343560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.717628 meters 0.02123149120873459 Centerline is valid? [True, True] Translation: X:202.77, Y:-95.36, Z:0.47 [[ 1.02098583e-01 9.94774091e-01 -6.22898456e-04 2.02769155e+02] [ 9.94735184e-01 -1.02100102e-01 -8.80243812e-03 -9.53582888e+01] [-8.82003537e-03 2.79097448e-04 -9.99961064e-01 4.71485437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.777628 meters 0.01902392136374008 Centerline is valid? [True, True] Translation: X:202.79, Y:-95.34, Z:0.47 [[ 2.05834728e-02 9.99788134e-01 8.96687674e-05 2.02787407e+02] [ 9.99733489e-01 -2.05814099e-02 -1.04573367e-02 -9.53371003e+01] [-1.04532756e-02 3.04893175e-04 -9.99945317e-01 4.73725232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.837628 meters 0.01657102259077718 Centerline is valid? [True, True] Translation: X:202.80, Y:-95.31, Z:0.47 [[-6.34735076e-02 9.97983055e-01 9.66922168e-04 2.02802898e+02] [ 9.97921843e-01 6.34803267e-02 -1.10563882e-02 -9.53139661e+01] [-1.10954686e-02 2.63125011e-04 -9.99938409e-01 4.74186995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.897628 meters 0.01631876381718417 Centerline is valid? [True, True] Translation: X:202.82, Y:-95.29, Z:0.47 [[-1.47809680e-01 9.89014058e-01 1.86858034e-03 2.02815231e+02] [ 9.88950992e-01 1.47821359e-01 -1.11705548e-02 -9.52895334e+01] [-1.13240519e-02 1.96818247e-04 -9.99935861e-01 4.74427726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.957628 meters 0.012942597044433624 Centerline is valid? [True, True] Translation: X:202.83, Y:-95.26, Z:0.47 [[-2.34160432e-01 9.72195756e-01 2.07453216e-03 2.02828797e+02] [ 9.72159719e-01 2.34169615e-01 -8.37089041e-03 -9.52620218e+01] [-8.62393653e-03 5.66452835e-05 -9.99962812e-01 4.70745038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.017628 meters 0.012236767130218597 Centerline is valid? [True, True] Translation: X:202.84, Y:-95.23, Z:0.47 [[-3.14636526e-01 9.49209365e-01 2.33209586e-03 2.02835624e+02] [ 9.49183365e-01 3.14645168e-01 -7.02547991e-03 -9.52349041e+01] [-7.40243402e-03 3.11400637e-06 -9.99972602e-01 4.71041036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.077628 meters 0.011970604511166839 Centerline is valid? [True, True] Translation: X:202.84, Y:-95.21, Z:0.47 [[-3.91953364e-01 9.19978428e-01 3.50028547e-03 2.02836809e+02] [ 9.19941170e-01 3.91968992e-01 -8.27969047e-03 -9.52086476e+01] [-8.98913999e-03 -2.51958212e-05 -9.99959597e-01 4.72806760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.137628 meters 0.011958506536305055 Centerline is valid? [True, True] Translation: X:202.83, Y:-95.18, Z:0.47 [[-4.62300300e-01 8.86714894e-01 3.88954879e-03 2.02830909e+02] [ 8.86683130e-01 4.62316662e-01 -7.50536137e-03 -9.51846461e+01] [-8.45331892e-03 -2.09335135e-05 -9.99964270e-01 4.71488634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.19762799999998 meters 0.012006633233871342 Centerline is valid? [True, True] Translation: X:202.82, Y:-95.16, Z:0.47 [[-5.29927019e-01 8.48036042e-01 3.49649716e-03 2.02823625e+02] [ 8.48017309e-01 5.29938553e-01 -5.63678856e-03 -9.51602734e+01] [-6.63312851e-03 -2.19964461e-05 -9.99978000e-01 4.69986896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.25762799999998 meters 0.011896786599588488 Centerline is valid? [True, True] Translation: X:202.82, Y:-95.14, Z:0.47 [[-5.96176853e-01 8.02849872e-01 2.28978049e-03 2.02816837e+02] [ 8.02843708e-01 5.96181250e-01 -3.14613030e-03 -9.51352319e+01] [-3.89099450e-03 -3.73141987e-05 -9.99992429e-01 4.67941510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.31762799999998 meters 0.011843644553017074 Centerline is valid? [True, True] Translation: X:202.81, Y:-95.11, Z:0.47 [[-6.59978308e-01 7.51278267e-01 3.09827457e-03 2.02808693e+02] [ 7.51269606e-01 6.59985578e-01 -3.60773263e-03 -9.51096542e+01] [-4.75522765e-03 -5.33857576e-05 -9.99988692e-01 4.69283892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.377628 meters 0.012131269093546039 Centerline is valid? [True, True] Translation: X:202.80, Y:-95.09, Z:0.47 [[-7.18222941e-01 6.95793733e-01 5.18540904e-03 2.02797258e+02] [ 6.95774848e-01 7.18241655e-01 -5.12688759e-03 -9.50875467e+01] [-7.29163302e-03 -7.43710921e-05 -9.99973413e-01 4.72062183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.437628 meters 0.012268002474098155 Centerline is valid? [True, True] Translation: X:202.82, Y:-95.07, Z:0.47 [[-7.66393652e-01 6.42336355e-01 6.69157239e-03 2.02815992e+02] [ 6.42310868e-01 7.66422859e-01 -5.72272959e-03 -9.50706474e+01] [-8.80449131e-03 -8.77939592e-05 -9.99961236e-01 4.72322531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.497628 meters 0.012206752882742453 Centerline is valid? [True, True] Translation: X:202.84, Y:-95.06, Z:0.47 [[-8.09296699e-01 5.87337344e-01 8.58470380e-03 2.02836173e+02] [ 5.87303154e-01 8.09342225e-01 -6.33788722e-03 -9.50558694e+01] [-1.06704411e-02 -8.74075892e-05 -9.99943065e-01 4.73503694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.557628 meters 0.012257058707194986 Centerline is valid? [True, True] Translation: X:202.85, Y:-95.04, Z:0.48 [[-8.47081279e-01 5.31385897e-01 9.07387354e-03 2.02853379e+02] [ 5.31354752e-01 8.47129876e-01 -5.75340004e-03 -9.50419206e+01] [-1.07440250e-02 -5.21516359e-05 -9.99942280e-01 4.75099725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.617628 meters 0.012333134572925947 Centerline is valid? [True, True] Translation: X:202.87, Y:-95.03, Z:0.47 [[-8.81666705e-01 4.71775326e-01 9.58448894e-03 2.02873556e+02] [ 4.71747010e-01 8.81718799e-01 -5.16896785e-03 -9.50258952e+01] [-1.08894156e-02 -3.58528605e-05 -9.99940708e-01 4.74741529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.677628 meters 0.012614740614004482 Centerline is valid? [True, True] Translation: X:202.88, Y:-95.01, Z:0.48 [[-9.11065503e-01 4.12113198e-01 1.10616912e-02 2.02882691e+02] [ 4.12083043e-01 9.11132653e-01 -4.98536590e-03 -9.50093724e+01] [-1.21332031e-02 1.63404652e-05 -9.99926390e-01 4.76135963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.737628 meters 0.012958858536930214 Centerline is valid? [True, True] Translation: X:202.90, Y:-94.99, Z:0.48 [[-9.37523399e-01 3.47703390e-01 1.23380645e-02 2.02902599e+02] [ 3.47673798e-01 9.37604581e-01 -4.53642858e-03 -9.49944591e+01] [-1.31455574e-02 3.66137862e-05 -9.99913593e-01 4.76808043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.797628 meters 0.012720598851658821 Centerline is valid? [True, True] Translation: X:202.91, Y:-94.97, Z:0.48 [[-9.60297033e-01 2.78712350e-01 1.22079380e-02 2.02912977e+02] [ 2.78689985e-01 9.60374628e-01 -3.53081901e-03 -9.49718187e+01] [-1.27082767e-02 1.15950212e-05 -9.99919247e-01 4.75832359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.857628 meters 0.012393281779256662 Centerline is valid? [True, True] Translation: X:203.15, Y:-94.18, Z:-0.43 [[-9.40805653e-01 -3.38840039e-01 8.49422259e-03 2.03148192e+02] [ 3.38823994e-01 -9.40843969e-01 -3.30565547e-03 -9.41789637e+01] [ 9.11182653e-03 -2.31932925e-04 9.99958460e-01 -4.31389589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.91762799999998 meters 0.012324189558675827 Centerline is valid? [True, True] Translation: X:202.87, Y:-94.96, Z:0.47 [[-9.62867482e-01 2.69840663e-01 8.49868620e-03 2.02867790e+02] [ 2.69829689e-01 9.62904987e-01 -2.43408338e-03 -9.49589271e+01] [-8.84024200e-03 -5.05018786e-05 -9.99960923e-01 4.72228597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.97762799999998 meters 0.012364000947121399 Centerline is valid? [True, True] Translation: X:202.87, Y:-94.94, Z:0.47 [[-9.79808360e-01 1.99836659e-01 6.39427341e-03 2.02874823e+02] [ 1.99832043e-01 9.79829223e-01 -1.35936274e-03 -9.49364410e+01] [-6.53694646e-03 -5.41342577e-05 -9.99978632e-01 4.69349690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.03762799999998 meters 0.012390838250283065 Centerline is valid? [True, True] Translation: X:202.89, Y:-94.91, Z:0.47 [[-9.91703815e-01 1.28460319e-01 4.63575882e-03 2.02886056e+02] [ 1.28458653e-01 9.91714648e-01 -6.56618576e-04 -9.49111274e+01] [-4.68169936e-03 -5.56678111e-05 -9.99989039e-01 4.68079683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.097628 meters 0.01253760110461438 Centerline is valid? [True, True] Translation: X:202.88, Y:-94.88, Z:0.47 [[-9.98406277e-01 5.63327751e-02 3.39482337e-03 2.02883330e+02] [ 5.63322611e-02 9.98412047e-01 -2.46892675e-04 -9.48815845e+01] [-3.40334070e-03 -5.52611197e-05 -9.99994207e-01 4.68574957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.157628 meters 0.01262560908939701 Centerline is valid? [True, True] Translation: X:202.89, Y:-94.85, Z:0.47 [[-9.99851921e-01 -1.66519929e-02 4.34131105e-03 2.02892672e+02] [-1.66521354e-02 9.99861344e-01 3.31055201e-06 -9.48514214e+01] [-4.34076423e-03 -6.89820378e-05 -9.99990576e-01 4.70201580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.217628 meters 0.012604095104659539 Centerline is valid? [True, True] Translation: X:202.89, Y:-94.03, Z:-0.43 [[-9.97865667e-01 -6.50294138e-02 5.94016901e-03 2.02893731e+02] [ 6.50293577e-02 -9.97883331e-01 -2.02792761e-04 -9.40324525e+01] [ 5.94078313e-03 1.83925442e-04 9.99982336e-01 -4.31661807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.277628 meters 0.012422054703039441 Centerline is valid? [True, True] Translation: X:202.81, Y:-94.85, Z:0.47 [[-9.99802863e-01 -1.80897582e-02 8.18511261e-03 2.02814016e+02] [-1.80897336e-02 9.99836364e-01 7.70369068e-05 -9.48530966e+01] [-8.18516681e-03 -7.10447869e-05 -9.99966498e-01 4.73351192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.337628 meters 0.01237866311950315 Centerline is valid? [True, True] Translation: X:202.82, Y:-94.03, Z:-0.43 [[-9.98699682e-01 -5.05365767e-02 6.70817605e-03 2.02824785e+02] [ 5.05352944e-02 -9.98722211e-01 -3.60617567e-04 -9.40282980e+01] [ 6.71782879e-03 -2.11489973e-05 9.99977435e-01 -4.32777908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.397628 meters 0.012894072478510819 Centerline is valid? [True, True] Translation: X:202.74, Y:-94.86, Z:0.47 [[-9.99914495e-01 -1.10299072e-02 7.02444976e-03 2.02744749e+02] [-1.10294775e-02 9.99939168e-01 9.99141549e-05 -9.48607616e+01] [-7.02512449e-03 2.24296015e-05 -9.99975323e-01 4.72868296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.457628 meters 0.014456843662316905 Centerline is valid? [True, True] Translation: X:202.74, Y:-94.02, Z:-0.43 [[-9.99515445e-01 -3.08962619e-02 3.78093951e-03 2.02739954e+02] [ 3.08953593e-02 -9.99522580e-01 -2.96911785e-04 -9.40220182e+01] [ 3.78830788e-03 -1.79954430e-04 9.99992808e-01 -4.31099216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.517628 meters 0.015328948149042985 Centerline is valid? [True, True] Translation: X:202.66, Y:-94.87, Z:0.47 [[-9.99983189e-01 -4.53057961e-03 3.61866796e-03 2.02658904e+02] [-4.53040951e-03 9.99989736e-01 5.52025649e-05 -9.48686366e+01] [-3.61888092e-03 3.88075892e-05 -9.99993451e-01 4.70640337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.577628 meters 0.015939948995604452 Centerline is valid? [True, True] Translation: X:202.65, Y:-94.02, Z:-0.43 [[-9.99850232e-01 -1.69880017e-02 3.30464212e-03 2.02648568e+02] [ 1.69877383e-02 -9.99855692e-01 -1.07748801e-04 -9.40206606e+01] [ 3.30599567e-03 -5.15942677e-05 9.99994534e-01 -4.30895774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.637628 meters 0.016307770936262848 Centerline is valid? [True, True] Translation: X:202.57, Y:-94.87, Z:0.47 [[-9.99956797e-01 -6.00552921e-03 7.09493211e-03 2.02565068e+02] [-6.00436065e-03 9.99981956e-01 1.85992414e-04 -9.48704558e+01] [-7.09592108e-03 1.43383847e-04 -9.99974813e-01 4.74131805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.69762799999998 meters 0.016291104185549275 Centerline is valid? [True, True] Translation: X:202.57, Y:-94.84, Z:0.48 [[-9.96851038e-01 -7.88028257e-02 8.83869845e-03 2.02565236e+02] [-7.87981691e-02 9.96890207e-01 8.74405208e-04 -9.48418450e+01] [-8.88011753e-03 1.75178484e-04 -9.99960556e-01 4.75199703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.75762799999998 meters 0.01517248905907388 Centerline is valid? [True, True] Translation: X:202.55, Y:-94.81, Z:0.47 [[-9.88057370e-01 -1.53827674e-01 8.92640027e-03 2.02554812e+02] [-1.53820110e-01 9.88097681e-01 1.53190238e-03 -9.48106230e+01] [-9.05580439e-03 1.40547562e-04 -9.99958985e-01 4.74524082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.81762799999998 meters 0.014609743471900583 Centerline is valid? [True, True] Translation: X:202.54, Y:-94.78, Z:0.47 [[-9.74096049e-01 -2.25999063e-01 7.83006923e-03 2.02539323e+02] [-2.25990884e-01 9.74127513e-01 1.92565766e-03 -9.47820123e+01] [-8.06268270e-03 1.06251252e-04 -9.99967490e-01 4.73696969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.877628 meters 0.017599401476528023 Centerline is valid? [True, True] Translation: X:202.51, Y:-94.76, Z:0.48 [[-9.55511460e-01 -2.94858724e-01 7.49548872e-03 2.02505738e+02] [-2.94848732e-01 9.55540852e-01 2.42999459e-03 -9.47629925e+01] [-7.87875078e-03 1.11852336e-04 -9.99968956e-01 4.75377487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.937628 meters 0.015380872981581023 Centerline is valid? [True, True] Translation: X:202.45, Y:-94.76, Z:0.47 [[-9.32086665e-01 -3.62201561e-01 4.94758351e-03 2.02452003e+02] [-3.62196025e-01 9.32099793e-01 2.00399389e-03 -9.47557288e+01] [-5.33749128e-03 7.59009062e-05 -9.99985753e-01 4.71352806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.997628 meters 0.016890609650691717 Centerline is valid? [True, True] Translation: X:202.39, Y:-94.76, Z:0.47 [[-9.03334251e-01 -4.28923856e-01 3.39957416e-03 2.02387371e+02] [-4.28920618e-01 9.03340646e-01 1.66747154e-03 -9.47587608e+01] [-3.78619184e-03 4.81367093e-05 -9.99992831e-01 4.70277139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.057628 meters 0.018086059444800708 Centerline is valid? [True, True] Translation: X:202.31, Y:-94.77, Z:0.47 [[-8.68302318e-01 -4.96028871e-01 2.53859311e-03 2.02311466e+02] [-4.96026664e-01 8.68306028e-01 1.47970920e-03 -9.47675304e+01] [-2.93825419e-03 2.56250534e-05 -9.99995683e-01 4.71282264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.117628 meters 0.01464571067858201 Centerline is valid? [True, True] Translation: X:202.23, Y:-94.78, Z:0.47 [[-8.27311062e-01 -5.61735042e-01 3.18569554e-03 2.02228473e+02] [-5.61730708e-01 8.27317195e-01 2.20692088e-03 -9.47849323e+01] [-3.87528550e-03 3.63070469e-05 -9.99992490e-01 4.69880545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.177628 meters 0.014999412327304722 Centerline is valid? [True, True] Translation: X:202.14, Y:-94.82, Z:0.48 [[-7.81969565e-01 -6.23272679e-01 7.40048976e-03 2.02141094e+02] [-6.23243117e-01 7.82004571e-01 6.07185915e-03 -9.48168419e+01] [-9.57164074e-03 1.35704749e-04 -9.99954182e-01 4.75541776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.237628 meters 0.015464689055870008 Centerline is valid? [True, True] Translation: X:202.05, Y:-94.86, Z:0.48 [[-7.33639372e-01 -6.79483205e-01 8.70894045e-03 2.02054771e+02] [-6.79432037e-01 7.33691033e-01 8.34110193e-03 -9.48610753e+01] [-1.20573102e-02 2.02227625e-04 -9.99927288e-01 4.77320532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.297628 meters 0.019638037069738698 Centerline is valid? [True, True] Translation: X:201.97, Y:-94.91, Z:0.48 [[-6.85438590e-01 -7.28077909e-01 8.74630189e-03 2.01974051e+02] [-7.28012516e-01 6.85494313e-01 9.76336806e-03 -9.49133757e+01] [-1.31040328e-02 3.24771987e-04 -9.99914086e-01 4.79692707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.357628 meters 0.019798927741262257 Centerline is valid? [True, True] Translation: X:201.90, Y:-94.98, Z:0.47 [[-6.34243413e-01 -7.73102676e-01 6.89528117e-03 2.01895506e+02] [-7.73050502e-01 6.34280785e-01 8.98923499e-03 -9.49786541e+01] [-1.13231460e-02 3.70962504e-04 -9.99935822e-01 4.74747617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.41762799999998 meters 0.020358656232573838 Centerline is valid? [True, True] Translation: X:201.81, Y:-95.05, Z:0.47 [[-5.76344941e-01 -8.17188624e-01 5.40937781e-03 2.01813504e+02] [-8.17146625e-01 5.76370214e-01 8.29279438e-03 -9.50522004e+01] [-9.89458148e-03 3.59255266e-04 -9.99950983e-01 4.72551149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.47762799999998 meters 0.02115848297019068 Centerline is valid? [True, True] Translation: X:201.73, Y:-95.14, Z:0.47 [[-5.12704081e-01 -8.58554661e-01 4.29187247e-03 2.01732217e+02] [-8.58519027e-01 5.12721938e-01 7.82900210e-03 -9.51358914e+01] [-8.92216341e-03 3.29307151e-04 -9.99960142e-01 4.71809430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.53762799999998 meters 0.02092339766292983 Centerline is valid? [True, True] Translation: X:201.66, Y:-95.22, Z:0.47 [[-4.43696881e-01 -8.96168819e-01 3.81117783e-03 2.01656331e+02] [-8.96129150e-01 4.43713127e-01 8.43842442e-03 -9.52249249e+01] [-9.25332248e-03 3.28795041e-04 -9.99957133e-01 4.71832551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.597628 meters 0.020639025671438913 Centerline is valid? [True, True] Translation: X:201.58, Y:-95.33, Z:0.47 [[-3.65703334e-01 -9.30726793e-01 2.95103745e-03 2.01582009e+02] [-9.30691130e-01 3.65715165e-01 8.15096658e-03 -9.53276794e+01] [-8.66556213e-03 2.34331273e-04 -9.99962426e-01 4.71240681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.657628 meters 0.01921228499295625 Centerline is valid? [True, True] Translation: X:201.51, Y:-95.43, Z:0.47 [[-2.86679575e-01 -9.58024337e-01 2.04720895e-03 2.01512333e+02] [-9.57995962e-01 2.86686843e-01 7.37504846e-03 -9.54294041e+01] [-7.65238378e-03 1.53057850e-04 -9.99970708e-01 4.72342227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.717628 meters 0.014380475764293367 Centerline is valid? [True, True] Translation: X:201.45, Y:-95.54, Z:0.47 [[-2.02953926e-01 -9.79187373e-01 1.33861813e-03 2.01448867e+02] [-9.79163686e-01 2.02958328e-01 6.81121015e-03 -9.55397258e+01] [-6.94113467e-03 7.16355784e-05 -9.99975907e-01 4.69172720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.777628 meters 0.013534368439951169 Centerline is valid? [True, True] Translation: X:201.40, Y:-95.65, Z:0.47 [[-1.21767385e-01 -9.92558325e-01 8.22089028e-04 2.01398928e+02] [-9.92533567e-01 1.21770155e-01 7.01053374e-03 -9.56535099e+01] [-7.05846953e-03 3.77034082e-05 -9.99975088e-01 4.69462355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.837628 meters 0.012991544753227058 Centerline is valid? [True, True] Translation: X:201.36, Y:-95.77, Z:0.47 [[-3.91583727e-02 -9.99232983e-01 2.58007000e-04 2.01359332e+02] [-9.99212156e-01 3.91592223e-02 6.45150638e-03 -9.57721261e+01] [-6.45666133e-03 -5.17323952e-06 -9.99979156e-01 4.68883572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.897628 meters 0.01283231238191435 Centerline is valid? [True, True] Translation: X:201.33, Y:-95.89, Z:0.47 [[ 4.00970436e-02 -9.99195772e-01 -1.90824505e-04 2.01331344e+02] [-9.99181746e-01 -4.00974918e-02 5.29432079e-03 -9.58945120e+01] [-5.29771454e-03 -2.16182496e-05 -9.99985967e-01 4.67412076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.957628 meters 0.012955698099063148 Centerline is valid? [True, True] Translation: X:201.31, Y:-96.01, Z:0.47 [[ 1.16481989e-01 -9.93192734e-01 -3.72242246e-04 2.01314363e+02] [-9.93186963e-01 -1.16482581e-01 3.38592234e-03 -9.60129182e+01] [-3.40623321e-03 -2.46928240e-05 -9.99994198e-01 4.66283091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.017628 meters 0.013114059332203509 Centerline is valid? [True, True] Translation: X:201.31, Y:-96.13, Z:0.46 [[ 1.89966588e-01 -9.81790552e-01 -8.42405002e-05 2.01307968e+02] [-9.81790364e-01 -1.89966604e-01 6.08941184e-04 -9.61347101e+01] [-6.13855583e-04 -3.29719678e-05 -9.99999811e-01 4.64670617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.077628 meters 0.013518073824979803 Centerline is valid? [True, True] Translation: X:201.31, Y:-96.25, Z:0.46 [[ 2.63132761e-01 -9.64759571e-01 3.45350780e-04 2.01311169e+02] [-9.64758959e-01 -2.63132984e-01 -1.08807652e-03 -9.62498762e+01] [ 1.14060542e-03 -4.68716805e-05 -9.99999348e-01 4.62590109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.137628 meters 0.013662817805199044 Centerline is valid? [True, True] Translation: X:201.32, Y:-96.37, Z:0.46 [[ 3.35508032e-01 -9.42037335e-01 -1.40517909e-04 2.01322237e+02] [-9.42037209e-01 -3.35508060e-01 4.88818376e-04 -9.63724126e+01] [-5.07630051e-04 -3.16293925e-05 -9.99999871e-01 4.64840860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.19762799999998 meters 0.014608663116241758 Centerline is valid? [True, True] Translation: X:201.34, Y:-96.49, Z:0.47 [[ 4.02743326e-01 -9.15311433e-01 -1.67120534e-03 2.01343347e+02] [-9.15303809e-01 -4.02746793e-01 3.73593518e-03 -9.64859705e+01] [-4.09261678e-03 2.50376544e-05 -9.99991625e-01 4.67407179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.25762799999998 meters 0.01612796462525744 Centerline is valid? [True, True] Translation: X:201.37, Y:-96.60, Z:0.47 [[ 4.68011921e-01 -8.83718639e-01 -2.49164802e-03 2.01374747e+02] [-8.83706857e-01 -4.68018549e-01 4.56390373e-03 -9.65987378e+01] [-5.19934428e-03 6.59250853e-05 -9.99986481e-01 4.67363709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.31762799999998 meters 0.019216913326249783 Centerline is valid? [True, True] Translation: X:201.41, Y:-96.70, Z:0.47 [[ 5.26609737e-01 -8.50101039e-01 -3.22606027e-03 2.01414493e+02] [-8.50086643e-01 -5.26619601e-01 4.94920279e-03 -9.67034733e+01] [-5.90622901e-03 1.36132367e-04 -9.99982549e-01 4.67132217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.377628 meters 0.021021287998085093 Centerline is valid? [True, True] Translation: X:201.46, Y:-96.80, Z:0.47 [[ 5.81599231e-01 -8.13469184e-01 -3.19710027e-03 2.01456656e+02] [-8.13458504e-01 -5.81607992e-01 4.17198945e-03 -9.68033879e+01] [-5.25324392e-03 1.74282549e-04 -9.99986186e-01 4.66561457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.437628 meters 0.021886875394186878 Centerline is valid? [True, True] Translation: X:201.50, Y:-96.90, Z:0.46 [[ 6.36262703e-01 -7.71469079e-01 -2.28757911e-03 2.01503195e+02] [-7.71464805e-01 -6.36266802e-01 2.57139431e-03 -9.68977846e+01] [-3.43926184e-03 1.28704475e-04 -9.99994077e-01 4.62778233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.497628 meters 0.02335338512184221 Centerline is valid? [True, True] Translation: X:201.56, Y:-96.99, Z:0.46 [[ 6.92108716e-01 -7.21790700e-01 -1.92639862e-03 2.01558974e+02] [-7.21788289e-01 -6.92111390e-01 1.86820498e-03 -9.69946102e+01] [-2.68173540e-03 9.74510116e-05 -9.99996399e-01 4.62328917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.557628 meters 0.022275787903939134 Centerline is valid? [True, True] Translation: X:201.57, Y:-97.03, Z:0.46 [[ 7.48925088e-01 -6.62652213e-01 -1.80493455e-03 2.01571065e+02] [-6.62650514e-01 -7.48927259e-01 1.50210412e-03 -9.70265597e+01] [-2.34713730e-03 7.10773476e-05 -9.99997243e-01 4.61806405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.617628 meters 0.0179907178823065 Centerline is valid? [True, True] Translation: X:201.58, Y:-97.06, Z:0.46 [[ 8.06030097e-01 -5.91871689e-01 -1.84054988e-03 2.01580128e+02] [-5.91870253e-01 -8.06032197e-01 1.30422793e-03 -9.70647429e+01] [-2.25547805e-03 3.81197611e-05 -9.99997456e-01 4.61614993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.677628 meters 0.016215897279263498 Centerline is valid? [True, True] Translation: X:201.59, Y:-97.10, Z:0.46 [[ 8.55278862e-01 -5.18162176e-01 -2.45506871e-03 2.01594894e+02] [-5.18160135e-01 -8.55282385e-01 1.45447523e-03 -9.70951128e+01] [-2.85343107e-03 2.81368143e-05 -9.99995929e-01 4.62325001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.737628 meters 0.013333715410728088 Centerline is valid? [True, True] Translation: X:201.61, Y:-97.13, Z:0.46 [[ 8.99371567e-01 -4.37176608e-01 -2.71995142e-03 2.01611851e+02] [-4.37174575e-01 -8.99375680e-01 1.33341930e-03 -9.71289309e+01] [-3.02919788e-03 -1.01457936e-05 -9.99995412e-01 4.63014754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.797628 meters 0.01277556301287165 Centerline is valid? [True, True] Translation: X:201.63, Y:-97.16, Z:0.46 [[ 9.34447389e-01 -3.56095439e-01 -2.02858936e-03 2.01633601e+02] [-3.56094508e-01 -9.34449590e-01 8.15143337e-04 -9.71560019e+01] [-2.18588332e-03 -3.93390312e-05 -9.99997610e-01 4.63731963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.857628 meters 0.013060366597730622 Centerline is valid? [True, True] Translation: X:201.66, Y:-97.18, Z:0.46 [[ 9.60824736e-01 -2.77142486e-01 -2.80522768e-03 2.01660234e+02] [-2.77141137e-01 -9.60828829e-01 8.66415694e-04 -9.71766447e+01] [-2.93546422e-03 -5.50296408e-05 -9.99995690e-01 4.64896741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.91762799999998 meters 0.013122492743760601 Centerline is valid? [True, True] Translation: X:201.69, Y:-97.19, Z:0.47 [[ 9.79897364e-01 -1.99470559e-01 -3.55708522e-03 2.01689365e+02] [-1.99469000e-01 -9.79903818e-01 7.91305823e-04 -9.71907803e+01] [-3.64344361e-03 -6.58702557e-05 -9.99993360e-01 4.66247021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.97762799999998 meters 0.012923081393357233 Centerline is valid? [True, True] Translation: X:201.72, Y:-97.20, Z:0.47 [[ 9.92243770e-01 -1.24212529e-01 -4.85272031e-03 2.01716507e+02] [-1.24210717e-01 -9.92255634e-01 6.74029912e-04 -9.71986605e+01] [-4.89886203e-03 -6.60421092e-05 -9.99987998e-01 4.67257998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.03762799999998 meters 0.01257994489938187 Centerline is valid? [True, True] Translation: X:201.74, Y:-97.20, Z:0.47 [[ 9.98633499e-01 -5.19192179e-02 -5.96068887e-03 2.01742978e+02] [-5.19180655e-02 -9.98651287e-01 3.48015834e-04 -9.71982658e+01] [-5.97071832e-03 -3.80728349e-05 -9.99982174e-01 4.68015876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.097628 meters 0.01294151641877019 Centerline is valid? [True, True] Translation: X:201.77, Y:-97.20, Z:0.47 [[ 9.99810696e-01 1.85037175e-02 -6.01531892e-03 2.01769784e+02] [ 1.85033232e-02 -9.99828792e-01 -1.21202563e-04 -9.71966274e+01] [-6.01653175e-03 9.87622922e-06 -9.99981900e-01 4.68522743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.157628 meters 0.014018806550901645 Centerline is valid? [True, True] Translation: X:201.80, Y:-97.19, Z:0.47 [[ 9.95883352e-01 9.03030537e-02 -7.85542045e-03 2.01795197e+02] [ 9.02996514e-02 -9.95914330e-01 -7.87437494e-04 -9.71940841e+01] [-7.89443381e-03 7.48541621e-05 -9.99968836e-01 4.69822514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.217628 meters 0.01661504610523761 Centerline is valid? [True, True] Translation: X:201.82, Y:-97.18, Z:0.47 [[ 9.87496481e-01 1.57384458e-01 -8.99066874e-03 2.01818857e+02] [ 1.57376176e-01 -9.87537390e-01 -1.62579128e-03 -9.71842411e+01] [-9.13449582e-03 1.90546104e-04 -9.99958261e-01 4.70630251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.277628 meters 0.01868530156287666 Centerline is valid? [True, True] Translation: X:201.84, Y:-97.18, Z:0.47 [[ 9.74150235e-01 2.25711825e-01 -9.24618912e-03 2.01842767e+02] [ 2.25698874e-01 -9.74194073e-01 -2.43460646e-03 -9.71775345e+01] [-9.55710210e-03 2.84817983e-04 -9.99954289e-01 4.70897387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.337628 meters 0.019308952758880737 Centerline is valid? [True, True] Translation: X:201.87, Y:-97.17, Z:0.47 [[ 9.54391082e-01 2.98422715e-01 -9.03027048e-03 2.01867187e+02] [ 2.98406231e-01 -9.54433751e-01 -3.15218575e-03 -9.71747544e+01] [-9.55947875e-03 3.13728986e-04 -9.99954258e-01 4.70910584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.397628 meters 0.018331717848816584 Centerline is valid? [True, True] Translation: X:201.89, Y:-97.18, Z:0.47 [[ 9.27592906e-01 3.73528779e-01 -6.90304257e-03 2.01893542e+02] [ 3.73516582e-01 -9.27618563e-01 -3.02724313e-03 -9.71764392e+01] [-7.53415286e-03 2.29648385e-04 -9.99971591e-01 4.69860816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.457628 meters 0.020635337051476407 Centerline is valid? [True, True] Translation: X:201.92, Y:-97.17, Z:0.47 [[ 8.95407792e-01 4.45201077e-01 -6.39425604e-03 2.01917062e+02] [ 4.45187973e-01 -8.95430597e-01 -3.42267431e-03 -9.71725870e+01] [-7.24939079e-03 2.18043361e-04 -9.99973699e-01 4.71868283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.517628 meters 0.018994501819137383 Centerline is valid? [True, True] Translation: X:201.94, Y:-97.17, Z:0.47 [[ 8.56941763e-01 5.15376697e-01 -6.13797462e-03 2.01941923e+02] [ 5.15361732e-01 -8.56963720e-01 -3.93281148e-03 -9.71682962e+01] [-7.28690095e-03 2.06913167e-04 -9.99973429e-01 4.70194716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.577628 meters 0.018478792260989533 Centerline is valid? [True, True] Translation: X:201.97, Y:-97.16, Z:0.47 [[ 8.14183015e-01 5.80584058e-01 -5.30743152e-03 2.01967219e+02] [ 5.80570198e-01 -8.14200292e-01 -4.01613250e-03 -9.71635234e+01] [-6.65301480e-03 1.88530305e-04 -9.99977851e-01 4.68484743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.637628 meters 0.019461822402372646 Centerline is valid? [True, True] Translation: X:201.99, Y:-97.16, Z:0.47 [[ 7.67062848e-01 6.41561174e-01 -3.72124104e-03 2.01993732e+02] [ 6.41552737e-01 -7.67071862e-01 -3.29310495e-03 -9.71581918e+01] [-4.96718757e-03 1.38646086e-04 -9.99987654e-01 4.69508566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.69762799999998 meters 0.018333282570447446 Centerline is valid? [True, True] Translation: X:202.02, Y:-97.15, Z:0.47 [[ 7.14539485e-01 6.99593608e-01 -1.45169276e-03 2.02019346e+02] [ 6.99592056e-01 -7.14540959e-01 -1.47420191e-03 -9.71512282e+01] [-2.06863617e-03 3.77827458e-05 -9.99997860e-01 4.66183201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.75762799999998 meters 0.016935647468155596 Centerline is valid? [True, True] Translation: X:202.05, Y:-97.14, Z:0.46 [[ 6.54804399e-01 7.55798370e-01 -1.50290280e-04 2.02046717e+02] [ 7.55798359e-01 -6.54804416e-01 -1.30360632e-04 -9.71436910e+01] [-1.96937093e-04 -2.82284317e-05 -9.99999980e-01 4.64806571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.81762799999998 meters 0.016276542418197128 Centerline is valid? [True, True] Translation: X:202.07, Y:-97.13, Z:0.46 [[ 5.90365491e-01 8.07135529e-01 9.07976732e-04 2.02070901e+02] [ 8.07134361e-01 -5.90366184e-01 1.37535338e-03 -9.71323824e+01] [ 1.64613534e-03 -7.91019562e-05 -9.99998642e-01 4.63771753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.877628 meters 0.014633042484639855 Centerline is valid? [True, True] Translation: X:202.10, Y:-97.12, Z:0.47 [[ 5.18957988e-01 8.54799428e-01 7.38451506e-04 2.02097601e+02] [ 8.54798379e-01 -5.18958509e-01 1.34039689e-03 -9.71198996e+01] [ 1.52899619e-03 -6.43825248e-05 -9.99998829e-01 4.65064932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.937628 meters 0.01283585583430601 Centerline is valid? [True, True] Translation: X:202.12, Y:-97.10, Z:0.47 [[ 4.43243451e-01 8.96401247e-01 -2.16994261e-04 2.02121321e+02] [ 8.96401170e-01 -4.43243503e-01 -3.73428349e-04 -9.71047028e+01] [-4.30922935e-04 -2.89942390e-05 -9.99999907e-01 4.67122725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.997628 meters 0.01214305123472911 Centerline is valid? [True, True] Translation: X:202.14, Y:-97.08, Z:0.47 [[ 3.66616979e-01 9.30371871e-01 -4.14904319e-04 2.02139776e+02] [ 9.30371357e-01 -3.66617213e-01 -9.78635316e-04 -9.70848880e+01] [-1.06260584e-03 -2.72307706e-05 -9.99999435e-01 4.68416849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.057628 meters 0.011948627866011566 Centerline is valid? [True, True] Translation: X:202.15, Y:-97.06, Z:0.47 [[ 2.90307514e-01 9.56933332e-01 -3.81961799e-04 2.02153969e+02] [ 9.56932630e-01 -2.90307764e-01 -1.15890501e-03 -9.70629397e+01] [-1.21988131e-03 -2.90728758e-05 -9.99999256e-01 4.69610050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.117628 meters 0.011968400623422262 Centerline is valid? [True, True] Translation: X:202.16, Y:-97.04, Z:0.47 [[ 2.13270357e-01 9.76993177e-01 -2.94242845e-04 2.02164204e+02] [ 9.76992434e-01 -2.13270558e-01 -1.20531081e-03 -9.70401640e+01] [-1.24033378e-03 -3.04159661e-05 -9.99999230e-01 4.69768392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.177628 meters 0.011976174649344714 Centerline is valid? [True, True] Translation: X:202.17, Y:-97.02, Z:0.47 [[ 1.35459219e-01 9.90782875e-01 -3.06679802e-04 2.02170759e+02] [ 9.90780806e-01 -1.35459563e-01 -2.02532985e-03 -9.70164787e+01] [-2.04820485e-03 -2.95028620e-05 -9.99997902e-01 4.70130349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.237628 meters 0.012110984023244165 Centerline is valid? [True, True] Translation: X:202.17, Y:-96.99, Z:0.47 [[ 5.73091914e-02 9.98356445e-01 -2.55853666e-04 2.02174249e+02] [ 9.98348415e-01 -5.73097567e-02 -4.00420793e-03 -9.69935400e+01] [-4.01228970e-03 -2.59531833e-05 -9.99991950e-01 4.72094944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.297628 meters 0.012248867002012023 Centerline is valid? [True, True] Translation: X:202.18, Y:-96.97, Z:0.47 [[-1.95367490e-02 9.99809138e-01 6.24869377e-05 2.02176073e+02] [ 9.99800406e-01 1.95368396e-02 -4.17851893e-03 -9.69705717e+01] [-4.17894220e-03 -1.91602099e-05 -9.99991268e-01 4.72449773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.357628 meters 0.012423583333971264 Centerline is valid? [True, True] Translation: X:202.18, Y:-96.95, Z:0.47 [[-9.60006264e-02 9.95381225e-01 3.09663750e-04 2.02182358e+02] [ 9.95375507e-01 9.60011245e-02 -3.37411268e-03 -9.69470930e+01] [-3.38825648e-03 -1.56852183e-05 -9.99994260e-01 4.72833373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.41762799999998 meters 0.012663282593889645 Centerline is valid? [True, True] Translation: X:202.19, Y:-96.92, Z:0.47 [[-1.71506627e-01 9.85182774e-01 6.15484348e-04 2.02187181e+02] [ 9.85176293e-01 1.71507732e-01 -3.57339322e-03 -9.69232598e+01] [-3.62600577e-03 -6.50003126e-06 -9.99993426e-01 4.72388308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.47762799999998 meters 0.013383423064092752 Centerline is valid? [True, True] Translation: X:202.19, Y:-96.90, Z:0.47 [[-2.44300071e-01 9.69699041e-01 1.11559910e-03 2.02186431e+02] [ 9.69689265e-01 2.44302617e-01 -4.35435534e-03 -9.69013874e+01] [-4.49495798e-03 1.80151564e-05 -9.99989897e-01 4.71720791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.53762799999998 meters 0.015759427562881286 Centerline is valid? [True, True] Translation: X:202.18, Y:-96.88, Z:0.47 [[-3.10516126e-01 9.50567549e-01 1.03465236e-03 2.02180310e+02] [ 9.50562636e-01 3.10517847e-01 -3.05648688e-03 -9.68797253e+01] [-3.22667527e-03 3.44134126e-05 -9.99994794e-01 4.71272556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.597628 meters 0.021881488342907762 Centerline is valid? [True, True] Translation: X:202.17, Y:-96.86, Z:0.48 [[-3.73597033e-01 9.27589450e-01 1.75171743e-03 2.02171509e+02] [ 9.27580585e-01 3.73601124e-01 -4.05698018e-03 -9.68601622e+01] [-4.41765562e-03 1.09183320e-04 -9.99990236e-01 4.76050091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.657628 meters 0.02152308088195354 Centerline is valid? [True, True] Translation: X:202.16, Y:-96.84, Z:0.47 [[-4.40825255e-01 8.97590952e-01 1.89129187e-03 2.02164001e+02] [ 8.97583798e-01 4.40829296e-01 -3.58566552e-03 -9.68396526e+01] [-4.05219779e-03 1.16941021e-04 -9.99991783e-01 4.72819137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.717628 meters 0.020338768944509894 Centerline is valid? [True, True] Translation: X:202.16, Y:-96.81, Z:0.47 [[-5.09219838e-01 8.60632766e-01 2.52961864e-03 2.02162611e+02] [ 8.60623526e-01 5.09226101e-01 -3.99064557e-03 -9.68149540e+01] [-4.72262817e-03 1.44933422e-04 -9.99988838e-01 4.71892692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.777628 meters 0.02118219309067939 Centerline is valid? [True, True] Translation: X:202.16, Y:-96.79, Z:0.47 [[-5.79151202e-01 8.15216401e-01 2.47081024e-03 2.02157059e+02] [ 8.15209720e-01 5.79156464e-01 -3.30209056e-03 -9.67933664e+01] [-4.12290410e-03 1.01818804e-04 -9.99991496e-01 4.71653272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.837628 meters 0.015192014083695788 Centerline is valid? [True, True] Translation: X:202.16, Y:-96.76, Z:0.47 [[-6.50540214e-01 7.59471482e-01 7.05686818e-04 2.02161288e+02] [ 7.59471019e-01 6.50540596e-01 -8.39448235e-04 -9.67598940e+01] [-1.09661492e-03 -1.01461474e-05 -9.99999399e-01 4.69142651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.897628 meters 0.01289964734284615 Centerline is valid? [True, True] Translation: X:202.16, Y:-96.73, Z:0.47 [[-7.17102076e-01 6.96967911e-01 -5.86769884e-04 2.02157117e+02] [ 6.96967720e-01 7.17102315e-01 5.16960161e-04 -9.67296979e+01] [ 7.81078685e-04 -3.82464632e-05 -9.99999694e-01 4.67361864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.957628 meters 0.01255888146265114 Centerline is valid? [True, True] Translation: X:202.18, Y:-96.71, Z:0.47 [[-7.68987907e-01 6.39262351e-01 -1.11564993e-03 2.02178497e+02] [ 6.39261735e-01 7.68988716e-01 8.88310057e-04 -9.67063183e+01] [ 1.42578538e-03 -3.00926185e-05 -9.99998983e-01 4.67144260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.017628 meters 0.012856792678669769 Centerline is valid? [True, True] Translation: X:202.20, Y:-96.68, Z:0.47 [[-8.15216422e-01 5.79156325e-01 -3.68578547e-04 2.02202503e+02] [ 5.79156281e-01 8.15216505e-01 2.28792922e-04 -9.66849644e+01] [ 4.32978183e-04 -2.69488329e-05 -9.99999906e-01 4.68691722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.077628 meters 0.012956068833728525 Centerline is valid? [True, True] Translation: X:202.22, Y:-96.67, Z:0.47 [[-8.55027179e-01 5.18578346e-01 2.24092583e-03 2.02221964e+02] [ 5.18576423e-01 8.55030114e-01 -1.41306564e-03 -9.66657729e+01] [-2.64884431e-03 -4.61182253e-05 -9.99996491e-01 4.71776260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.137628 meters 0.012835980941249974 Centerline is valid? [True, True] Translation: X:202.23, Y:-96.65, Z:0.47 [[-8.89163226e-01 4.57572168e-01 4.05830387e-03 2.02233101e+02] [ 4.57567121e-01 8.89172485e-01 -2.14967457e-03 -9.66456593e+01] [-4.59216339e-03 -5.44651515e-05 -9.99989454e-01 4.72756900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.19762799999998 meters 0.012710385884855104 Centerline is valid? [True, True] Translation: X:202.25, Y:-96.63, Z:0.47 [[-9.17497620e-01 3.97692969e-01 6.19838507e-03 2.02249311e+02] [ 3.97683634e-01 9.17518556e-01 -2.72507662e-03 -9.66322201e+01] [-6.77087714e-03 -3.52550153e-05 -9.99977077e-01 4.74671408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.25762799999998 meters 0.013021895645379856 Centerline is valid? [True, True] Translation: X:202.26, Y:-96.62, Z:0.47 [[-9.41197970e-01 3.37794826e-01 6.40606938e-03 2.02263784e+02] [ 3.37787065e-01 9.41219770e-01 -2.28987069e-03 -9.66187317e+01] [-6.80302562e-03 8.66573268e-06 -9.99976859e-01 4.74714992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.31762799999998 meters 0.013209738653968201 Centerline is valid? [True, True] Translation: X:202.28, Y:-96.60, Z:0.47 [[-9.62118994e-01 2.72560671e-01 6.14180835e-03 2.02277854e+02] [ 2.72555260e-01 9.62138597e-01 -1.71757565e-03 -9.65979756e+01] [-6.37741444e-03 2.14700136e-05 -9.99979664e-01 4.74600220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.377628 meters 0.01474499136496996 Centerline is valid? [True, True] Translation: X:202.51, Y:-95.81, Z:-0.44 [[-9.49386914e-01 -3.14082730e-01 4.06515967e-03 2.02509569e+02] [ 3.14079325e-01 -9.49395610e-01 -1.46724642e-03 -9.58133375e+01] [ 4.32028151e-03 -1.16201952e-04 9.99990661e-01 -4.38122284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.437628 meters 0.015604484419638642 Centerline is valid? [True, True] Translation: X:202.24, Y:-96.60, Z:0.47 [[-9.59936911e-01 2.80208111e-01 2.13092536e-03 2.02235023e+02] [ 2.80207455e-01 9.59939276e-01 -6.06637063e-04 -9.66009256e+01] [-2.21554357e-03 1.47678628e-05 -9.99997546e-01 4.70406579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.497628 meters 0.01617989092875043 Centerline is valid? [True, True] Translation: X:202.47, Y:-95.80, Z:-0.44 [[-9.52684764e-01 -3.03958638e-01 9.41735956e-04 2.02466152e+02] [ 3.03958425e-01 -9.52685227e-01 -3.65582161e-04 -9.58014880e+01] [ 1.00829979e-03 -6.20359767e-05 9.99999490e-01 -4.36640953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.557628 meters 0.015948813382588956 Centerline is valid? [True, True] Translation: X:202.19, Y:-96.59, Z:0.47 [[-9.59954585e-01 2.80131104e-01 3.70942916e-03 2.02192744e+02] [ 2.80129258e-01 9.59961750e-01 -1.01887312e-03 -9.65874137e+01] [-3.84632816e-03 6.10477189e-05 -9.99992601e-01 4.72420780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.617628 meters 0.015907006566325432 Centerline is valid? [True, True] Translation: X:202.41, Y:-95.79, Z:-0.44 [[-9.53699313e-01 -3.00731215e-01 4.28458288e-03 2.02412915e+02] [ 3.00728015e-01 -9.53708936e-01 -1.38786244e-03 -9.57935399e+01] [ 4.50361853e-03 -3.51093514e-05 9.99989858e-01 -4.39698226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.677628 meters 0.015745045227557045 Centerline is valid? [True, True] Translation: X:202.15, Y:-96.57, Z:0.47 [[-9.61483840e-01 2.74805983e-01 5.52246389e-03 2.02149833e+02] [ 2.74802012e-01 9.61499695e-01 -1.48036713e-03 -9.65694554e+01] [-5.71666109e-03 9.42351193e-05 -9.99983655e-01 4.74191203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.737628 meters 0.014994278084075245 Centerline is valid? [True, True] Translation: X:202.36, Y:-95.79, Z:-0.44 [[-9.53388099e-01 -3.01710057e-01 4.70887177e-03 2.02357713e+02] [ 3.01705717e-01 -9.53399720e-01 -1.62314997e-03 -9.57892326e+01] [ 4.97915770e-03 -1.26798331e-04 9.99987596e-01 -4.39192127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.797628 meters 0.013747560730467255 Centerline is valid? [True, True] Translation: X:202.10, Y:-96.54, Z:0.47 [[-9.64922996e-01 2.62518370e-01 2.77798434e-03 2.02101151e+02] [ 2.62517305e-01 9.64926995e-01 -7.47900328e-04 -9.65444358e+01] [-2.87688966e-03 7.60273741e-06 -9.99995862e-01 4.71311267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.857628 meters 0.013475160388160675 Centerline is valid? [True, True] Translation: X:202.11, Y:-96.51, Z:0.47 [[-9.81389882e-01 1.92024077e-01 8.07854294e-04 2.02109471e+02] [ 1.92023995e-01 9.81390215e-01 -1.77662454e-04 -9.65141677e+01] [-8.26935768e-04 -1.92287253e-05 -9.99999658e-01 4.71161844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.91762799999998 meters 0.014022134752785562 Centerline is valid? [True, True] Translation: X:202.12, Y:-96.49, Z:0.47 [[-9.92213409e-01 1.24535804e-01 -1.83978309e-03 2.02115368e+02] [ 1.24535691e-01 9.92215113e-01 1.76710245e-04 -9.64901258e+01] [ 1.84746734e-03 -5.37843825e-05 -9.99998292e-01 4.68435941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.97762799999998 meters 0.015208806218473257 Centerline is valid? [True, True] Translation: X:202.12, Y:-96.47, Z:0.47 [[-9.98184569e-01 6.01771365e-02 -2.50580492e-03 2.02122606e+02] [ 6.01771447e-02 9.98187711e-01 7.21763985e-05 -9.64679710e+01] [ 2.50560705e-03 -7.87468183e-05 -9.99996858e-01 4.67192660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.03762799999998 meters 0.016450592847136448 Centerline is valid? [True, True] Translation: X:202.13, Y:-96.44, Z:0.47 [[-9.99978834e-01 -6.44313660e-03 -9.04141894e-04 2.02129212e+02] [-6.44308823e-03 9.99979242e-01 -5.63987068e-05 -9.64434029e+01] [ 9.04486510e-04 -5.05720471e-05 -9.99999590e-01 4.69264751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.097628 meters 0.016116090845906397 Centerline is valid? [True, True] Translation: X:202.11, Y:-95.65, Z:-0.44 [[-9.99948863e-01 -1.01127262e-02 7.06500654e-05 2.02111259e+02] [ 1.01127324e-02 -9.99948861e-01 8.81928900e-05 -9.56477756e+01] [ 6.97545819e-05 8.89028452e-05 9.99999994e-01 -4.37805166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.157628 meters 0.016804811339162215 Centerline is valid? [True, True] Translation: X:202.04, Y:-96.45, Z:0.47 [[-9.99935745e-01 -1.11999567e-02 1.75100634e-03 2.02042599e+02] [-1.11999128e-02 9.99937278e-01 3.48761095e-05 -9.64464773e+01] [-1.75128713e-03 1.52627502e-05 -9.99998466e-01 4.71986825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.217628 meters 0.01583337990880048 Centerline is valid? [True, True] Translation: X:202.02, Y:-95.65, Z:-0.44 [[-9.99976407e-01 -6.85689320e-03 4.09239722e-04 2.02016040e+02] [ 6.85686348e-03 -9.99976489e-01 -7.39969753e-05 -9.56489202e+01] [ 4.09737489e-04 -7.11891287e-05 9.99999914e-01 -4.36532543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.277628 meters 0.015339342919435846 Centerline is valid? [True, True] Translation: X:201.95, Y:-96.44, Z:0.47 [[-9.99735604e-01 -2.29920321e-02 2.98347124e-04 2.01954694e+02] [-2.29920381e-02 9.99735648e-01 -1.65356601e-05 -9.64448078e+01] [-2.97888067e-04 -2.33908966e-05 -9.99999955e-01 4.71534326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.337628 meters 0.01369929997390728 Centerline is valid? [True, True] Translation: X:201.92, Y:-95.66, Z:-0.44 [[-9.99909045e-01 -1.34586284e-02 -8.75690207e-04 2.01918655e+02] [ 1.34586577e-02 -9.99909428e-01 -2.74946606e-05 -9.56599945e+01] [-8.75240853e-04 -3.92777746e-05 9.99999616e-01 -4.37953365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.397628 meters 0.012616253155190906 Centerline is valid? [True, True] Translation: X:201.86, Y:-96.44, Z:0.47 [[-9.99139698e-01 -4.14549263e-02 1.16281329e-03 2.01864571e+02] [-4.14549235e-02 9.99140375e-01 2.64916226e-05 -9.64408380e+01] [-1.16291192e-03 -2.17355043e-05 -9.99999324e-01 4.72932881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.457628 meters 0.012390942515710388 Centerline is valid? [True, True] Translation: X:201.86, Y:-96.41, Z:0.47 [[-9.92735831e-01 -1.20283662e-01 2.72215023e-03 2.01858042e+02] [-1.20283302e-01 9.92739563e-01 2.96254539e-04 -9.64110694e+01] [-2.73802081e-03 -3.33267214e-05 -9.99996251e-01 4.74372471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.517628 meters 0.012758093265079033 Centerline is valid? [True, True] Translation: X:201.77, Y:-95.65, Z:-0.44 [[-9.99065636e-01 4.31364305e-02 2.66507281e-03 2.01765559e+02] [-4.31362017e-02 -9.99069191e-01 1.43290080e-04 -9.56506488e+01] [ 2.66877315e-03 2.81950767e-05 9.99996438e-01 -4.42638661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.577628 meters 0.013042173141394981 Centerline is valid? [True, True] Translation: X:201.75, Y:-96.42, Z:0.48 [[-9.90843969e-01 -1.34963939e-01 3.60057229e-03 2.01753638e+02] [-1.34963294e-01 9.90850509e-01 4.22726780e-04 -9.64212566e+01] [-3.62468176e-03 -6.70888161e-05 -9.99993429e-01 4.76006072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.637628 meters 0.013166698536633178 Centerline is valid? [True, True] Translation: X:201.74, Y:-96.40, Z:0.47 [[-9.78508814e-01 -2.06200827e-01 1.31157593e-03 2.01740885e+02] [-2.06200701e-01 9.78509692e-01 2.31945713e-04 -9.63986097e+01] [-1.33121715e-03 -4.34869512e-05 -9.99999113e-01 4.74593000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.69762799999998 meters 0.01296085276601604 Centerline is valid? [True, True] Translation: X:201.73, Y:-96.38, Z:0.47 [[-9.61542870e-01 -2.74654512e-01 -4.56659412e-04 2.01732816e+02] [-2.74654470e-01 9.61542978e-01 -1.54536611e-04 -9.63771746e+01] [ 4.81541828e-04 -2.31700277e-05 -9.99999884e-01 4.72967371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.75762799999998 meters 0.012431038958620771 Centerline is valid? [True, True] Translation: X:201.71, Y:-96.36, Z:0.47 [[-9.40955571e-01 -3.38523907e-01 -2.04404428e-03 2.01706692e+02] [-3.38523071e-01 9.40957791e-01 -7.52869591e-04 -9.63617004e+01] [ 2.17822375e-03 -1.64606882e-05 -9.99997628e-01 4.72318096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.81762799999998 meters 0.012131477327509573 Centerline is valid? [True, True] Translation: X:201.65, Y:-96.36, Z:0.47 [[-9.15232845e-01 -4.02920227e-01 -2.03231064e-03 2.01652179e+02] [-4.02919172e-01 9.15235101e-01 -9.22341565e-04 -9.63550924e+01] [ 2.23167211e-03 -2.53003737e-05 -9.99997509e-01 4.73910303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.877628 meters 0.012137727903132764 Centerline is valid? [True, True] Translation: X:201.59, Y:-96.35, Z:0.48 [[-8.83646892e-01 -4.68153980e-01 -1.49151765e-04 2.01592405e+02] [-4.68153967e-01 8.83646904e-01 -1.11708794e-04 -9.63529763e+01] [ 1.84094412e-04 -2.88851377e-05 -9.99999983e-01 4.76769561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.937628 meters 0.012134068867161837 Centerline is valid? [True, True] Translation: X:201.52, Y:-96.36, Z:0.48 [[-8.45872377e-01 -5.33381510e-01 2.02156706e-03 2.01518372e+02] [-5.33380075e-01 8.45874792e-01 1.23794169e-03 -9.63630584e+01] [-2.37028783e-03 -3.11229078e-05 -9.99997190e-01 4.79525495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.997628 meters 0.0122090167120984 Centerline is valid? [True, True] Translation: X:201.44, Y:-96.39, Z:0.48 [[-8.02804371e-01 -5.96227883e-01 4.17773942e-03 2.01437611e+02] [-5.96220070e-01 8.02815240e-01 3.05256122e-03 -9.63862160e+01] [-5.17397499e-03 -4.02425961e-05 -9.99986614e-01 4.81674091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.057628 meters 0.012163301720815598 Centerline is valid? [True, True] Translation: X:201.35, Y:-96.42, Z:0.48 [[-7.56189423e-01 -6.54334901e-01 4.83668094e-03 2.01354000e+02] [-6.54321833e-01 7.56204890e-01 4.13563486e-03 -9.64194252e+01] [-6.36361201e-03 -3.74225959e-05 -9.99979751e-01 4.81853099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.117628 meters 0.01545414471017085 Centerline is valid? [True, True] Translation: X:201.27, Y:-96.46, Z:0.49 [[-7.06437181e-01 -7.07756289e-01 5.24841650e-03 2.01272278e+02] [-7.07736944e-01 7.06456676e-01 5.23281301e-03 -9.64572331e+01] [-7.41133519e-03 -1.78445850e-05 -9.99972536e-01 4.86158543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.177628 meters 0.012356620088275705 Centerline is valid? [True, True] Translation: X:201.19, Y:-96.51, Z:0.48 [[-6.51611013e-01 -7.58545347e-01 3.47037548e-03 2.01186176e+02] [-7.58534708e-01 6.51620254e-01 4.01750478e-03 -9.65107193e+01] [-5.30882651e-03 -1.45498952e-05 -9.99985908e-01 4.81193566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.237628 meters 0.012339514410636694 Centerline is valid? [True, True] Translation: X:201.10, Y:-96.57, Z:0.48 [[-5.92434864e-01 -8.05615059e-01 2.30413478e-03 2.01104582e+02] [-8.05609073e-01 5.92439344e-01 3.10574970e-03 -9.65711228e+01] [-3.86709882e-03 -1.62774821e-05 -9.99992523e-01 4.79909258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.297628 meters 0.012342546552180563 Centerline is valid? [True, True] Translation: X:201.02, Y:-96.64, Z:0.48 [[-5.27681831e-01 -8.49441424e-01 1.07314648e-03 2.01023589e+02] [-8.49439767e-01 5.27682922e-01 1.67811176e-03 -9.66422033e+01] [-1.99173872e-03 -2.60642093e-05 -9.99998016e-01 4.78058715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.357628 meters 0.012432854581142423 Centerline is valid? [True, True] Translation: X:200.94, Y:-96.72, Z:0.48 [[-4.59039823e-01 -8.88415221e-01 9.14440232e-04 2.00944323e+02] [-8.88413589e-01 4.59040733e-01 1.70292881e-03 -9.67230588e+01] [-1.93267319e-03 -3.06889887e-05 -9.99998132e-01 4.79121577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.41762799999998 meters 0.012584550341326002 Centerline is valid? [True, True] Translation: X:200.87, Y:-96.81, Z:0.48 [[-3.87573015e-01 -9.21837802e-01 1.49185829e-03 2.00874083e+02] [-9.21831371e-01 3.87575884e-01 3.44363460e-03 -9.68107157e+01] [-3.75268084e-03 -4.05819288e-05 -9.99992958e-01 4.81728389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.47762799999998 meters 0.012820089248012397 Centerline is valid? [True, True] Translation: X:200.81, Y:-96.91, Z:0.48 [[-3.13278205e-01 -9.49660136e-01 1.54679498e-03 2.00809400e+02] [-9.49649421e-01 3.13282019e-01 4.51149004e-03 -9.69099815e+01] [-4.76896530e-03 -5.55614511e-05 -9.99988627e-01 4.81742633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.53762799999998 meters 0.013065769631901964 Centerline is valid? [True, True] Translation: X:200.75, Y:-97.00, Z:0.48 [[-2.37149774e-01 -9.71472213e-01 1.31298663e-03 2.00752026e+02] [-9.71458954e-01 2.37153397e-01 5.07617728e-03 -9.70038481e+01] [-5.24274442e-03 -7.16983238e-05 -9.99986254e-01 4.81996429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.597628 meters 0.013487356474141728 Centerline is valid? [True, True] Translation: X:200.70, Y:-97.11, Z:0.48 [[-1.58795242e-01 -9.87311096e-01 9.33404197e-04 2.00698215e+02] [-9.87297147e-01 1.58797960e-01 5.24884573e-03 -9.71117823e+01] [-5.33046631e-03 -8.80555756e-05 -9.99985789e-01 4.83576112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.657628 meters 0.013473147887578741 Centerline is valid? [True, True] Translation: X:200.66, Y:-97.22, Z:0.48 [[-8.24345316e-02 -9.96596379e-01 4.53712956e-04 2.00655945e+02] [-9.96586068e-01 8.24357429e-02 4.53399374e-03 -9.72249709e+01] [-4.55596391e-03 -7.84063599e-05 -9.99989618e-01 4.83077680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.717628 meters 0.013001554992765786 Centerline is valid? [True, True] Translation: X:200.63, Y:-97.34, Z:0.48 [[-9.25301937e-03 -9.99957188e-01 6.47793938e-05 2.00625856e+02] [-9.99954712e-01 9.25314065e-03 2.22577547e-03 -9.73381199e+01] [-2.22627959e-03 -4.41813165e-05 -9.99997521e-01 4.81437710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.777628 meters 0.012882187162517633 Centerline is valid? [True, True] Translation: X:200.60, Y:-97.48, Z:0.48 [[ 6.45989300e-02 -9.97911301e-01 -1.20757931e-04 2.00604883e+02] [-9.97908303e-01 -6.45990320e-02 2.44601426e-03 -9.74783133e+01] [-2.44870612e-03 -3.75045617e-05 -9.99997001e-01 4.82264154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.837628 meters 0.012878435235331626 Centerline is valid? [True, True] Translation: X:200.59, Y:-97.57, Z:0.49 [[ 1.39482872e-01 -9.90224218e-01 -7.25885304e-04 2.00589194e+02] [-9.90209405e-01 -1.39484756e-01 5.41628606e-03 -9.75710663e+01] [-5.46458756e-03 -3.67006828e-05 -9.99985068e-01 4.85936632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.897628 meters 0.013170409472152455 Centerline is valid? [True, True] Translation: X:200.58, Y:-97.70, Z:0.49 [[ 2.18107048e-01 -9.75923089e-01 -1.85453031e-03 2.00581073e+02] [-9.75885231e-01 -2.18114922e-01 8.59633495e-03 -9.76978106e+01] [-8.79386249e-03 -6.51124966e-05 -9.99961331e-01 4.89606194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.957628 meters 0.013442234660090927 Centerline is valid? [True, True] Translation: X:200.58, Y:-97.82, Z:0.49 [[ 2.95623297e-01 -9.55297366e-01 -3.71588068e-03 2.00579669e+02] [-9.55216662e-01 -2.95646625e-01 1.24177656e-02 -9.78172017e+01] [-1.29612464e-02 -1.21509677e-04 -9.99915992e-01 4.92244036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.017628 meters 0.013598241006437296 Centerline is valid? [True, True] Translation: X:200.59, Y:-97.94, Z:0.49 [[ 3.69436472e-01 -9.29240992e-01 -5.27935821e-03 2.00591276e+02] [-9.29140234e-01 -3.69474161e-01 1.36846534e-02 -9.79398380e+01] [-1.46669274e-02 -1.50345969e-04 -9.99892424e-01 4.93342203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.077628 meters 0.014979117774837788 Centerline is valid? [True, True] Translation: X:200.61, Y:-98.05, Z:0.50 [[ 4.36932495e-01 -8.99468902e-01 -6.75942214e-03 2.00612466e+02] [-8.99357398e-01 -4.36984763e-01 1.41628835e-02 -9.80539355e+01] [-1.56928377e-02 -1.09087698e-04 -9.99876854e-01 4.95683350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.137628 meters 0.013357608191048065 Centerline is valid? [True, True] Translation: X:200.64, Y:-98.16, Z:0.49 [[ 4.99418031e-01 -8.66333280e-01 -6.94821219e-03 2.00643114e+02] [-8.66249118e-01 -4.99466363e-01 1.20754856e-02 -9.81614671e+01] [-1.39317933e-02 -1.18325469e-05 -9.99902948e-01 4.93650038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.19762799999998 meters 0.013620823177096246 Centerline is valid? [True, True] Translation: X:200.68, Y:-98.26, Z:0.49 [[ 5.59896363e-01 -8.28537798e-01 -6.41720463e-03 2.00680166e+02] [-8.28484391e-01 -5.59933135e-01 9.40741094e-03 -9.82621161e+01] [-1.13876010e-02 4.93786989e-05 -9.99935158e-01 4.90572152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.25762799999998 meters 0.013742508460528005 Centerline is valid? [True, True] Translation: X:200.10, Y:-98.79, Z:-0.46 [[ 5.15774719e-01 8.56710770e-01 -4.80581419e-03 2.00095326e+02] [-8.56670716e-01 5.15797084e-01 8.28566342e-03 -9.87933879e+01] [ 9.57724203e-03 -1.56535440e-04 9.99954125e-01 -4.58523218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.31762799999998 meters 0.013897193259235366 Centerline is valid? [True, True] Translation: X:200.83, Y:-98.49, Z:0.49 [[ 5.66499814e-01 -8.24036901e-01 -6.41450868e-03 2.00834365e+02] [-8.23985337e-01 -5.66536126e-01 9.21865056e-03 -9.84862520e+01] [-1.12305591e-02 6.30972634e-05 -9.99936933e-01 4.90521092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.377628 meters 0.01365184612380319 Centerline is valid? [True, True] Translation: X:200.88, Y:-98.59, Z:0.49 [[ 6.29741523e-01 -7.76774479e-01 -6.85732402e-03 2.00881006e+02] [-7.76729061e-01 -6.29778856e-01 8.39995616e-03 -9.85923373e+01] [-1.08434692e-02 3.64816667e-05 -9.99941207e-01 4.90441217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.437628 meters 0.013432550455488471 Centerline is valid? [True, True] Translation: X:200.93, Y:-98.70, Z:0.49 [[ 6.92340661e-01 -7.21531155e-01 -7.56316333e-03 2.00933275e+02] [-7.21487497e-01 -6.92381969e-01 7.93725170e-03 -9.86952909e+01] [-1.09635723e-02 -3.85543078e-05 -9.99939897e-01 4.90351713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.497628 meters 0.013673810768337286 Centerline is valid? [True, True] Translation: X:200.99, Y:-98.80, Z:0.49 [[ 7.49705896e-01 -6.61725818e-01 -7.74671768e-03 2.00991805e+02] [-6.61689040e-01 -7.49745911e-01 6.97736606e-03 -9.87950416e+01] [-1.04251732e-02 -1.05054289e-04 -9.99945651e-01 4.90342820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.557628 meters 0.014978602994734637 Centerline is valid? [True, True] Translation: X:201.01, Y:-98.82, Z:0.49 [[ 8.04316221e-01 -5.94168109e-01 -6.29888500e-03 2.01008154e+02] [-5.94148358e-01 -8.04340870e-01 4.84714451e-03 -9.88231358e+01] [-7.94646932e-03 -1.56164771e-04 -9.99968414e-01 4.88482677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.617628 meters 0.015509906347176857 Centerline is valid? [True, True] Translation: X:201.03, Y:-98.85, Z:0.49 [[ 8.49540410e-01 -5.27495357e-01 -5.45348898e-03 2.01029844e+02] [-5.27483364e-01 -8.49557901e-01 3.56012547e-03 -9.88455380e+01] [-6.51100431e-03 -1.47845740e-04 -9.99978792e-01 4.86796834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.677628 meters 0.014446052062226617 Centerline is valid? [True, True] Translation: X:201.05, Y:-98.86, Z:0.49 [[ 8.85092946e-01 -4.65373033e-01 -6.19814055e-03 2.01054091e+02] [-4.65360744e-01 -8.85114641e-01 3.38381669e-03 -9.88610243e+01] [-7.06080199e-03 -1.10620989e-04 -9.99975066e-01 4.88204605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.737628 meters 0.013377022887345307 Centerline is valid? [True, True] Translation: X:201.08, Y:-98.87, Z:0.49 [[ 9.14990792e-01 -4.03406376e-01 -7.42605345e-03 2.01082536e+02] [-4.03392677e-01 -9.15020925e-01 3.32485951e-03 -9.88696896e+01] [-8.13626383e-03 -4.66002604e-05 -9.99966899e-01 4.88426553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.797628 meters 0.013441921073041645 Centerline is valid? [True, True] Translation: X:201.11, Y:-98.88, Z:0.49 [[ 9.42194358e-01 -3.34970594e-01 -8.03068688e-03 2.01109625e+02] [-3.34958353e-01 -9.42228582e-01 2.86374845e-03 -9.88824362e+01] [-8.52601423e-03 -8.26198291e-06 -9.99963653e-01 4.88405816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.857628 meters 0.013647999114051276 Centerline is valid? [True, True] Translation: X:201.14, Y:-98.90, Z:0.49 [[ 9.64503610e-01 -2.63916581e-01 -8.99023485e-03 2.01135188e+02] [-2.63905392e-01 -9.64545508e-01 2.43035288e-03 -9.88990399e+01] [-9.31290107e-03 2.84873218e-05 -9.99956634e-01 4.87297259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.91762799999998 meters 0.014288171290834003 Centerline is valid? [True, True] Translation: X:201.16, Y:-98.91, Z:0.49 [[ 9.81150668e-01 -1.92940761e-01 -1.08272943e-02 2.01157806e+02] [-1.92930124e-01 -9.81210402e-01 2.02829068e-03 -9.89126721e+01] [-1.10151938e-02 9.88524809e-05 -9.99939326e-01 4.88605329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.97762799999998 meters 0.015228416102746244 Centerline is valid? [True, True] Translation: X:201.18, Y:-98.92, Z:0.49 [[ 9.92491715e-01 -1.21790377e-01 -1.12827196e-02 2.01182210e+02] [-1.21784499e-01 -9.92555829e-01 1.20919676e-03 -9.89238398e+01] [-1.13459976e-02 1.73942579e-04 -9.99935617e-01 4.87080876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.037628 meters 0.015396145471231063 Centerline is valid? [True, True] Translation: X:201.21, Y:-98.94, Z:0.48 [[ 9.98836784e-01 -4.69440843e-02 -1.10150722e-02 2.01207273e+02] [-4.69434751e-02 -9.98897498e-01 3.13991379e-04 -9.89370699e+01] [-1.10176681e-02 2.03459627e-04 -9.99939283e-01 4.84412199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.097628 meters 0.0165599513263676 Centerline is valid? [True, True] Translation: X:201.23, Y:-98.95, Z:0.48 [[ 9.99520646e-01 2.93012751e-02 -9.99571192e-03 2.01232515e+02] [ 2.92977735e-02 -9.99570605e-01 -4.96598300e-04 -9.89468991e+01] [-1.00059708e-02 2.03508150e-04 -9.99949918e-01 4.83873040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.157628 meters 0.01587347946380978 Centerline is valid? [True, True] Translation: X:201.26, Y:-98.96, Z:0.48 [[ 9.94093818e-01 1.08037412e-01 -1.02664163e-02 2.01259815e+02] [ 1.08029513e-01 -9.94146808e-01 -1.32258317e-03 -9.89587039e+01] [-1.03492135e-02 2.05695803e-04 -9.99946424e-01 4.82584945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.217628 meters 0.016023693347378472 Centerline is valid? [True, True] Translation: X:201.29, Y:-98.96, Z:0.48 [[ 9.82293406e-01 1.87128396e-01 -9.08996766e-03 2.01286777e+02] [ 1.87118811e-01 -9.82335450e-01 -1.90132794e-03 -9.89638389e+01] [-9.28518991e-03 1.66757957e-04 -9.99956878e-01 4.82013998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.277628 meters 0.015272581949005522 Centerline is valid? [True, True] Translation: X:201.32, Y:-98.97, Z:0.48 [[ 9.63973508e-01 2.65852698e-01 -8.79878259e-03 2.01315569e+02] [ 2.65840283e-01 -9.64013653e-01 -2.57308280e-03 -9.89681820e+01] [-9.16620755e-03 1.41312804e-04 -9.99957979e-01 4.80999761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.337628 meters 0.01622005062370873 Centerline is valid? [True, True] Translation: X:201.34, Y:-98.97, Z:0.48 [[ 9.39608962e-01 3.42139340e-01 -8.69892578e-03 2.01344644e+02] [ 3.42123414e-01 -9.39649219e-01 -3.30357948e-03 -9.89697364e+01] [-9.30422333e-03 1.27966695e-04 -9.99956707e-01 4.82732110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.397628 meters 0.014090707449488794 Centerline is valid? [True, True] Translation: X:201.37, Y:-98.97, Z:0.48 [[ 9.07972311e-01 4.18965001e-01 -7.38990313e-03 2.01374290e+02] [ 4.18950492e-01 -9.08002381e-01 -3.48746531e-03 -9.89695885e+01] [-8.17117554e-03 7.05183854e-05 -9.99966613e-01 4.82212522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.457628 meters 0.013763321532686732 Centerline is valid? [True, True] Translation: X:201.40, Y:-98.96, Z:0.48 [[ 8.70949054e-01 4.91322818e-01 -7.04507114e-03 2.01401361e+02] [ 4.91306315e-01 -8.70977546e-01 -4.02723185e-03 -9.89629297e+01] [-8.11476968e-03 4.62258308e-05 -9.99967074e-01 4.81844423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.517628 meters 0.013350641537233433 Centerline is valid? [True, True] Translation: X:201.43, Y:-98.96, Z:0.48 [[ 8.27564746e-01 5.61324595e-01 -7.16173252e-03 2.01429145e+02] [ 5.61303405e-01 -8.27595734e-01 -4.87734194e-03 -9.89553690e+01] [-8.66479127e-03 1.64113948e-05 -9.99962460e-01 4.82587379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.577628 meters 0.013273001687701938 Centerline is valid? [True, True] Translation: X:201.45, Y:-98.94, Z:0.48 [[ 7.80209115e-01 6.25475519e-01 -7.35610850e-03 2.01453919e+02] [ 6.25447629e-01 -7.80243792e-01 -5.90658488e-03 -9.89436807e+01] [-9.43398224e-03 7.51074394e-06 -9.99955499e-01 4.84306974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.637628 meters 0.013170799612709705 Centerline is valid? [True, True] Translation: X:201.48, Y:-98.93, Z:0.48 [[ 7.28933515e-01 6.84535542e-01 -8.18671836e-03 2.01481034e+02] [ 6.84492131e-01 -7.28979486e-01 -7.70919326e-03 -9.89322130e+01] [-1.12451665e-02 1.57450461e-05 -9.99936771e-01 4.84594125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.697628 meters 0.013348789134665896 Centerline is valid? [True, True] Translation: X:201.50, Y:-98.92, Z:0.49 [[ 6.73617634e-01 7.39032182e-01 -8.40931121e-03 2.01503408e+02] [ 7.38974055e-01 -6.73670122e-01 -9.26894868e-03 -9.89174431e+01] [-1.25151531e-02 2.94644789e-05 -9.99921682e-01 4.86280876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.757628 meters 0.013133146899090835 Centerline is valid? [True, True] Translation: X:201.52, Y:-98.90, Z:0.49 [[ 6.14419012e-01 7.88943512e-01 -7.57714199e-03 2.01524726e+02] [ 7.88882713e-01 -6.14465730e-01 -9.79450578e-03 -9.89001399e+01] [-1.23832059e-02 4.04542395e-05 -9.99923324e-01 4.85455603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.817628 meters 0.012748319433931826 Centerline is valid? [True, True] Translation: X:201.55, Y:-98.88, Z:0.49 [[ 5.49447602e-01 8.35502163e-01 -6.59300624e-03 2.01548643e+02] [ 8.35441586e-01 -5.49487157e-01 -1.00608800e-02 -9.88837424e+01] [-1.20286592e-02 1.98547848e-05 -9.99927653e-01 4.85156983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.877628 meters 0.015590453082707635 Centerline is valid? [True, True] Translation: X:201.57, Y:-98.86, Z:0.49 [[ 4.80818178e-01 8.76792400e-01 -6.99763441e-03 2.01567161e+02] [ 8.76699411e-01 -4.80869095e-01 -1.27693299e-02 -9.88646188e+01] [-1.45609975e-02 4.90395480e-06 -9.99893983e-01 4.89091564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.937628 meters 0.012709459587728185 Centerline is valid? [True, True] Translation: X:201.58, Y:-98.84, Z:0.49 [[ 4.09306516e-01 9.12380475e-01 -5.48128235e-03 2.01581810e+02] [ 9.12299257e-01 -4.09343216e-01 -1.21736390e-02 -9.88437460e+01] [-1.33507162e-02 -1.78200665e-05 -9.99910875e-01 4.86854753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.997628 meters 0.012556601200519301 Centerline is valid? [True, True] Translation: X:201.60, Y:-98.82, Z:0.49 [[ 3.36182541e-01 9.41786767e-01 -4.35716850e-03 2.01598927e+02] [ 9.41708580e-01 -3.36210775e-01 -1.21353033e-02 -9.88221263e+01] [-1.28937950e-02 -2.35058735e-05 -9.99916871e-01 4.86300922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.05762799999997 meters 0.012550493440748177 Centerline is valid? [True, True] Translation: X:201.61, Y:-98.80, Z:0.49 [[ 2.60412007e-01 9.65491239e-01 -3.50060272e-03 2.01613606e+02] [ 9.65405909e-01 -2.60435532e-01 -1.28361023e-02 -9.87992527e+01] [-1.33048256e-02 -3.68273884e-05 -9.99911486e-01 4.86435196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.11762799999997 meters 0.012528426983303802 Centerline is valid? [True, True] Translation: X:201.62, Y:-98.78, Z:0.49 [[ 1.83291960e-01 9.83055998e-01 -2.22774081e-03 2.01622216e+02] [ 9.82986270e-01 -1.83305493e-01 -1.17084883e-02 -9.87755729e+01] [-1.19184567e-02 -4.37668603e-05 -9.99928972e-01 4.85185835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.17762799999997 meters 0.012483580992657653 Centerline is valid? [True, True] Translation: X:201.63, Y:-98.75, Z:0.48 [[ 1.08001030e-01 9.94150091e-01 -1.17242889e-03 2.01627458e+02] [ 9.94093257e-01 -1.08007392e-01 -1.06301227e-02 -9.87507914e+01] [-1.06945684e-02 -1.74394559e-05 -9.99942811e-01 4.84824510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.237628 meters 0.012702535900440426 Centerline is valid? [True, True] Translation: X:201.63, Y:-98.73, Z:0.48 [[ 3.46370693e-02 9.99399907e-01 -3.15856379e-04 2.01631893e+02] [ 9.99349970e-01 -3.46384961e-02 -9.99055312e-03 -9.87261773e+01] [-9.99549865e-03 3.03924181e-05 -9.99950043e-01 4.84735743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.297628 meters 0.015601445123386914 Centerline is valid? [True, True] Translation: X:201.63, Y:-98.70, Z:0.49 [[-4.03396559e-02 9.99185877e-01 5.43647201e-04 2.01634843e+02] [ 9.99119495e-01 4.03432425e-02 -1.15177121e-02 -9.87013797e+01] [-1.15302678e-02 7.85479734e-05 -9.99933521e-01 4.85198643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.357628 meters 0.013038909356433719 Centerline is valid? [True, True] Translation: X:201.64, Y:-98.68, Z:0.48 [[-1.19159309e-01 9.92874170e-01 1.39319794e-03 2.01640650e+02] [ 9.92812770e-01 1.19167435e-01 -1.10420224e-02 -9.86777243e+01] [-1.11293626e-02 6.74249415e-05 -9.99938064e-01 4.84059188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.417628 meters 0.01280573724146119 Centerline is valid? [True, True] Translation: X:201.65, Y:-98.65, Z:0.48 [[-1.98728514e-01 9.80052354e-01 2.08833530e-03 2.01650061e+02] [ 9.80000241e-01 1.98739482e-01 -1.01067427e-02 -9.86518663e+01] [-1.03201716e-02 3.80711399e-05 -9.99946745e-01 4.84885513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.477628 meters 0.01276171675730568 Centerline is valid? [True, True] Translation: X:201.65, Y:-98.63, Z:0.49 [[-2.77362501e-01 9.60761534e-01 2.70515092e-03 2.01654495e+02] [ 9.60716177e-01 2.77375693e-01 -9.33551215e-03 -9.86269182e+01] [-9.71954408e-03 9.56124849e-06 -9.99952764e-01 4.85650869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.537628 meters 0.012650390474624983 Centerline is valid? [True, True] Translation: X:201.66, Y:-98.60, Z:0.48 [[-3.54290143e-01 9.35130079e-01 3.19832949e-03 2.01655917e+02] [ 9.35091546e-01 3.54304579e-01 -8.48922198e-03 -9.86012668e+01] [-9.07170960e-03 -1.69168053e-05 -9.99958851e-01 4.83857094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.597628 meters 0.012480765120230627 Centerline is valid? [True, True] Translation: X:201.66, Y:-98.58, Z:0.48 [[-4.27991251e-01 9.03777513e-01 3.11379593e-03 2.01655049e+02] [ 9.03753066e-01 4.28002577e-01 -6.64757594e-03 -9.85754780e+01] [-7.34064234e-03 -3.10017227e-05 -9.99973057e-01 4.84389218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.657628 meters 0.012473952550183721 Centerline is valid? [True, True] Translation: X:201.65, Y:-98.55, Z:0.48 [[-4.98000939e-01 8.67169819e-01 3.40150731e-03 2.01651068e+02] [ 8.67149111e-01 4.98012555e-01 -5.99289894e-03 -9.85496499e+01] [-6.89085443e-03 -3.48552614e-05 -9.99976257e-01 4.83660674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.717628 meters 0.012519608051587474 Centerline is valid? [True, True] Translation: X:201.65, Y:-98.52, Z:0.48 [[-5.65132744e-01 8.24996561e-01 2.37839871e-03 2.01647108e+02] [ 8.24988994e-01 5.65137747e-01 -3.53348145e-03 -9.85222665e+01] [-4.25923294e-03 -3.47333063e-05 -9.99990929e-01 4.81904611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.777628 meters 0.012620747826775969 Centerline is valid? [True, True] Translation: X:201.64, Y:-98.50, Z:0.48 [[-6.29109001e-01 7.77311009e-01 3.07583807e-03 2.01640620e+02] [ 7.77301381e-01 6.29116519e-01 -3.86902142e-03 -9.84973353e+01] [-4.94249348e-03 -4.31830212e-05 -9.99987785e-01 4.82744563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.837628 meters 0.012822171469679506 Centerline is valid? [True, True] Translation: X:201.63, Y:-98.47, Z:0.49 [[-6.89962542e-01 7.23826572e-01 5.17542273e-03 2.01630905e+02] [ 7.23805415e-01 6.89981948e-01 -5.53465562e-03 -9.84727948e+01] [-7.57707906e-03 -7.27060637e-05 -9.99971291e-01 4.86910084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.897628 meters 0.013007684379397576 Centerline is valid? [True, True] Translation: X:201.62, Y:-98.45, Z:0.49 [[-7.45385737e-01 6.66602026e-01 6.46845387e-03 2.01617739e+02] [ 6.66575859e-01 7.45413798e-01 -5.90710872e-03 -9.84524005e+01] [-8.75936541e-03 -9.13593945e-05 -9.99961632e-01 4.88463443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.957628 meters 0.013000196697951667 Centerline is valid? [True, True] Translation: X:201.63, Y:-98.42, Z:0.49 [[-7.90855264e-01 6.11953122e-01 7.83122348e-03 2.01626022e+02] [ 6.11921849e-01 7.90894030e-01 -6.18747330e-03 -9.84245543e+01] [-9.98011150e-03 -1.01299080e-04 -9.99950192e-01 4.89092346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.017628 meters 0.012486090452786326 Centerline is valid? [True, True] Translation: X:201.66, Y:-98.42, Z:0.49 [[-8.28839503e-01 5.59438226e-01 7.34499319e-03 2.01659855e+02] [ 5.59415837e-01 8.28872046e-01 -5.00520454e-03 -9.84184448e+01] [-8.88816228e-03 -3.96057320e-05 -9.99960499e-01 4.87843452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.077628 meters 0.012486090452786326 Centerline is valid? [True, True] Translation: X:201.68, Y:-98.40, Z:0.49 [[-8.66343866e-01 4.99388948e-01 7.68007166e-03 2.01678149e+02] [ 4.99368921e-01 8.66377906e-01 -4.47252900e-03 -9.83982567e+01] [-8.88737596e-03 -3.95589676e-05 -9.99960506e-01 4.87835629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.137628 meters 0.016696647232215242 Centerline is valid? [True, True] Translation: X:201.70, Y:-98.39, Z:0.49 [[-8.94779632e-01 4.46425077e-01 8.60580778e-03 2.01697847e+02] [ 4.46405093e-01 8.94821014e-01 -4.22443921e-03 -9.83859733e+01] [-9.58655324e-03 6.17342641e-05 -9.99954046e-01 4.90411925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.197628 meters 0.017364780703953416 Centerline is valid? [True, True] Translation: X:201.72, Y:-98.37, Z:0.49 [[-9.19535496e-01 3.92931573e-01 7.69739438e-03 2.01715291e+02] [ 3.92919163e-01 9.19567701e-01 -3.12643133e-03 -9.83730618e+01] [-8.30674883e-03 1.49589174e-04 -9.99965487e-01 4.89228475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.257628 meters 0.019628084834069044 Centerline is valid? [True, True] Translation: X:201.74, Y:-98.35, Z:0.49 [[-9.41929711e-01 3.35748513e-01 6.43090462e-03 2.01738631e+02] [ 3.35741996e-01 9.41951646e-01 -2.09978746e-03 -9.83533252e+01] [-6.76260171e-03 1.81272553e-04 -9.99977117e-01 4.88313382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.317628 meters 0.02002687142258513 Centerline is valid? [True, True] Translation: X:201.75, Y:-98.33, Z:0.49 [[-9.62342196e-01 2.71771579e-01 6.14063293e-03 2.01749444e+02] [ 2.71767313e-01 9.62361768e-01 -1.53481624e-03 -9.83292987e+01] [-6.32662980e-03 1.91804877e-04 -9.99979968e-01 4.87962784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.377628 meters 0.018602954282184437 Centerline is valid? [True, True] Translation: X:201.95, Y:-97.55, Z:-0.46 [[-9.62771526e-01 -2.70253974e-01 5.81188032e-03 2.01953687e+02] [ 2.70247801e-01 -9.62789048e-01 -1.83727622e-03 -9.75454546e+01] [ 6.09214592e-03 -1.98229350e-04 9.99981423e-01 -4.58170022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.437628 meters 0.017075736791283425 Centerline is valid? [True, True] Translation: X:201.71, Y:-98.31, Z:0.49 [[-9.64356284e-01 2.64528631e-01 6.44680678e-03 2.01705303e+02] [ 2.64523947e-01 9.64377816e-01 -1.58411670e-03 -9.83057070e+01] [-6.63620166e-03 1.77681882e-04 -9.99977964e-01 4.86814560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.497628 meters 0.01613146101231088 Centerline is valid? [True, True] Translation: X:201.89, Y:-97.55, Z:-0.46 [[-9.60995628e-01 -2.76519767e-01 4.92155390e-03 2.01893412e+02] [ 2.76514897e-01 -9.61008202e-01 -1.65754373e-03 -9.75465810e+01] [ 5.18799727e-03 -2.32009311e-04 9.99986515e-01 -4.57148923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.55762799999997 meters 0.014127850369339211 Centerline is valid? [True, True] Translation: X:201.65, Y:-98.28, Z:0.48 [[-9.68940585e-01 2.47282039e-01 2.39504893e-03 2.01653184e+02] [ 2.47281329e-01 9.68943545e-01 -5.92739734e-04 -9.82775148e+01] [-2.46724109e-03 1.79212992e-05 -9.99996956e-01 4.83342134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.61762799999997 meters 0.013057413519645213 Centerline is valid? [True, True] Translation: X:201.66, Y:-98.24, Z:0.48 [[-9.85399041e-01 1.70249594e-01 -1.95059351e-03 2.01658994e+02] [ 1.70249336e-01 9.85400971e-01 2.98746693e-04 -9.82411174e+01] [ 1.97297824e-03 -3.77025459e-05 -9.99998053e-01 4.80331867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.67762799999997 meters 0.012789527219762236 Centerline is valid? [True, True] Translation: X:201.66, Y:-98.20, Z:0.48 [[-9.95545744e-01 9.42494520e-02 -2.38998976e-03 2.01656642e+02] [ 9.42492465e-02 9.95548613e-01 1.98740009e-04 -9.82045662e+01] [ 2.39808212e-03 -2.73999636e-05 -9.99997124e-01 4.80152511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.737628 meters 0.0127861347512744 Centerline is valid? [True, True] Translation: X:201.66, Y:-98.17, Z:0.48 [[-9.99793821e-01 2.01922901e-02 -2.14151134e-03 2.01659290e+02] [ 2.01922866e-02 9.99796115e-01 2.32508982e-05 -9.81731323e+01] [ 2.14154420e-03 -1.99959065e-05 -9.99997707e-01 4.80281536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.797628 meters 0.012976906954336776 Centerline is valid? [True, True] Translation: X:201.68, Y:-97.47, Z:-0.45 [[-9.95786077e-01 -9.16929125e-02 -1.58089770e-03 2.01675032e+02] [ 9.16927054e-02 -9.95787330e-01 2.03149875e-04 -9.74679628e+01] [-1.59286530e-03 5.73370298e-05 9.99998730e-01 -4.51497912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.857628 meters 0.013023825096864287 Centerline is valid? [True, True] Translation: X:201.59, Y:-98.16, Z:0.48 [[-9.99928377e-01 1.17971246e-02 2.01691512e-03 2.01594353e+02] [ 1.17970366e-02 9.99930411e-01 -5.55546958e-05 -9.81630392e+01] [-2.01743015e-03 -3.17570955e-05 -9.99997964e-01 4.83352484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.917628 meters 0.013131491896469122 Centerline is valid? [True, True] Translation: X:201.61, Y:-97.47, Z:-0.45 [[-9.95977378e-01 -8.95563621e-02 2.95302764e-03 2.01611424e+02] [ 8.95562593e-02 -9.95981751e-01 -1.67296975e-04 -9.74720676e+01] [ 2.95614415e-03 9.78381069e-05 9.99995626e-01 -4.54213243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.977628 meters 0.013097163408381142 Centerline is valid? [True, True] Translation: X:201.54, Y:-98.16, Z:0.48 [[-9.99975101e-01 6.20198411e-03 3.36641953e-03 2.01535891e+02] [ 6.20180482e-03 9.99980767e-01 -6.36949838e-05 -9.81624433e+01] [-3.36674982e-03 -4.28155209e-05 -9.99994332e-01 4.80256261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.037628 meters 0.012920035008322851 Centerline is valid? [True, True] Translation: X:201.55, Y:-97.47, Z:-0.45 [[-9.96521833e-01 -8.32318656e-02 4.08574450e-03 2.01549289e+02] [ 8.32315462e-02 -9.96530204e-01 -2.48427370e-04 -9.74705353e+01] [ 4.09224488e-03 9.24995350e-05 9.99991622e-01 -4.49984275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.097628 meters 0.012967364490078164 Centerline is valid? [True, True] Translation: X:201.48, Y:-98.17, Z:0.48 [[-9.99905245e-01 1.10624004e-02 8.19292516e-03 2.01475763e+02] [ 1.10620705e-02 9.99938810e-01 -8.55752519e-05 -9.81658200e+01] [-8.19337050e-03 5.06357266e-06 -9.99966434e-01 4.79544893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.157628 meters 0.013770567062060857 Centerline is valid? [True, True] Translation: X:201.48, Y:-98.14, Z:0.48 [[-9.98591131e-01 -5.20480837e-02 1.03319670e-02 2.01479724e+02] [-5.20443057e-02 9.98644575e-01 6.34375030e-04 -9.81444771e+01] [-1.03509808e-02 9.57612332e-05 -9.99946423e-01 4.79393885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.217628 meters 0.014822312780610969 Centerline is valid? [True, True] Translation: X:201.44, Y:-97.43, Z:-0.45 [[-9.99824199e-01 1.45700910e-02 1.18018213e-02 2.01440228e+02] [-1.45693901e-02 -9.99893850e-01 1.45367700e-04 -9.74335237e+01] [ 1.18026866e-02 -2.66031945e-05 9.99930346e-01 -4.49739655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.277628 meters 0.01642874985251902 Centerline is valid? [True, True] Translation: X:201.40, Y:-98.15, Z:0.48 [[-9.98859636e-01 -4.56121086e-02 1.41054170e-02 2.01395046e+02] [-4.56031550e-02 9.98959178e-01 9.55920306e-04 -9.81538147e+01] [-1.41343373e-02 3.11578690e-04 -9.99900057e-01 4.78948413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.337628 meters 0.018559276140597453 Centerline is valid? [True, True] Translation: X:201.39, Y:-98.13, Z:0.48 [[-9.93933350e-01 -1.08960235e-01 1.49720939e-02 2.01393796e+02] [-1.08941009e-01 9.94046006e-01 2.09624525e-03 -9.81306125e+01] [-1.51113575e-02 4.52453049e-04 -9.99885715e-01 4.76558581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.397628 meters 0.019163586398389644 Centerline is valid? [True, True] Translation: X:201.38, Y:-98.10, Z:0.47 [[-9.84629793e-01 -1.74010252e-01 1.49867278e-02 2.01380309e+02] [-1.73981599e-01 9.84743688e-01 3.20493059e-03 -9.81028658e+01] [-1.53157764e-02 5.48255277e-04 -9.99882556e-01 4.74818996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.457628 meters 0.020801720800374048 Centerline is valid? [True, True] Translation: X:201.36, Y:-98.08, Z:0.48 [[-9.69872330e-01 -2.43239168e-01 1.35044308e-02 2.01355164e+02] [-2.43208125e-01 9.69966205e-01 3.92031401e-03 -9.80802659e+01] [-1.40524155e-02 5.17816775e-04 -9.99901126e-01 4.75031044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.517628 meters 0.021841372247149923 Centerline is valid? [True, True] Translation: X:201.31, Y:-98.06, Z:0.47 [[-9.49071734e-01 -3.14805572e-01 1.26607817e-02 2.01309440e+02] [-3.14770902e-01 9.49156062e-01 4.69564701e-03 -9.80625533e+01] [-1.34952735e-02 4.71260182e-04 -9.99908824e-01 4.73604214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.577628 meters 0.016872556762106413 Centerline is valid? [True, True] Translation: X:201.25, Y:-98.05, Z:0.47 [[-9.19977256e-01 -3.91796824e-01 1.17088495e-02 2.01245339e+02] [-3.91760537e-01 9.20051706e-01 5.34231617e-03 -9.80465019e+01] [-1.28658494e-02 3.27744211e-04 -9.99917178e-01 4.71111615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.637628 meters 0.013769064597558814 Centerline is valid? [True, True] Translation: X:201.17, Y:-98.04, Z:0.47 [[-8.82185991e-01 -4.70780552e-01 1.06558862e-02 2.01169853e+02] [-4.70744348e-01 8.82250335e-01 5.84002597e-03 -9.80387452e+01] [-1.21505298e-02 1.35790918e-04 -9.99926170e-01 4.71167803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.697628 meters 0.01274011428952482 Centerline is valid? [True, True] Translation: X:201.10, Y:-98.04, Z:0.47 [[-8.39880742e-01 -5.42671880e-01 1.03715406e-02 2.01095963e+02] [-5.42630212e-01 8.39944778e-01 6.72483227e-03 -9.80441465e+01] [-1.23608987e-02 2.01458529e-05 -9.99923601e-01 4.70800722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.757628 meters 0.01299461521122896 Centerline is valid? [True, True] Translation: X:201.01, Y:-98.06, Z:0.47 [[-7.90331422e-01 -6.12587179e-01 1.06391183e-02 2.01012622e+02] [-6.12533911e-01 7.90403018e-01 8.07942569e-03 -9.80587410e+01] [-1.33585438e-02 -1.31396742e-04 -9.99910762e-01 4.72507473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.817628 meters 0.013980360905684714 Centerline is valid? [True, True] Translation: X:200.93, Y:-98.08, Z:0.48 [[-7.39302782e-01 -6.73292363e-01 1.04302107e-02 2.00932008e+02] [-6.73229192e-01 7.39376327e-01 9.22511740e-03 -9.80846201e+01] [-1.39230520e-02 -2.01767344e-04 -9.99903049e-01 4.75183596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.877628 meters 0.014236564338338661 Centerline is valid? [True, True] Translation: X:200.86, Y:-98.13, Z:0.47 [[-6.85377838e-01 -7.28117029e-01 1.01395850e-02 2.00855704e+02] [-7.28042448e-01 6.85452796e-01 1.04239868e-02 -9.81280030e+01] [-1.45400892e-02 -2.37678731e-04 -9.99894259e-01 4.73574620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.937628 meters 0.013995900200931971 Centerline is valid? [True, True] Translation: X:200.78, Y:-98.18, Z:0.47 [[-6.30204764e-01 -7.76376738e-01 9.00642626e-03 2.00781125e+02] [-7.76301989e-01 6.30269086e-01 1.07750455e-02 -9.81806619e+01] [-1.40419667e-02 -2.01221593e-04 -9.99901386e-01 4.72740043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.997628 meters 0.013886984524191836 Centerline is valid? [True, True] Translation: X:200.70, Y:-98.24, Z:0.47 [[-5.70424129e-01 -8.21308749e-01 8.26145712e-03 2.00704161e+02] [-8.21227430e-01 5.70483919e-01 1.15588632e-02 -9.82399755e+01] [-1.42064239e-02 -1.91080741e-04 -9.99899065e-01 4.73241286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.05762799999997 meters 0.013718282278260928 Centerline is valid? [True, True] Translation: X:200.63, Y:-98.32, Z:0.47 [[-5.09230926e-01 -8.60599052e-01 7.28949036e-03 2.00632587e+02] [-8.60514888e-01 5.09283076e-01 1.20364518e-02 -9.83157837e+01] [-1.40709731e-02 -1.43381484e-04 -9.99900989e-01 4.73887299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.11762799999997 meters 0.013323809167398403 Centerline is valid? [True, True] Translation: X:200.57, Y:-98.40, Z:0.47 [[-4.48078252e-01 -8.93972659e-01 6.22621823e-03 2.00570843e+02] [-8.93887885e-01 4.48121505e-01 1.23112067e-02 -9.83977923e+01] [-1.37959844e-02 -4.91570853e-05 -9.99904830e-01 4.73732241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.17762799999997 meters 0.01362212584547194 Centerline is valid? [True, True] Translation: X:200.51, Y:-98.48, Z:0.47 [[-3.83933094e-01 -9.23343536e-01 5.66511722e-03 2.00513137e+02] [-9.23241510e-01 3.83974885e-01 1.37259506e-02 -9.84818005e+01] [-1.48490305e-02 3.95753162e-05 -9.99889746e-01 4.73870473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.237628 meters 0.014827524540072969 Centerline is valid? [True, True] Translation: X:200.46, Y:-98.58, Z:0.47 [[-3.21095195e-01 -9.47036948e-01 4.34678802e-03 2.00462020e+02] [-9.46942828e-01 3.21124571e-01 1.33525324e-02 -9.85812346e+01] [-1.40412020e-02 1.71274262e-04 -9.99901403e-01 4.73330391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.297628 meters 0.016167183171296638 Centerline is valid? [True, True] Translation: X:200.41, Y:-98.68, Z:0.47 [[-2.52883195e-01 -9.67490915e-01 3.37922075e-03 2.00413784e+02] [-9.67390382e-01 2.52905640e-01 1.39494471e-02 -9.86837918e+01] [-1.43505873e-02 2.58555086e-04 -9.99896992e-01 4.73689316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.357628 meters 0.0176912542927641 Centerline is valid? [True, True] Translation: X:200.38, Y:-98.79, Z:0.47 [[-1.85613136e-01 -9.82620377e-01 2.22667972e-03 2.00376646e+02] [-9.82524402e-01 1.85626138e-01 1.37381203e-02 -9.87882902e+01] [-1.39126869e-02 3.62208424e-04 -9.99903148e-01 4.73146041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.417628 meters 0.019134778960312973 Centerline is valid? [True, True] Translation: X:200.34, Y:-98.90, Z:0.47 [[-1.13894074e-01 -9.93492121e-01 1.24335795e-03 2.00344441e+02] [-9.93381044e-01 1.13899941e-01 1.48628487e-02 -9.88987988e+01] [-1.49077415e-02 4.57662172e-04 -9.99888769e-01 4.74213300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.477628 meters 0.019982351392902532 Centerline is valid? [True, True] Translation: X:200.32, Y:-99.01, Z:0.47 [[-3.91416269e-02 -9.99233669e-01 8.74478598e-05 2.00319555e+02] [-9.99146789e-01 3.91393774e-02 1.31834667e-02 -9.90115693e+01] [-1.31767865e-02 4.28649086e-04 -9.99913091e-01 4.72067436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.537628 meters 0.019646830947983335 Centerline is valid? [True, True] Translation: X:200.30, Y:-99.13, Z:0.47 [[ 3.90909800e-02 -9.99235386e-01 -7.34397760e-04 2.00297161e+02] [-9.99180682e-01 -3.90965282e-02 1.04606988e-02 -9.91327917e+01] [-1.04814128e-02 3.24877089e-04 -9.99945016e-01 4.70325187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.597628 meters 0.018246609374050662 Centerline is valid? [True, True] Translation: X:200.28, Y:-99.25, Z:0.47 [[ 1.19772014e-01 -9.92800916e-01 -1.00320365e-03 2.00277300e+02] [-9.92776525e-01 -1.19776105e-01 6.96110463e-03 -9.92488340e+01] [-7.03115088e-03 1.62211517e-04 -9.99975268e-01 4.69433887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.657628 meters 0.015860885318896397 Centerline is valid? [True, True] Translation: X:200.27, Y:-99.37, Z:0.47 [[ 2.02709524e-01 -9.79238284e-01 -1.10989152e-03 2.00271607e+02] [-9.79225586e-01 -2.02712549e-01 4.98747881e-03 -9.93744131e+01] [-5.10891912e-03 7.58247126e-05 -9.99986947e-01 4.65830946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.717628 meters 0.013783558498609598 Centerline is valid? [True, True] Translation: X:200.27, Y:-99.50, Z:0.46 [[ 2.86985873e-01 -9.57934443e-01 -8.43934302e-04 2.00270261e+02] [-9.57930349e-01 -2.86987114e-01 2.80041354e-03 -9.95027544e+01] [-2.92481085e-03 4.75115640e-06 -9.99995723e-01 4.64985510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.777628 meters 0.013196673560760156 Centerline is valid? [True, True] Translation: X:200.28, Y:-99.63, Z:0.46 [[ 3.67007238e-01 -9.30217791e-01 -7.41265624e-04 2.00280439e+02] [-9.30215787e-01 -3.67007986e-01 1.93085435e-03 -9.96274874e+01] [-2.06816547e-03 -1.91005352e-05 -9.99997861e-01 4.64842433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.837628 meters 0.013260220095761669 Centerline is valid? [True, True] Translation: X:200.30, Y:-99.75, Z:0.46 [[ 4.40184116e-01 -8.97907192e-01 -7.85989992e-04 2.00303916e+02] [-8.97905659e-01 -4.40184817e-01 1.65989116e-03 -9.97472743e+01] [-1.83640907e-03 -2.49128632e-05 -9.99998313e-01 4.64020671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.897628 meters 0.013331157314696375 Centerline is valid? [True, True] Translation: X:200.34, Y:-99.86, Z:0.47 [[ 5.09349852e-01 -8.60557130e-01 -2.03846964e-03 2.00335930e+02] [-8.60549977e-01 -5.09353930e-01 3.50883722e-03 -9.98599539e+01] [-4.05785741e-03 -3.30207137e-05 -9.99991766e-01 4.66448631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.957628 meters 0.01598068904291594 Centerline is valid? [True, True] Translation: X:200.38, Y:-99.97, Z:0.47 [[ 5.72489831e-01 -8.19901766e-01 -4.06036711e-03 2.00379133e+02] [-8.19880809e-01 -5.72504230e-01 5.86226407e-03 -9.99666235e+01] [-7.13105801e-03 -2.70694962e-05 -9.99974573e-01 4.72350416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.017628 meters 0.013449064688337748 Centerline is valid? [True, True] Translation: X:200.43, Y:-100.07, Z:0.47 [[ 6.33065419e-01 -7.74083356e-01 -4.80960415e-03 2.00429754e+02] [-7.74060771e-01 -6.33083689e-01 5.91324392e-03 -1.00067012e+02] [-7.62222564e-03 -2.05443499e-05 -9.99970950e-01 4.69283639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.077628 meters 0.013741349309537944 Centerline is valid? [True, True] Translation: X:200.49, Y:-100.16, Z:0.47 [[ 6.89681981e-01 -7.24089789e-01 -5.72201259e-03 2.00493046e+02] [-7.24064749e-01 -6.89705717e-01 6.02189907e-03 -1.00164121e+02] [-8.30690043e-03 -1.00876727e-05 -9.99965497e-01 4.69098606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.137628 meters 0.013603399023669078 Centerline is valid? [True, True] Translation: X:200.55, Y:-100.25, Z:0.47 [[ 7.44725867e-01 -6.67343336e-01 -6.02117263e-03 2.00545298e+02] [-6.67321194e-01 -7.44750207e-01 5.43629631e-03 -1.00253167e+02] [-8.11214568e-03 -3.04943752e-05 -9.99967096e-01 4.68370374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.197628 meters 0.013702776130849468 Centerline is valid? [True, True] Translation: X:200.56, Y:-100.28, Z:0.47 [[ 7.95973731e-01 -6.05290415e-01 -7.02368301e-03 2.00562461e+02] [-6.05266273e-01 -7.96004718e-01 5.40637000e-03 -1.00279918e+02] [-8.86330875e-03 -5.21300707e-05 -9.99960719e-01 4.67621261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.257628 meters 0.0138308685989038 Centerline is valid? [True, True] Translation: X:200.58, Y:-100.30, Z:0.47 [[ 8.38349724e-01 -5.45070390e-01 -8.24686249e-03 2.00582909e+02] [-5.45043902e-01 -8.38390285e-01 5.37355480e-03 -1.00299408e+02] [-9.84305500e-03 -1.00160640e-05 -9.99951556e-01 4.67546284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.317628 meters 0.01412802704433147 Centerline is valid? [True, True] Translation: X:200.61, Y:-100.32, Z:0.47 [[ 8.76055173e-01 -4.82125841e-01 -9.05577000e-03 2.00605127e+02] [-4.82100565e-01 -8.76101976e-01 4.93696393e-03 -1.00316649e+02] [-1.03140159e-02 4.07390449e-05 -9.99946808e-01 4.67116149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.377628 meters 0.015034719084933378 Centerline is valid? [True, True] Translation: X:200.63, Y:-100.33, Z:0.47 [[ 9.08134744e-01 -4.18561875e-01 -9.86125597e-03 2.00628500e+02] [-4.18538629e-01 -9.08188275e-01 4.41286293e-03 -1.00333082e+02] [-1.08029332e-02 1.19842408e-04 -9.99941639e-01 4.67631467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.437628 meters 0.015708465872280666 Centerline is valid? [True, True] Translation: X:200.65, Y:-100.35, Z:0.47 [[ 9.36362587e-01 -3.50848054e-01 -1.14345271e-02 2.00651505e+02] [-3.50824449e-01 -9.36432381e-01 4.07448994e-03 -1.00350723e+02] [-1.21371883e-02 1.96311729e-04 -9.99926322e-01 4.67644101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.497628 meters 0.017837491782506064 Centerline is valid? [True, True] Translation: X:200.68, Y:-100.36, Z:0.47 [[ 9.59525653e-01 -2.81285474e-01 -1.37478725e-02 2.00675660e+02] [-2.81261131e-01 -9.59624088e-01 3.71296648e-03 -1.00363264e+02] [-1.42371932e-02 3.04055600e-04 -9.99898600e-01 4.69270521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.55762799999997 meters 0.017872609478517505 Centerline is valid? [True, True] Translation: X:200.70, Y:-100.37, Z:0.47 [[ 9.78806146e-01 -2.04297095e-01 -1.41854263e-02 2.00697965e+02] [-2.04279979e-01 -9.78908888e-01 2.66067520e-03 -1.00374462e+02] [-1.44298081e-02 2.93513354e-04 -9.99895842e-01 4.68527108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.61762799999997 meters 0.016555663657970482 Centerline is valid? [True, True] Translation: X:200.72, Y:-100.39, Z:0.47 [[ 9.92427016e-01 -1.22359175e-01 -1.08097696e-02 2.00720280e+02] [-1.22353717e-01 -9.92485872e-01 1.16725643e-03 -1.00385493e+02] [-1.08713681e-02 1.64198668e-04 -9.99940891e-01 4.65968362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.67762799999997 meters 0.015090635923481763 Centerline is valid? [True, True] Translation: X:200.74, Y:-100.40, Z:0.46 [[ 9.99145424e-01 -4.05266585e-02 -8.12478439e-03 2.00744417e+02] [-4.05260228e-02 -9.99178454e-01 2.42932392e-04 -1.00397999e+02] [-8.12795474e-03 8.65404097e-05 -9.99966964e-01 4.63222920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.737628 meters 0.01396349030329707 Centerline is valid? [True, True] Translation: X:200.77, Y:-100.41, Z:0.46 [[ 9.98999475e-01 4.44726314e-02 -4.71536152e-03 2.00768505e+02] [ 4.44720925e-02 -9.99010603e-01 -2.19128819e-04 -1.00405594e+02] [-4.72044139e-03 9.20758133e-06 -9.99988859e-01 4.60633202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.797628 meters 0.013565269542788796 Centerline is valid? [True, True] Translation: X:200.79, Y:-100.41, Z:0.46 [[ 9.91805717e-01 1.27706857e-01 -3.51830097e-03 2.00794433e+02] [ 1.27706114e-01 -9.91811957e-01 -4.35803731e-04 -1.00412891e+02] [-3.54514810e-03 -1.70759137e-05 -9.99993716e-01 4.59077002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.857628 meters 0.013568433317854296 Centerline is valid? [True, True] Translation: X:200.82, Y:-100.42, Z:0.46 [[ 9.77742139e-01 2.09783150e-01 -3.36735950e-03 2.00821224e+02] [ 2.09782026e-01 -9.77747937e-01 -6.87590134e-04 -1.00420165e+02] [-3.43667363e-03 -3.41256477e-05 -9.99994094e-01 4.59955446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.917628 meters 0.013770005203534916 Centerline is valid? [True, True] Translation: X:200.85, Y:-100.43, Z:0.46 [[ 9.57173684e-01 2.89488980e-01 -3.82998550e-03 2.00849867e+02] [ 2.89486878e-01 -9.57181345e-01 -1.10436971e-03 -1.00425727e+02] [-3.98569353e-03 -5.16569245e-05 -9.99992056e-01 4.61188634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.977628 meters 0.013829664296565293 Centerline is valid? [True, True] Translation: X:200.88, Y:-100.42, Z:0.46 [[ 9.31322738e-01 3.64150787e-01 -5.67120888e-03 2.00877694e+02] [ 3.64144497e-01 -9.31340002e-01 -2.14155404e-03 -1.00424300e+02] [-6.06167227e-03 -7.06615350e-05 -9.99981625e-01 4.64004790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.037628 meters 0.013574203972692671 Centerline is valid? [True, True] Translation: X:200.90, Y:-100.41, Z:0.47 [[ 9.03479644e-01 4.28575991e-01 -6.86674872e-03 2.00901109e+02] [ 4.28563787e-01 -9.03505738e-01 -3.23443293e-03 -1.00413043e+02] [-7.59034717e-03 -2.05955184e-05 -9.99971193e-01 4.66179903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.097628 meters 0.014794395379526145 Centerline is valid? [True, True] Translation: X:200.92, Y:-100.40, Z:0.47 [[ 8.73754588e-01 4.86306879e-01 -7.65117330e-03 2.00921260e+02] [ 4.86287251e-01 -8.73788081e-01 -4.37025020e-03 -1.00397751e+02] [-8.81078676e-03 9.78581283e-05 -9.99961179e-01 4.66290136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.157628 meters 0.016235639048579387 Centerline is valid? [True, True] Translation: X:200.94, Y:-100.39, Z:0.47 [[ 8.36943176e-01 5.47232552e-01 -7.91538672e-03 2.00941891e+02] [ 5.47206069e-01 -8.36980587e-01 -5.38660457e-03 -1.00385491e+02] [-9.57275039e-03 1.76934287e-04 -9.99954165e-01 4.65987245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.217628 meters 0.016389305297551643 Centerline is valid? [True, True] Translation: X:200.97, Y:-100.38, Z:0.47 [[ 7.92362955e-01 6.10013789e-01 -6.64264466e-03 2.00965739e+02] [ 6.09990581e-01 -7.92390781e-01 -5.32368826e-03 -1.00378755e+02] [-8.51109363e-03 1.66342684e-04 -9.99963766e-01 4.65257265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.277628 meters 0.01632405320076039 Centerline is valid? [True, True] Translation: X:200.99, Y:-100.37, Z:0.47 [[ 7.42743437e-01 6.69542415e-01 -6.71875685e-03 2.00990824e+02] [ 6.69512684e-01 -7.42773800e-01 -6.31251602e-03 -1.00371630e+02] [-9.21701378e-03 1.90286913e-04 -9.99957504e-01 4.65933601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.337628 meters 0.016075760635254368 Centerline is valid? [True, True] Translation: X:201.02, Y:-100.36, Z:0.47 [[ 6.86570739e-01 7.27038781e-01 -5.93559204e-03 2.01015303e+02] [ 7.27009538e-01 -6.86596377e-01 -6.52281634e-03 -1.00362638e+02] [-8.81769643e-03 1.63142810e-04 -9.99961110e-01 4.66535286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.397628 meters 0.015006829553259288 Centerline is valid? [True, True] Translation: X:201.04, Y:-100.35, Z:0.47 [[ 6.24055598e-01 7.81364583e-01 -4.89890787e-03 2.01042388e+02] [ 7.81339109e-01 -6.24074817e-01 -6.31024029e-03 -1.00353574e+02] [-7.98788330e-03 1.10232471e-04 -9.99968090e-01 4.66221906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.457628 meters 0.014244783900795536 Centerline is valid? [True, True] Translation: X:201.07, Y:-100.34, Z:0.47 [[ 5.57248880e-01 8.30333531e-01 -4.46235748e-03 2.01066962e+02] [ 8.30305807e-01 -5.57266742e-01 -6.78568662e-03 -1.00342058e+02] [-8.12110655e-03 7.61949428e-05 -9.99967020e-01 4.66114043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.517628 meters 0.013316729481727137 Centerline is valid? [True, True] Translation: X:201.09, Y:-100.33, Z:0.47 [[ 4.82211019e-01 8.76044429e-01 -4.32348562e-03 2.01092965e+02] [ 8.76009200e-01 -4.82230400e-01 -7.85631632e-03 -1.00328713e+02] [-8.96739834e-03 9.89114525e-07 -9.99959792e-01 4.68195592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.577628 meters 0.013419957348988801 Centerline is valid? [True, True] Translation: X:201.11, Y:-100.31, Z:0.47 [[ 4.04944406e-01 9.14334802e-01 -3.44931273e-03 2.01113431e+02] [ 9.14303018e-01 -4.04959091e-01 -7.62401603e-03 -1.00312360e+02] [-8.36773374e-03 -6.64143961e-05 -9.99964988e-01 4.67943007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.637628 meters 0.01362216798604225 Centerline is valid? [True, True] Translation: X:201.13, Y:-100.29, Z:0.47 [[ 3.29645179e-01 9.44100370e-01 -2.92358751e-03 2.01132749e+02] [ 9.44065627e-01 -3.29658131e-01 -8.09994797e-03 -1.00292717e+02] [-8.61094827e-03 -8.99496739e-05 -9.99962921e-01 4.68409020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.697628 meters 0.013300320678635043 Centerline is valid? [True, True] Translation: X:201.14, Y:-100.27, Z:0.47 [[ 2.56917736e-01 9.66431574e-01 -1.81364166e-03 2.01144874e+02] [ 9.66409118e-01 -2.56924131e-01 -6.58845228e-03 -1.00270837e+02] [-6.83325661e-03 -6.00295947e-05 -9.99976651e-01 4.66161585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.757628 meters 0.013034618580495448 Centerline is valid? [True, True] Translation: X:201.15, Y:-100.25, Z:0.46 [[ 1.87579637e-01 9.82248994e-01 -8.91227189e-04 2.01150834e+02] [ 9.82238259e-01 -1.87581753e-01 -4.59226859e-03 -1.00248089e+02] [-4.67792916e-03 -1.39813691e-05 -9.99989058e-01 4.64358051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.817628 meters 0.013312500454536852 Centerline is valid? [True, True] Translation: X:201.16, Y:-100.22, Z:0.46 [[ 1.14428838e-01 9.93431328e-01 -4.87614578e-04 2.01159182e+02] [ 9.93422144e-01 -1.14429877e-01 -4.27162821e-03 -1.00224969e+02] [-4.29936696e-03 4.39033162e-06 -9.99990758e-01 4.63448149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.877628 meters 0.013934578218610084 Centerline is valid? [True, True] Translation: X:201.16, Y:-100.20, Z:0.47 [[ 4.20788482e-02 9.99114273e-01 -1.98770810e-04 2.01164430e+02] [ 9.99097059e-01 -4.20792901e-02 -5.86517610e-03 -1.00201691e+02] [-5.86834529e-03 4.82085229e-05 -9.99982780e-01 4.65641540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.937628 meters 0.014516116095419912 Centerline is valid? [True, True] Translation: X:201.17, Y:-100.18, Z:0.47 [[-3.26158033e-02 9.99467886e-01 3.92927751e-04 2.01169639e+02] [ 9.99430972e-01 3.26179760e-02 -8.59063824e-03 -1.00178531e+02] [-8.59888355e-03 1.12513597e-04 -9.99963023e-01 4.67646788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.997628 meters 0.016489151195486995 Centerline is valid? [True, True] Translation: X:201.17, Y:-100.16, Z:0.47 [[-1.04357645e-01 9.94538962e-01 1.31693674e-03 2.01169303e+02] [ 9.94483425e-01 1.04365738e-01 -1.05123386e-02 -1.00157193e+02] [-1.05923734e-02 2.12628862e-04 -9.99943877e-01 4.70761186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.05762799999997 meters 0.020427363946821524 Centerline is valid? [True, True] Translation: X:201.17, Y:-100.13, Z:0.47 [[-1.72660415e-01 9.84978329e-01 2.46411493e-03 2.01168303e+02] [ 9.84905858e-01 1.72677616e-01 -1.19537722e-02 -1.00134373e+02] [-1.21997040e-02 3.62977960e-04 -9.99925515e-01 4.72028196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.11762799999997 meters 0.0201908002888176 Centerline is valid? [True, True] Translation: X:201.17, Y:-100.11, Z:0.47 [[-2.43769377e-01 9.69828330e-01 3.08256467e-03 2.01167768e+02] [ 9.69769831e-01 2.43788553e-01 -1.06591205e-02 -1.00112406e+02] [-1.10890110e-02 3.91011066e-04 -9.99938439e-01 4.70232894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.17762799999997 meters 0.02232955714708534 Centerline is valid? [True, True] Translation: X:201.17, Y:-100.09, Z:0.47 [[-3.12762685e-01 9.49825016e-01 3.45568649e-03 2.01166536e+02] [ 9.49780643e-01 3.12781510e-01 -9.19011038e-03 -1.00089981e+02] [-9.80987157e-03 4.07820536e-04 -9.99951799e-01 4.70172623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.237628 meters 0.022283845178660944 Centerline is valid? [True, True] Translation: X:201.17, Y:-100.07, Z:0.47 [[-3.83265389e-01 9.23632661e-01 3.21708997e-03 2.01167540e+02] [ 9.23607108e-01 3.83278744e-01 -6.87857373e-03 -1.00065652e+02] [-7.58631756e-03 3.35007923e-04 -9.99971167e-01 4.66138660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.297628 meters 0.022434890775143896 Centerline is valid? [True, True] Translation: X:201.17, Y:-100.04, Z:0.46 [[-4.54852562e-01 8.90561445e-01 3.07566945e-03 2.01168057e+02] [ 8.90544924e-01 4.54862882e-01 -5.43108167e-03 -1.00040343e+02] [-6.23571981e-03 2.68680400e-04 -9.99980522e-01 4.64821391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.357628 meters 0.019290552934166635 Centerline is valid? [True, True] Translation: X:201.18, Y:-100.01, Z:0.46 [[-5.27818528e-01 8.49354571e-01 2.10115712e-03 2.01176868e+02] [ 8.49348821e-01 5.27822693e-01 -3.12806043e-03 -1.00007309e+02] [-3.76587083e-03 1.33567075e-04 -9.99992900e-01 4.63649577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.417628 meters 0.01739977781276823 Centerline is valid? [True, True] Translation: X:201.18, Y:-99.97, Z:0.46 [[-5.99253178e-01 8.00556439e-01 2.23966196e-03 2.01181846e+02] [ 8.00551447e-01 5.99257356e-01 -2.82870841e-03 -9.99734192e+01] [-3.60667464e-03 9.78521188e-05 -9.99993491e-01 4.64562913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.477628 meters 0.01644422709717666 Centerline is valid? [True, True] Translation: X:201.18, Y:-99.94, Z:0.46 [[-6.64128494e-01 7.47612684e-01 2.93552732e-03 2.01178116e+02] [ 7.47606026e-01 6.64134975e-01 -3.15688827e-03 -9.99441502e+01] [-4.30971607e-03 9.80384581e-05 -9.99990708e-01 4.64876211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.537628 meters 0.014799738652876105 Centerline is valid? [True, True] Translation: X:201.17, Y:-99.91, Z:0.47 [[-7.25259553e-01 6.88470129e-01 2.73173028e-03 2.01174616e+02] [ 6.88465538e-01 7.25264695e-01 -2.51478453e-03 -9.99117504e+01] [-3.71258156e-03 5.68306529e-05 -9.99993107e-01 4.65250444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.597628 meters 0.014207173001508814 Centerline is valid? [True, True] Translation: X:201.19, Y:-99.88, Z:0.47 [[-7.74173810e-01 6.32966126e-01 2.96550372e-03 2.01192779e+02] [ 6.32961720e-01 7.74179489e-01 -2.36223768e-03 -9.98827890e+01] [-3.79104858e-03 4.82677913e-05 -9.99992813e-01 4.66173457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.657628 meters 0.013062841480009491 Centerline is valid? [True, True] Translation: X:201.22, Y:-99.86, Z:0.47 [[-8.19619448e-01 5.72887097e-01 4.93301918e-03 2.01216583e+02] [ 5.72877160e-01 8.19634291e-01 -3.37476545e-03 -9.98572447e+01] [-5.97663126e-03 5.99906220e-05 -9.99982138e-01 4.67842167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.717628 meters 0.012231606522980092 Centerline is valid? [True, True] Translation: X:201.23, Y:-99.83, Z:0.47 [[-8.60852373e-01 5.08822980e-01 5.68920803e-03 2.01232652e+02] [ 5.08812119e-01 8.60871172e-01 -3.32470200e-03 -9.98299138e+01] [-6.58935996e-03 3.26603829e-05 -9.99978289e-01 4.68257459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.777628 meters 0.012000237657341394 Centerline is valid? [True, True] Translation: X:201.25, Y:-99.80, Z:0.47 [[-8.95782505e-01 4.44455330e-01 5.75873177e-03 2.01245651e+02] [ 4.44446260e-01 8.95801016e-01 -2.83946541e-03 -9.98046637e+01] [-6.42069330e-03 1.59033570e-05 -9.99979387e-01 4.68114188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.837628 meters 0.011531326690985654 Centerline is valid? [True, True] Translation: X:201.26, Y:-99.77, Z:0.47 [[-9.27629744e-01 3.73459313e-01 5.58569544e-03 2.01255740e+02] [ 3.73452360e-01 9.27646560e-01 -2.27900153e-03 -9.97739915e+01] [-6.03266551e-03 -2.80784651e-05 -9.99981803e-01 4.68077508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.897628 meters 0.011810617362258321 Centerline is valid? [True, True] Translation: X:201.26, Y:-99.75, Z:0.47 [[-9.52975773e-01 3.02958483e-01 7.30293634e-03 2.01263371e+02] [ 3.02949093e-01 9.53003753e-01 -2.38615227e-03 -9.97466834e+01] [-7.68263081e-03 -6.15273685e-05 -9.99970486e-01 4.68960411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.957628 meters 0.011895486097016432 Centerline is valid? [True, True] Translation: X:201.27, Y:-99.72, Z:0.47 [[-9.71962111e-01 2.34986579e-01 8.42395842e-03 2.01267210e+02] [ 2.34977184e-01 9.71998613e-01 -2.10223625e-03 -9.97216742e+01] [-8.68207321e-03 -6.38559593e-05 -9.99962308e-01 4.69802648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.017628 meters 0.01168088365754115 Centerline is valid? [True, True] Translation: X:201.45, Y:-99.04, Z:-0.45 [[-9.51973789e-01 -3.06064213e-01 8.40255601e-03 2.01448502e+02] [ 3.06052954e-01 -9.52010868e-01 -2.62616734e-03 -9.90363274e+01] [ 8.80310048e-03 7.15846196e-05 9.99961249e-01 -4.45687580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.077628 meters 0.012172500411302283 Centerline is valid? [True, True] Translation: X:201.23, Y:-99.73, Z:0.47 [[-9.70373220e-01 2.41416201e-01 9.69702830e-03 2.01229154e+02] [ 2.41404495e-01 9.70421670e-01 -2.37757930e-03 -9.97289522e+01] [-9.98419255e-03 3.37669427e-05 -9.99950156e-01 4.70376328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.137628 meters 0.01281916569058263 Centerline is valid? [True, True] Translation: X:201.41, Y:-99.01, Z:-0.44 [[-9.56732096e-01 -2.90833856e-01 8.90873380e-03 2.01409956e+02] [ 2.90820591e-01 -9.56773570e-01 -2.77851449e-03 -9.90077810e+01] [ 9.33172712e-03 -6.74507679e-05 9.99956456e-01 -4.42823631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.197628 meters 0.013086250170291086 Centerline is valid? [True, True] Translation: X:201.19, Y:-99.73, Z:0.47 [[-9.69312678e-01 2.45653765e-01 9.33595808e-03 2.01185023e+02] [ 2.45643468e-01 9.69357630e-01 -2.25188280e-03 -9.97329028e+01] [-9.60306569e-03 1.10538570e-04 -9.99953883e-01 4.67723603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.257628 meters 0.013832611730833704 Centerline is valid? [True, True] Translation: X:201.19, Y:-99.72, Z:0.47 [[-9.83704718e-01 1.79500054e-01 1.02351885e-02 2.01192834e+02] [ 1.79491974e-01 9.83757951e-01 -1.71009603e-03 -9.97150711e+01] [-1.03759104e-02 1.54904656e-04 -9.99946157e-01 4.67599961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.317628 meters 0.017351415543947073 Centerline is valid? [True, True] Translation: X:201.33, Y:-98.94, Z:-0.44 [[-9.77855270e-01 -2.09068394e-01 9.45926910e-03 2.01328650e+02] [ 2.09056796e-01 -9.77901004e-01 -2.20976809e-03 -9.89410035e+01] [ 9.71222141e-03 -1.83308883e-04 9.99952818e-01 -4.43958161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.377628 meters 0.015713757528026544 Centerline is valid? [True, True] Translation: X:201.14, Y:-99.72, Z:0.47 [[-9.83696543e-01 1.79583906e-01 9.52533834e-03 2.01141415e+02] [ 1.79577281e-01 9.83742643e-01 -1.55331449e-03 -9.97232255e+01] [-9.64943180e-03 1.82544268e-04 -9.99953426e-01 4.67109560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.437628 meters 0.015830883970998924 Centerline is valid? [True, True] Translation: X:201.15, Y:-99.69, Z:0.47 [[-9.94058207e-01 1.08279931e-01 1.11237522e-02 2.01146453e+02] [ 1.08275431e-01 9.94120423e-01 -1.00781509e-03 -9.96948205e+01] [-1.11674754e-02 2.02602200e-04 -9.99937621e-01 4.67841462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.497628 meters 0.014119733134345893 Centerline is valid? [True, True] Translation: X:201.15, Y:-99.67, Z:0.47 [[-9.99395966e-01 3.31019110e-02 1.05814632e-02 2.01148783e+02] [ 3.31015805e-02 9.99451971e-01 -2.06417233e-04 -9.96713434e+01] [-1.05824971e-02 1.43970606e-04 -9.99943993e-01 4.66278203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.55762799999997 meters 0.012671978977875246 Centerline is valid? [True, True] Translation: X:201.17, Y:-98.86, Z:-0.44 [[-9.97273517e-01 -7.33463345e-02 8.11466405e-03 2.01166449e+02] [ 7.33416809e-02 -9.97306493e-01 -8.69981528e-04 -9.88586162e+01] [ 8.15661710e-03 -2.72466437e-04 9.99966697e-01 -4.38919445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.61762799999997 meters 0.011790303448220312 Centerline is valid? [True, True] Translation: X:201.08, Y:-99.67, Z:0.46 [[-9.99830753e-01 1.66849969e-02 7.75094195e-03 2.01075713e+02] [ 1.66845659e-02 9.99860796e-01 -1.20267555e-04 -9.96680516e+01] [-7.75186965e-03 9.07390170e-06 -9.99969954e-01 4.64361360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.67762799999997 meters 0.011970138788179801 Centerline is valid? [True, True] Translation: X:201.07, Y:-99.64, Z:0.47 [[-9.97922128e-01 -6.38485118e-02 8.64835144e-03 2.01068663e+02] [-6.38467185e-02 9.97959600e-01 4.83581294e-04 -9.96391624e+01] [-8.66158129e-03 -6.95923853e-05 -9.99962485e-01 4.65765844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.737628 meters 0.01296821617127265 Centerline is valid? [True, True] Translation: X:201.02, Y:-98.84, Z:-0.44 [[-9.99713981e-01 -2.22824551e-02 8.68608039e-03 2.01022755e+02] [ 2.22822358e-02 -9.99751713e-01 -1.22028269e-04 -9.88382140e+01] [ 8.68664283e-03 7.15519250e-05 9.99962268e-01 -4.42292853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.797628 meters 0.013902421275038232 Centerline is valid? [True, True] Translation: X:200.98, Y:-99.64, Z:0.47 [[-9.96935954e-01 -7.74384591e-02 1.10448144e-02 2.00975317e+02] [-7.74356046e-02 9.96997119e-01 6.86504218e-04 -9.96439017e+01] [-1.10648100e-02 -1.70861142e-04 -9.99938769e-01 4.69291027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.857628 meters 0.013372701543823468 Centerline is valid? [True, True] Translation: X:200.97, Y:-99.62, Z:0.47 [[-9.89367473e-01 -1.44788458e-01 1.37224504e-02 2.00974758e+02] [-1.44776786e-01 9.89462620e-01 1.84545212e-03 -9.96157684e+01] [-1.38450519e-02 -1.60861960e-04 -9.99904140e-01 4.73649289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.917628 meters 0.012696953347054698 Centerline is valid? [True, True] Translation: X:200.97, Y:-99.59, Z:0.47 [[-9.76952366e-01 -2.12876193e-01 1.57416892e-02 2.00967876e+02] [-2.12851016e-01 9.77079170e-01 3.27735342e-03 -9.95890461e+01] [-1.60785472e-02 -1.48816360e-04 -9.99870721e-01 4.74061415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.977628 meters 0.012223734040272863 Centerline is valid? [True, True] Translation: X:200.95, Y:-99.57, Z:0.47 [[-9.59871112e-01 -2.80098145e-01 1.38736086e-02 2.00948463e+02] [-2.80070366e-01 9.59971364e-01 3.94598358e-03 -9.95655529e+01] [-1.44235296e-02 -9.79509891e-05 -9.99895971e-01 4.71761871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.037628 meters 0.014859647147551103 Centerline is valid? [True, True] Translation: X:200.91, Y:-99.55, Z:0.47 [[-9.38258838e-01 -3.45709432e-01 1.24636302e-02 2.00910710e+02] [-3.45679558e-01 9.38341615e-01 4.54490849e-03 -9.95532078e+01] [-1.32663606e-02 -4.41216168e-05 -9.99911997e-01 4.73127406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.097628 meters 0.012247282269196039 Centerline is valid? [True, True] Translation: X:200.86, Y:-99.55, Z:0.47 [[-9.11851566e-01 -4.10358010e-01 1.15336756e-02 2.00856707e+02] [-4.10325115e-01 9.11924505e-01 5.19583719e-03 -9.95491970e+01] [-1.26499949e-02 5.27550302e-06 -9.99919986e-01 4.72182268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.157628 meters 0.013466307425764677 Centerline is valid? [True, True] Translation: X:200.79, Y:-99.56, Z:0.47 [[-8.83032825e-01 -4.69203749e-01 1.00435202e-02 2.00792510e+02] [-4.69172052e-01 8.83089934e-01 5.45473779e-03 -9.95606515e+01] [-1.14287150e-02 1.04573535e-04 -9.99934685e-01 4.71720160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.217628 meters 0.014933504960387022 Centerline is valid? [True, True] Translation: X:200.72, Y:-99.58, Z:0.47 [[-8.48250212e-01 -5.29519145e-01 9.00292672e-03 2.00719121e+02] [-5.29487381e-01 8.48297973e-01 5.80189059e-03 -9.95790445e+01] [-1.07093766e-02 1.54518826e-04 -9.99942641e-01 4.68280195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.277628 meters 0.014018023321672816 Centerline is valid? [True, True] Translation: X:200.63, Y:-99.60, Z:0.47 [[-8.06165275e-01 -5.91622118e-01 8.98990857e-03 2.00633516e+02] [-5.91583016e-01 8.06215382e-01 6.80393191e-03 -9.96000610e+01] [-1.12731592e-02 1.66816415e-04 -9.99936442e-01 4.68212926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.337628 meters 0.014244773487380435 Centerline is valid? [True, True] Translation: X:200.54, Y:-99.63, Z:0.47 [[-7.59225569e-01 -6.50727202e-01 1.14299220e-02 2.00544240e+02] [-6.50648792e-01 7.59311565e-01 1.01042642e-02 -9.96345033e+01] [-1.52539916e-02 2.34550763e-04 -9.99883624e-01 4.72756770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.397628 meters 0.014804060906398986 Centerline is valid? [True, True] Translation: X:200.46, Y:-99.68, Z:0.47 [[-7.08640601e-01 -7.05463227e-01 1.22529139e-02 2.00457179e+02] [-7.05350429e-01 7.08746461e-01 1.26184952e-02 -9.96802686e+01] [-1.75860937e-02 2.99379878e-04 -9.99845308e-01 4.74781871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.457628 meters 0.015866447326150182 Centerline is valid? [True, True] Translation: X:200.37, Y:-99.74, Z:0.47 [[-6.55463538e-01 -7.55140131e-01 1.14426024e-02 2.00371520e+02] [-7.55015182e-01 6.55563306e-01 1.37414264e-02 -9.97392236e+01] [-1.78780528e-02 3.67665461e-04 -9.99840107e-01 4.72174671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.517628 meters 0.016105698379069708 Centerline is valid? [True, True] Translation: X:200.28, Y:-99.81, Z:0.47 [[-5.96809182e-01 -8.02334881e-01 8.80560038e-03 2.00284787e+02] [-8.02239333e-01 5.96874049e-01 1.23863337e-02 -9.98096897e+01] [-1.51938219e-02 3.28078709e-04 -9.99884513e-01 4.68936448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.577628 meters 0.014873107226832914 Centerline is valid? [True, True] Translation: X:200.20, Y:-99.88, Z:0.46 [[-5.30951612e-01 -8.47389490e-01 4.63009188e-03 2.00202782e+02] [-8.47354640e-01 5.30971776e-01 7.68681964e-03 -9.98814218e+01] [-8.97217828e-03 1.57999437e-04 -9.99959737e-01 4.62800978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.637628 meters 0.013611954666992802 Centerline is valid? [True, True] Translation: X:200.12, Y:-99.96, Z:0.46 [[-4.58413737e-01 -8.88737120e-01 1.78259915e-03 2.00121924e+02] [-8.88730123e-01 4.58417201e-01 3.52676161e-03 -9.99621341e+01] [-3.95153807e-03 3.24664032e-05 -9.99992192e-01 4.60331516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.697628 meters 0.013273151056640774 Centerline is valid? [True, True] Translation: X:200.05, Y:-100.05, Z:0.46 [[-3.86238590e-01 -9.22398244e-01 1.10953553e-03 2.00048831e+02] [-9.22394356e-01 3.86240183e-01 2.67825481e-03 -1.00054366e+02] [-2.89896474e-03 1.10160503e-05 -9.99995798e-01 4.59516055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.757628 meters 0.012707247468217234 Centerline is valid? [True, True] Translation: X:199.98, Y:-100.16, Z:0.46 [[-3.04034190e-01 -9.52661121e-01 2.09077355e-05 1.99976284e+02] [-9.52661121e-01 3.04034190e-01 4.74357333e-06 -1.00158744e+02] [-1.08756843e-05 -1.84757783e-05 -1.00000000e+00 4.57259088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.817628 meters 0.01485277375633 Centerline is valid? [True, True] Translation: X:199.92, Y:-100.26, Z:0.46 [[-2.23050197e-01 -9.74806952e-01 1.26324912e-04 1.99916075e+02] [-9.74806847e-01 2.23050231e-01 4.53657478e-04 -1.00259174e+02] [-4.70405264e-04 -2.19539993e-05 -9.99999889e-01 4.59634698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.877628 meters 0.01430238587783717 Centerline is valid? [True, True] Translation: X:199.86, Y:-100.37, Z:0.46 [[-1.39750231e-01 -9.90186542e-01 6.95960293e-04 1.99862167e+02] [-9.90177089e-01 1.39751939e-01 4.32750877e-03 -1.00372344e+02] [-4.38230275e-03 -8.43535867e-05 -9.99990394e-01 4.63340571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.937628 meters 0.014782512319413278 Centerline is valid? [True, True] Translation: X:199.83, Y:-100.49, Z:0.47 [[-6.29235120e-02 -9.98017965e-01 8.79206329e-04 1.99825018e+02] [-9.97957280e-01 6.29293828e-02 1.10072352e-02 -1.00485699e+02] [-1.10407464e-02 -1.84796463e-04 -9.99939032e-01 4.70888611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.997628 meters 0.014001563995742018 Centerline is valid? [True, True] Translation: X:199.80, Y:-100.61, Z:0.47 [[ 1.01859383e-02 -9.99948122e-01 2.79302289e-05 1.99801485e+02] [-9.99859424e-01 -1.01846628e-02 1.33193653e-02 -1.00605791e+02] [-1.33183898e-02 -1.63596536e-04 -9.99911293e-01 4.71763518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.05762799999997 meters 0.013340513565416745 Centerline is valid? [True, True] Translation: X:199.78, Y:-100.71, Z:0.47 [[ 8.40354871e-02 -9.96462377e-01 -8.76349379e-04 1.99779842e+02] [-9.96393459e-01 -8.40399821e-02 1.17198788e-02 -1.00710175e+02] [-1.17520667e-02 -1.11696934e-04 -9.99930936e-01 4.69149100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.11762799999997 meters 0.012808611296878361 Centerline is valid? [True, True] Translation: X:199.77, Y:-100.83, Z:0.47 [[ 1.52527260e-01 -9.88298088e-01 -1.52462851e-03 1.99768460e+02] [-9.88247826e-01 -1.52534879e-01 9.96718432e-03 -1.00825204e+02] [-1.00831082e-02 -1.35565013e-05 -9.99949164e-01 4.67766964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.17762799999997 meters 0.013175565407219186 Centerline is valid? [True, True] Translation: X:199.77, Y:-100.94, Z:0.47 [[ 2.21461092e-01 -9.75167148e-01 -2.00437892e-03 1.99768925e+02] [-9.75129233e-01 -2.21470157e-01 8.59928727e-03 -1.00941699e+02] [-8.82965256e-03 5.01209329e-05 -9.99961017e-01 4.65829341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.237628 meters 0.015133308511441927 Centerline is valid? [True, True] Translation: X:199.78, Y:-101.05, Z:0.47 [[ 2.86475550e-01 -9.58083082e-01 -2.92695066e-03 1.99779890e+02] [-9.58038439e-01 -2.86490461e-01 9.25015525e-03 -1.01053728e+02] [-9.70096070e-03 1.54187927e-04 -9.99952933e-01 4.66141655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.297628 meters 0.017229667527386545 Centerline is valid? [True, True] Translation: X:199.80, Y:-101.17, Z:0.47 [[ 3.53670315e-01 -9.35358419e-01 -4.68361764e-03 1.99795085e+02] [-9.35286747e-01 -3.53701212e-01 1.15824461e-02 -1.01174852e+02] [-1.24903397e-02 2.84158157e-04 -9.99921952e-01 4.69157593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.357628 meters 0.01790942294306961 Centerline is valid? [True, True] Translation: X:199.82, Y:-101.29, Z:0.47 [[ 4.19395851e-01 -9.07775325e-01 -7.14700072e-03 1.99816083e+02] [-9.07661872e-01 -4.19456486e-01 1.43590588e-02 -1.01290445e+02] [-1.60326550e-02 4.64930387e-04 -9.99871361e-01 4.69343090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.417628 meters 0.01817623992604671 Centerline is valid? [True, True] Translation: X:199.84, Y:-101.40, Z:0.47 [[ 4.86709426e-01 -8.73527384e-01 -7.99026448e-03 1.99844455e+02] [-8.73425317e-01 -4.86774777e-01 1.33616130e-02 -1.01401180e+02] [-1.55611941e-02 4.75676293e-04 -9.99878804e-01 4.67911529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.477628 meters 0.01837713688281285 Centerline is valid? [True, True] Translation: X:199.88, Y:-101.51, Z:0.46 [[ 5.52266779e-01 -8.33630318e-01 -7.86756858e-03 1.99883332e+02] [-8.33556249e-01 -5.52322659e-01 1.11202625e-02 -1.01514296e+02] [-1.36156243e-02 4.16709417e-04 -9.99907216e-01 4.64647631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.537628 meters 0.0177606613066266 Centerline is valid? [True, True] Translation: X:199.93, Y:-101.62, Z:0.46 [[ 6.17095305e-01 -7.86863512e-01 -6.26086733e-03 1.99926069e+02] [-7.86827291e-01 -6.17127008e-01 7.55445838e-03 -1.01620144e+02] [-9.80807797e-03 2.64400485e-04 -9.99951865e-01 4.61366871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.597628 meters 0.01637772791450372 Centerline is valid? [True, True] Translation: X:199.98, Y:-101.72, Z:0.46 [[ 6.78440758e-01 -7.34640565e-01 -4.62370785e-03 1.99976767e+02] [-7.34624971e-01 -6.78456497e-01 4.78888703e-03 -1.01723154e+02] [-6.65509531e-03 1.47715104e-04 -9.99977844e-01 4.57997733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.657628 meters 0.015088153149706756 Centerline is valid? [True, True] Translation: X:200.03, Y:-101.82, Z:0.45 [[ 7.36016984e-01 -6.76958256e-01 -2.55343153e-03 2.00031722e+02] [-6.76954416e-01 -7.36021411e-01 2.28044739e-03 -1.01818095e+02] [-3.42314796e-03 5.01087440e-05 -9.99994140e-01 4.54612636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.717628 meters 0.013756143092292564 Centerline is valid? [True, True] Translation: X:200.05, Y:-101.85, Z:0.45 [[ 7.91158127e-01 -6.11608796e-01 -1.87069835e-03 2.00047471e+02] [-6.11607120e-01 -7.91160338e-01 1.43171291e-03 -1.01846277e+02] [-2.35567055e-03 1.14211284e-05 -9.99997225e-01 4.54105806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.777628 meters 0.012900231398165105 Centerline is valid? [True, True] Translation: X:200.06, Y:-101.87, Z:0.45 [[ 8.39925761e-01 -5.42694048e-01 -2.80831167e-03 2.00064401e+02] [-5.42691026e-01 -8.39930456e-01 1.81102101e-03 -1.01873972e+02] [-3.34161682e-03 2.92234063e-06 -9.99994417e-01 4.54532680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.837628 meters 0.012864407989831362 Centerline is valid? [True, True] Translation: X:200.08, Y:-101.90, Z:0.46 [[ 8.80492318e-01 -4.74035762e-01 -4.83472930e-03 2.00084527e+02] [-4.74028665e-01 -8.80505591e-01 2.59396760e-03 -1.01898797e+02] [-5.48663959e-03 7.83172669e-06 -9.99984948e-01 4.57367474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.897628 meters 0.013180848757463854 Centerline is valid? [True, True] Translation: X:200.11, Y:-101.92, Z:0.46 [[ 9.13628142e-01 -4.06515231e-01 -5.38371111e-03 2.00108817e+02] [-4.06508350e-01 -9.13644004e-01 2.36541243e-03 -1.01918460e+02] [-5.88037155e-03 2.74161531e-05 -9.99982710e-01 4.58556206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.957628 meters 0.01480034517632942 Centerline is valid? [True, True] Translation: X:200.14, Y:-101.93, Z:0.46 [[ 9.39496320e-01 -3.42500416e-01 -6.33479965e-03 2.00135909e+02] [-3.42493313e-01 -9.39517672e-01 2.20793007e-03 -1.01927557e+02] [-6.70787319e-03 9.52843385e-05 -9.99977497e-01 4.59288430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.017628 meters 0.016577437765358433 Centerline is valid? [True, True] Translation: X:200.16, Y:-101.94, Z:0.46 [[ 9.60762627e-01 -2.77288333e-01 -6.80838992e-03 2.00163152e+02] [-2.77282610e-01 -9.60786736e-01 1.78952801e-03 -1.01938144e+02] [-7.03762597e-03 1.68536493e-04 -9.99975221e-01 4.58980397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.077628 meters 0.019776764010870505 Centerline is valid? [True, True] Translation: X:200.19, Y:-101.95, Z:0.46 [[ 9.78655475e-01 -2.05341025e-01 -8.27790897e-03 2.00186138e+02] [-2.05335750e-01 -9.78690454e-01 1.49140524e-03 -1.01948307e+02] [-8.40775717e-03 2.40178736e-04 -9.99964625e-01 4.61910032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.137628 meters 0.017827675478835292 Centerline is valid? [True, True] Translation: X:200.21, Y:-101.96, Z:0.46 [[ 9.91679640e-01 -1.28553014e-01 -6.75376845e-03 2.00209956e+02] [-1.28551360e-01 -9.91702619e-01 6.80334655e-04 -1.01958947e+02] [-6.78518893e-03 1.93532091e-04 -9.99976962e-01 4.58758538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.197628 meters 0.017876919101958887 Centerline is valid? [True, True] Translation: X:200.23, Y:-101.97, Z:0.46 [[ 9.98775684e-01 -4.90126530e-02 -6.70019083e-03 2.00234259e+02] [-4.90127644e-02 -9.98798141e-01 1.47663565e-04 -1.01967628e+02] [-6.69937554e-03 1.80912097e-04 -9.99977543e-01 4.58001927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.257628 meters 0.016162729846690208 Centerline is valid? [True, True] Translation: X:200.26, Y:-101.98, Z:0.46 [[ 9.99418808e-01 3.35198069e-02 -6.20225341e-03 2.00259433e+02] [ 3.35182888e-02 -9.99438044e-01 -3.48580036e-04 -1.01981401e+02] [-6.21045234e-03 1.40488523e-04 -9.99980705e-01 4.57877631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.317628 meters 0.015344479042840026 Centerline is valid? [True, True] Translation: X:200.28, Y:-101.99, Z:0.46 [[ 9.93105090e-01 1.17034714e-01 -6.71976483e-03 2.00283986e+02] [ 1.17031229e-01 -9.93127817e-01 -9.10833358e-04 -1.01989271e+02] [-6.78018450e-03 1.18130905e-04 -9.99977007e-01 4.58408093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.377628 meters 0.013802255752416961 Centerline is valid? [True, True] Translation: X:200.31, Y:-102.00, Z:0.46 [[ 9.79461171e-01 2.01472785e-01 -8.03308496e-03 2.00310996e+02] [ 2.01465273e-01 -9.79494109e-01 -1.74198009e-03 -1.01998593e+02] [-8.21932097e-03 8.78142028e-05 -9.99966217e-01 4.60876493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.437628 meters 0.013119231767969317 Centerline is valid? [True, True] Translation: X:200.34, Y:-102.00, Z:0.46 [[ 9.59284434e-01 2.82333410e-01 -7.82431340e-03 2.00338043e+02] [ 2.82323623e-01 -9.59316342e-01 -2.35135991e-03 -1.02002403e+02] [-8.16985917e-03 4.66344602e-05 -9.99966625e-01 4.60395465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.497628 meters 0.012544442598784133 Centerline is valid? [True, True] Translation: X:200.37, Y:-102.00, Z:0.46 [[ 9.32623383e-01 3.60810495e-01 -5.42324290e-03 2.00365479e+02] [ 3.60804383e-01 -9.32639151e-01 -2.10011501e-03 -1.02003068e+02] [-5.81567219e-03 1.88655608e-06 -9.99983089e-01 4.58907252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.55762799999997 meters 0.01263183285735414 Centerline is valid? [True, True] Translation: X:200.39, Y:-102.00, Z:0.46 [[ 9.01394742e-01 4.32971525e-01 -4.81434654e-03 2.00392295e+02] [ 4.32965356e-01 -9.01407598e-01 -2.31126254e-03 -1.02000391e+02] [-5.34039942e-03 -1.08536035e-06 -9.99985740e-01 4.58594500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.61762799999997 meters 0.012551897099043407 Centerline is valid? [True, True] Translation: X:200.42, Y:-101.99, Z:0.46 [[ 8.65176917e-01 5.01446392e-01 -4.51866741e-03 2.00417558e+02] [ 5.01439533e-01 -8.65188717e-01 -2.62276492e-03 -1.01993406e+02] [-5.22467606e-03 3.31719712e-06 -9.99986351e-01 4.58781084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.67762799999997 meters 0.012817437020458315 Centerline is valid? [True, True] Translation: X:200.44, Y:-101.98, Z:0.46 [[ 8.25985046e-01 5.63681589e-01 -3.43079964e-03 2.00440274e+02] [ 5.63676630e-01 -8.25992170e-01 -2.36463728e-03 -1.01982770e+02] [-4.16671615e-03 1.92934533e-05 -9.99991319e-01 4.58253420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.737628 meters 0.013504266557656847 Centerline is valid? [True, True] Translation: X:200.46, Y:-101.97, Z:0.46 [[ 7.82002146e-01 6.23264757e-01 -3.69954754e-03 2.00462453e+02] [ 6.23257509e-01 -7.82010896e-01 -3.00617354e-03 -1.01970530e+02] [-4.76672851e-03 4.50633795e-05 -9.99988638e-01 4.59495644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.797628 meters 0.01676411672842353 Centerline is valid? [True, True] Translation: X:200.48, Y:-101.96, Z:0.46 [[ 7.35519476e-01 6.77487085e-01 -4.72766237e-03 2.00482389e+02] [ 6.77472092e-01 -7.35534661e-01 -4.50865198e-03 -1.01956142e+02] [-6.53191302e-03 1.13342030e-04 -9.99978660e-01 4.63178464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.857628 meters 0.017664118002722086 Centerline is valid? [True, True] Translation: X:200.50, Y:-101.94, Z:0.46 [[ 6.84872759e-01 7.28650301e-01 -4.24759024e-03 2.00497033e+02] [ 7.28634906e-01 -6.84885914e-01 -4.73903948e-03 -1.01939629e+02] [-6.36221727e-03 1.50696527e-04 -9.99979750e-01 4.61189504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.917628 meters 0.018331738080127818 Centerline is valid? [True, True] Translation: X:200.51, Y:-101.92, Z:0.46 [[ 6.28479741e-01 7.77815390e-01 -4.05398956e-03 2.00514798e+02] [ 7.77797297e-01 -6.28492789e-01 -5.30833556e-03 -1.01924233e+02] [-6.67680829e-03 1.82999239e-04 -9.99977693e-01 4.60872476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.977628 meters 0.01873039366641698 Centerline is valid? [True, True] Translation: X:200.53, Y:-101.91, Z:0.46 [[ 5.65905535e-01 8.24461379e-01 -3.78955147e-03 2.00530786e+02] [ 8.24440547e-01 -5.65918190e-01 -5.86400381e-03 -1.01907547e+02] [-6.97922077e-03 1.94212326e-04 -9.99975626e-01 4.60122417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.037628 meters 0.01758707307300001 Centerline is valid? [True, True] Translation: X:200.55, Y:-101.89, Z:0.46 [[ 4.94596156e-01 8.69115914e-01 -3.48863293e-03 2.00547864e+02] [ 8.69091927e-01 -4.94608432e-01 -6.45917316e-03 -1.01893154e+02] [-7.33927745e-03 1.62739500e-04 -9.99973054e-01 4.61266447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.097628 meters 0.01521223468068833 Centerline is valid? [True, True] Translation: X:200.56, Y:-101.88, Z:0.46 [[ 4.17898254e-01 9.08488458e-01 -3.12591904e-03 2.00564373e+02] [ 9.08461014e-01 -4.17909930e-01 -7.06232231e-03 -1.01875552e+02] [-7.72239091e-03 1.11556586e-04 -9.99970176e-01 4.62296246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.157628 meters 0.01221586807406457 Centerline is valid? [True, True] Translation: X:200.59, Y:-101.86, Z:0.46 [[ 3.32923337e-01 9.42951281e-01 -2.22110441e-03 2.00589257e+02] [ 9.42930186e-01 -3.32930746e-01 -6.30732251e-03 -1.01860130e+02] [-6.68697179e-03 5.50846790e-06 -9.99977642e-01 4.60382051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.217628 meters 0.012322379610057192 Centerline is valid? [True, True] Translation: X:200.61, Y:-101.84, Z:0.46 [[ 2.47684757e-01 9.68840112e-01 -1.04857999e-03 2.00610037e+02] [ 9.68832208e-01 -2.47686972e-01 -3.91376118e-03 -1.01841201e+02] [-4.05152842e-03 -4.65190864e-05 -9.99991791e-01 4.57620667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.277628 meters 0.013027628996546524 Centerline is valid? [True, True] Translation: X:200.63, Y:-101.82, Z:0.46 [[ 1.66140077e-01 9.86101916e-01 -6.97111398e-04 2.00625497e+02] [ 9.86094774e-01 -1.66141527e-01 -3.75370309e-03 -1.01819566e+02] [-3.81735296e-03 -6.37773877e-05 -9.99992712e-01 4.56876482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.337628 meters 0.01393836047168892 Centerline is valid? [True, True] Translation: X:200.64, Y:-101.80, Z:0.46 [[ 8.39909526e-02 9.96466440e-01 -3.91813691e-04 2.00638247e+02] [ 9.96459544e-01 -8.39918294e-02 -3.70811789e-03 -1.01797107e+02] [-3.72792419e-03 -7.89781374e-05 -9.99993048e-01 4.56963558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.397628 meters 0.014120611019474165 Centerline is valid? [True, True] Translation: X:200.64, Y:-101.77, Z:0.46 [[ 5.66960743e-03 9.99983920e-01 -1.19606180e-04 2.00644959e+02] [ 9.99973359e-01 -5.67009737e-03 -4.59685734e-03 -1.01773274e+02] [-4.59746161e-03 -9.35406168e-05 -9.99989427e-01 4.57365874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.457628 meters 0.013417697481680774 Centerline is valid? [True, True] Translation: X:200.65, Y:-101.75, Z:0.46 [[-6.95151251e-02 9.97580844e-01 3.28452693e-04 2.00647920e+02] [ 9.97561849e-01 6.95158287e-02 -6.15678461e-03 -1.01749495e+02] [-6.16472304e-03 -1.00337776e-04 -9.99980993e-01 4.59915014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.517628 meters 0.012655077261799862 Centerline is valid? [True, True] Translation: X:200.64, Y:-101.73, Z:0.46 [[-1.42101866e-01 9.89851658e-01 8.69003948e-04 2.00644275e+02] [ 9.89830001e-01 1.42104506e-01 -6.54818648e-03 -1.01726114e+02] [-6.60522262e-03 -7.03433425e-05 -9.99978183e-01 4.59144383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.577628 meters 0.012279741772459165 Centerline is valid? [True, True] Translation: X:200.64, Y:-101.70, Z:0.46 [[-2.15102518e-01 9.76591076e-01 8.82125716e-04 2.00640919e+02] [ 9.76582216e-01 2.15104324e-01 -4.15990260e-03 -1.01703583e+02] [-4.25227281e-03 -3.33372355e-05 -9.99990958e-01 4.56396143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.637628 meters 0.012302527154148089 Centerline is valid? [True, True] Translation: X:200.64, Y:-101.68, Z:0.46 [[-2.90306493e-01 9.56932998e-01 1.17351684e-03 2.00638677e+02] [ 9.56924754e-01 2.90308863e-01 -3.97232475e-03 -1.01680330e+02] [-4.14193097e-03 -3.02243558e-05 -9.99991422e-01 4.56592586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.697628 meters 0.012433782319912635 Centerline is valid? [True, True] Translation: X:200.64, Y:-101.66, Z:0.46 [[-3.66316636e-01 9.30486809e-01 2.53387949e-03 2.00637914e+02] [ 9.30463505e-01 3.66325395e-01 -6.58560225e-03 -1.01656857e+02] [-7.05604043e-03 -5.47332630e-05 -9.99975104e-01 4.57811307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.757628 meters 0.0127273008949987 Centerline is valid? [True, True] Translation: X:200.64, Y:-101.63, Z:0.46 [[-4.40903641e-01 8.97546719e-01 3.72369724e-03 2.00640100e+02] [ 8.97512967e-01 4.40919356e-01 -7.78431923e-03 -1.01630717e+02] [-8.62864037e-03 -9.00681359e-05 -9.99962769e-01 4.58988818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.817628 meters 0.012740639533706095 Centerline is valid? [True, True] Translation: X:200.64, Y:-101.61, Z:0.46 [[-5.09261816e-01 8.60595857e-01 5.21281090e-03 2.00637580e+02] [ 8.60548792e-01 5.09288485e-01 -9.00081862e-03 -1.01606085e+02] [-1.04008918e-02 -9.78951111e-05 -9.99945904e-01 4.61140159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.877628 meters 0.012365031066952845 Centerline is valid? [True, True] Translation: X:200.63, Y:-101.58, Z:0.46 [[-5.72193597e-01 8.20095867e-01 6.10384111e-03 2.00629128e+02] [ 8.20048045e-01 5.72226149e-01 -8.85658383e-03 -1.01584662e+02] [-1.07560253e-02 -6.22375910e-05 -9.99942150e-01 4.59273727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.937628 meters 0.012349922674000018 Centerline is valid? [True, True] Translation: X:200.62, Y:-101.56, Z:0.46 [[-6.33116605e-01 7.74033736e-01 5.92786015e-03 2.00620987e+02] [ 7.73999256e-01 6.33144355e-01 -7.30597911e-03 -1.01562003e+02] [-9.40826549e-03 -3.73773450e-05 -9.99955741e-01 4.56229671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.997628 meters 0.012349604518304512 Centerline is valid? [True, True] Translation: X:200.61, Y:-101.54, Z:0.46 [[-6.90185199e-01 7.23612298e-01 5.44375434e-03 2.00613593e+02] [ 7.23589603e-01 6.90206667e-01 -5.73096444e-03 -1.01538426e+02] [-7.90431189e-03 -1.63827885e-05 -9.99968760e-01 4.56864524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.05762799999997 meters 0.015736258617567014 Centerline is valid? [True, True] Translation: X:200.60, Y:-101.52, Z:0.46 [[-7.42045334e-01 6.70329648e-01 5.18515157e-03 2.00602959e+02] [ 6.70313396e-01 7.42063449e-01 -4.66774640e-03 -1.01516010e+02] [-6.97664026e-03 1.19971211e-05 -9.99975663e-01 4.58283562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.11762799999997 meters 0.013051377183059617 Centerline is valid? [True, True] Translation: X:200.62, Y:-101.51, Z:0.45 [[-7.83805807e-01 6.21002136e-01 2.19171440e-03 2.00623515e+02] [ 6.20999757e-01 7.83808871e-01 -1.71881227e-03 -1.01505755e+02] [-2.78527128e-03 1.38390711e-05 -9.99996121e-01 4.53135059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.17762799999997 meters 0.014029553203455437 Centerline is valid? [True, True] Translation: X:201.15, Y:-100.85, Z:-0.43 [[-7.56883511e-01 -6.53545175e-01 2.46061510e-03 2.01148899e+02] [ 6.53541747e-01 -7.56887511e-01 -2.11667145e-03 -1.00854861e+02] [ 3.24574925e-03 6.04097372e-06 9.99994733e-01 -4.32471103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.237628 meters 0.014148924603383548 Centerline is valid? [True, True] Translation: X:200.59, Y:-101.49, Z:0.46 [[-7.82825347e-01 6.22221643e-01 4.97023812e-03 2.00589045e+02] [ 6.22209753e-01 7.82841121e-01 -3.84739472e-03 -1.01485581e+02] [-6.28483905e-03 8.06925260e-05 -9.99980247e-01 4.56351847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.297628 meters 0.015951378736679046 Centerline is valid? [True, True] Translation: X:201.11, Y:-100.83, Z:-0.44 [[-7.58877314e-01 -6.51174873e-01 8.74685226e-03 2.01111884e+02] [ 6.51133777e-01 -7.58927707e-01 -7.31713651e-03 -1.00829223e+02] [ 1.14029640e-02 1.42562045e-04 9.99934974e-01 -4.40795493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.357628 meters 0.013413421139344883 Centerline is valid? [True, True] Translation: X:200.56, Y:-101.46, Z:0.46 [[-7.87040233e-01 6.16833331e-01 9.18217823e-03 2.00558817e+02] [ 6.16793136e-01 7.87093785e-01 -7.04280157e-03 -1.01459225e+02] [-1.15714702e-02 1.20536316e-04 -9.99933041e-01 4.61077669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.417628 meters 0.012764856209258279 Centerline is valid? [True, True] Translation: X:200.57, Y:-101.43, Z:0.46 [[-8.30998664e-01 5.56224642e-01 7.44096400e-03 2.00572694e+02] [ 5.56202907e-01 8.31031976e-01 -4.91750109e-03 -1.01431981e+02] [-8.91891430e-03 5.22489751e-05 -9.99960224e-01 4.59269826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.477628 meters 0.012545941013043554 Centerline is valid? [True, True] Translation: X:201.04, Y:-100.75, Z:-0.44 [[-8.00156722e-01 -5.99761475e-01 5.94920352e-03 2.01039808e+02] [ 5.99743728e-01 -8.00178828e-01 -4.61556078e-03 -1.00751231e+02] [ 7.52866225e-03 -1.25174487e-04 9.99971651e-01 -4.36230017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.537628 meters 0.012275873524723735 Centerline is valid? [True, True] Translation: X:200.54, Y:-101.41, Z:0.46 [[-8.35688830e-01 5.49170903e-01 5.95809187e-03 2.00541293e+02] [ 5.49156979e-01 8.35710069e-01 -3.91074964e-03 -1.01406767e+02] [-7.12690727e-03 3.75794061e-06 -9.99974603e-01 4.58345468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.597628 meters 0.01215750207204706 Centerline is valid? [True, True] Translation: X:200.56, Y:-101.38, Z:0.46 [[-8.74949325e-01 4.84190349e-01 4.83577054e-03 2.00562224e+02] [ 4.84182771e-01 8.74962688e-01 -2.70903748e-03 -1.01382425e+02] [-5.54280859e-03 -2.88737296e-05 -9.99984638e-01 4.59058256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.657628 meters 0.012750442759929115 Centerline is valid? [True, True] Translation: X:200.58, Y:-101.36, Z:0.46 [[-9.09511124e-01 4.15633902e-01 6.16240234e-03 2.00577346e+02] [ 4.15623821e-01 9.09531997e-01 -2.89575257e-03 -1.01356529e+02] [-6.80847505e-03 -7.24779663e-05 -9.99976819e-01 4.59672446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.717628 meters 0.013218954400127894 Centerline is valid? [True, True] Translation: X:200.59, Y:-101.33, Z:0.46 [[-9.37885005e-01 3.46860606e-01 7.70953665e-03 2.00592578e+02] [ 3.46847887e-01 9.37916685e-01 -2.97255866e-03 -1.01331767e+02] [-8.26196655e-03 -1.13881695e-04 -9.99965863e-01 4.61412671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.777628 meters 0.013746303724526574 Centerline is valid? [True, True] Translation: X:200.60, Y:-101.31, Z:0.47 [[-9.60609087e-01 2.77647598e-01 1.19160564e-02 2.00604057e+02] [ 2.77623803e-01 9.60682974e-01 -3.63982090e-03 -1.01307009e+02] [-1.24581401e-02 -1.88264129e-04 -9.99922377e-01 4.65824618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.837628 meters 0.0134047188423374 Centerline is valid? [True, True] Translation: X:200.62, Y:-101.29, Z:0.47 [[-9.77327762e-01 2.11329339e-01 1.30520330e-02 2.00617782e+02] [ 2.11308201e-01 9.77414898e-01 -2.99362930e-03 -1.01287490e+02] [-1.33898932e-02 -1.67755415e-04 -9.99910337e-01 4.67365094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.897628 meters 0.012579352154316652 Centerline is valid? [True, True] Translation: X:200.62, Y:-101.27, Z:0.47 [[-9.89182495e-01 1.46209755e-01 1.18616330e-02 2.00623148e+02] [ 1.46198088e-01 9.89253607e-01 -1.84950746e-03 -1.01268270e+02] [-1.20045793e-02 -9.53523438e-05 -9.99927938e-01 4.65047698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.957628 meters 0.01566162821890693 Centerline is valid? [True, True] Translation: X:200.64, Y:-101.25, Z:0.46 [[-9.96483097e-01 8.34287401e-02 7.81558662e-03 2.00638634e+02] [ 8.34261232e-02 9.96513746e-01 -6.60822027e-04 -1.01248714e+02] [-7.84347104e-03 -6.47388782e-06 -9.99969239e-01 4.63840528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.017628 meters 0.012297510474207697 Centerline is valid? [True, True] Translation: X:200.65, Y:-101.22, Z:0.46 [[-9.99856832e-01 1.66121574e-02 3.21730438e-03 2.00646563e+02] [ 1.66120757e-02 9.99862009e-01 -5.21204603e-05 -1.01224259e+02] [-3.21772626e-03 1.33310565e-06 -9.99994823e-01 4.56405545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.077628 meters 0.01245747938137969 Centerline is valid? [True, True] Translation: X:200.67, Y:-100.39, Z:-0.43 [[-9.97509176e-01 -7.05342480e-02 6.03198393e-04 2.00667945e+02] [ 7.05341440e-02 -9.97509347e-01 -1.91966453e-04 -1.00391690e+02] [ 6.15236245e-04 -1.48942216e-04 9.99999800e-01 -4.33248530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.137628 meters 0.012910480637195337 Centerline is valid? [True, True] Translation: X:200.58, Y:-101.22, Z:0.46 [[-9.99845124e-01 1.74422865e-02 2.34397006e-03 2.00575638e+02] [ 1.74422641e-02 9.99847872e-01 -2.99934505e-05 -1.01220831e+02] [-2.34413663e-03 1.08953397e-05 -9.99997252e-01 4.58649567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.197628 meters 0.013916618550705482 Centerline is valid? [True, True] Translation: X:200.58, Y:-101.19, Z:0.46 [[-9.98846854e-01 -4.75437375e-02 6.67502034e-03 2.00579461e+02] [-4.75420046e-02 9.98869152e-01 4.18136623e-04 -1.01194178e+02] [-6.68735169e-03 1.00310602e-04 -9.99977634e-01 4.62793140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.257628 meters 0.015967280364130882 Centerline is valid? [True, True] Translation: X:200.58, Y:-101.17, Z:0.47 [[-9.93635542e-01 -1.12145110e-01 1.05775502e-02 2.00578860e+02] [-1.12136198e-01 9.93691812e-01 1.43378186e-03 -1.01170280e+02] [-1.06716166e-02 2.38530355e-04 -9.99943028e-01 4.65373060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.317628 meters 0.017429009847773378 Centerline is valid? [True, True] Translation: X:200.57, Y:-101.15, Z:0.47 [[-9.83862385e-01 -1.78622545e-01 1.04304139e-02 2.00569172e+02] [-1.78609429e-01 9.83917631e-01 2.18324250e-03 -1.01145209e+02] [-1.06526445e-02 2.85039899e-04 -9.99943218e-01 4.65168756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.377628 meters 0.019426122014492283 Centerline is valid? [True, True] Translation: X:200.55, Y:-101.12, Z:0.46 [[-9.69457563e-01 -2.45173299e-01 6.48749512e-03 2.00545493e+02] [-2.45166405e-01 9.69479248e-01 1.84960757e-03 -1.01124196e+02] [-6.74296628e-03 2.02600192e-04 -9.99977245e-01 4.61544533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.437628 meters 0.01811836385695087 Centerline is valid? [True, True] Translation: X:200.50, Y:-101.11, Z:0.46 [[-9.49209797e-01 -3.14635769e-01 2.25722706e-03 2.00495260e+02] [-3.14634718e-01 9.49212478e-01 8.15722654e-04 -1.01108782e+02] [-2.39924362e-03 6.40899347e-05 -9.99997120e-01 4.55979403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.497628 meters 0.01764162450354251 Centerline is valid? [True, True] Translation: X:200.43, Y:-101.10, Z:0.45 [[-9.22552380e-01 -3.85858009e-01 -3.27164290e-03 2.00434023e+02] [-3.85855099e-01 9.22558172e-01 -1.50376780e-03 -1.01099083e+02] [ 3.59852174e-03 -1.24924465e-04 -9.99993517e-01 4.50962116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.55762799999997 meters 0.016628823790271155 Centerline is valid? [True, True] Translation: X:200.36, Y:-101.10, Z:0.45 [[-8.89434302e-01 -4.57030411e-01 -5.46125558e-03 2.00362586e+02] [-4.57020558e-01 8.89451051e-01 -3.00634302e-03 -1.01098895e+02] [ 6.23150970e-03 -1.78038535e-04 -9.99980568e-01 4.47881309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.61762799999997 meters 0.014098686047377327 Centerline is valid? [True, True] Translation: X:200.28, Y:-101.10, Z:0.45 [[-8.48325532e-01 -5.29454829e-01 -4.62340307e-03 2.00280118e+02] [-5.29446250e-01 8.48338123e-01 -3.01617442e-03 -1.01104815e+02] [ 5.51913719e-03 -1.10854348e-04 -9.99984763e-01 4.48694962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.67762799999997 meters 0.012912977037658119 Centerline is valid? [True, True] Translation: X:200.19, Y:-101.12, Z:0.46 [[-8.02221586e-01 -5.97026181e-01 -5.16078646e-04 2.00193137e+02] [-5.97026039e-01 8.02221752e-01 -4.11548285e-04 -1.01121351e+02] [ 6.59714616e-04 -2.20405278e-05 -9.99999782e-01 4.55814817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.737628 meters 0.012380840427217108 Centerline is valid? [True, True] Translation: X:200.11, Y:-101.15, Z:0.46 [[-7.53032200e-01 -6.57977944e-01 2.74407617e-03 2.00105051e+02] [-6.57973518e-01 7.53037200e-01 2.41363885e-03 -1.01153575e+02] [-3.65451257e-03 1.20183200e-05 -9.99993322e-01 4.59965480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.797628 meters 0.01235486397977679 Centerline is valid? [True, True] Translation: X:200.02, Y:-101.20, Z:0.46 [[-7.01093460e-01 -7.13063365e-01 2.93205103e-03 2.00019823e+02] [-7.13057036e-01 7.01099591e-01 3.00455524e-03 -1.01197975e+02] [-4.19809805e-03 1.57544129e-05 -9.99991188e-01 4.59843850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.857628 meters 0.012419426876346878 Centerline is valid? [True, True] Translation: X:199.94, Y:-101.25, Z:0.46 [[-6.45050812e-01 -7.64136476e-01 2.21263320e-03 1.99936436e+02] [-7.64131923e-01 6.45054607e-01 2.63777830e-03 -1.01251987e+02] [-3.44289185e-03 1.07573763e-05 -9.99994073e-01 4.60014937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.917628 meters 0.012278088057485816 Centerline is valid? [True, True] Translation: X:199.85, Y:-101.32, Z:0.46 [[-5.84206880e-01 -8.11602175e-01 2.05683652e-03 1.99853139e+02] [-8.11597096e-01 5.84210500e-01 2.87142005e-03 -1.01318243e+02] [-3.53207625e-03 8.18079655e-06 -9.99993762e-01 4.59872365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.977628 meters 0.012083182432152475 Centerline is valid? [True, True] Translation: X:199.77, Y:-101.40, Z:0.46 [[-5.18696673e-01 -8.54956501e-01 1.77267496e-03 1.99771824e+02] [-8.54951508e-01 5.18699702e-01 2.92188757e-03 -1.01396038e+02] [-3.41757275e-03 2.22340980e-08 -9.99994160e-01 4.60236224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.037628 meters 0.011951177932255155 Centerline is valid? [True, True] Translation: X:199.70, Y:-101.48, Z:0.46 [[-4.49519070e-01 -8.93269149e-01 1.68294349e-03 1.99697485e+02] [-8.93262954e-01 4.49522221e-01 3.32692523e-03 -1.01477429e+02] [-3.72836016e-03 -7.79473336e-06 -9.99993050e-01 4.60896071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.097628 meters 0.012065632056995063 Centerline is valid? [True, True] Translation: X:199.63, Y:-101.57, Z:0.46 [[-3.76015953e-01 -9.26611323e-01 1.85972242e-03 1.99628088e+02] [-9.26600314e-01 3.76020551e-01 4.51690536e-03 -1.01568462e+02] [-4.88470950e-03 -2.47909056e-05 -9.99988069e-01 4.61963624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.157628 meters 0.012334596989740284 Centerline is valid? [True, True] Translation: X:199.56, Y:-101.67, Z:0.46 [[-3.00298274e-01 -9.53843295e-01 1.97879205e-03 1.99563926e+02] [-9.53823692e-01 3.00304789e-01 6.11536015e-03 -1.01668600e+02] [-6.42733601e-03 -5.09866460e-05 -9.99979343e-01 4.63707687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.217628 meters 0.012955415204065587 Centerline is valid? [True, True] Translation: X:199.51, Y:-101.77, Z:0.47 [[-2.21605629e-01 -9.75133438e-01 2.39252209e-03 1.99509951e+02] [-9.75082241e-01 2.21618512e-01 9.99287195e-03 -1.01773404e+02] [-1.02746108e-02 -1.18429126e-04 -9.99947208e-01 4.67166598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.277628 meters 0.015933660804648222 Centerline is valid? [True, True] Translation: X:199.47, Y:-101.88, Z:0.47 [[-1.46174067e-01 -9.89256584e-01 2.13397945e-03 1.99466966e+02] [-9.89165169e-01 1.46189571e-01 1.34490654e-02 -1.01884758e+02] [-1.36165420e-02 -1.44953555e-04 -9.99907280e-01 4.71402989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.337628 meters 0.012619860372544173 Centerline is valid? [True, True] Translation: X:199.43, Y:-102.00, Z:0.46 [[-7.01402595e-02 -9.97536839e-01 7.73922567e-04 1.99434084e+02] [-9.97490719e-01 7.01444590e-02 9.59272264e-03 -1.02000549e+02] [-9.62338060e-03 -9.91445224e-05 -9.99953689e-01 4.64456766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.397628 meters 0.012634166858875277 Centerline is valid? [True, True] Translation: X:198.61, Y:-102.05, Z:-0.44 [[-1.55253183e-01 9.87874049e-01 1.14548466e-03 1.98612575e+02] [-9.87853732e-01 -1.55257338e-01 6.33748951e-03 -1.02049313e+02] [ 6.43848633e-03 -1.47655876e-04 9.99979262e-01 -4.40840687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.457628 meters 0.012636432538237595 Centerline is valid? [True, True] Translation: X:199.40, Y:-102.30, Z:0.46 [[-6.01711096e-02 -9.98187955e-01 4.94276685e-04 1.99403868e+02] [-9.98163570e-01 6.01730948e-02 6.97761628e-03 -1.02298503e+02] [-6.99471468e-03 -7.35180665e-05 -9.99975534e-01 4.62492421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.517628 meters 0.012407456471600447 Centerline is valid? [True, True] Translation: X:199.37, Y:-102.42, Z:0.46 [[ 1.54041013e-02 -9.99881349e-01 -4.61501066e-05 1.99370280e+02] [-9.99857140e-01 -1.54040495e-02 6.95801628e-03 -1.02415165e+02] [-6.95790160e-03 -6.10384740e-05 -9.99975792e-01 4.64069999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.577628 meters 0.01245248410049728 Centerline is valid? [True, True] Translation: X:199.35, Y:-102.53, Z:0.46 [[ 9.27278722e-02 -9.95691403e-01 -4.14575465e-04 1.99349793e+02] [-9.95679008e-01 -9.27287866e-02 4.96834296e-03 -1.02526989e+02] [-4.98537946e-03 -4.79197834e-05 -9.99987572e-01 4.61899373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.637628 meters 0.012518642965429918 Centerline is valid? [True, True] Translation: X:199.34, Y:-102.65, Z:0.46 [[ 1.70654282e-01 -9.85330796e-01 -5.81943284e-04 1.99338501e+02] [-9.85324165e-01 -1.70655269e-01 3.61520916e-03 -1.02648512e+02] [-3.66148860e-03 -4.35481440e-05 -9.99993296e-01 4.60331242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.697628 meters 0.01280114652017989 Centerline is valid? [True, True] Translation: X:199.33, Y:-102.77, Z:0.46 [[ 2.48348707e-01 -9.68670068e-01 -1.10439291e-03 1.99333944e+02] [-9.68659355e-01 -2.48351155e-01 4.55617808e-03 -1.02769740e+02] [-4.68771058e-03 -6.17404060e-05 -9.99989011e-01 4.62115445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.757628 meters 0.012849277754073381 Centerline is valid? [True, True] Translation: X:199.34, Y:-102.89, Z:0.46 [[ 3.23082546e-01 -9.46368851e-01 -1.91499896e-03 1.99342016e+02] [-9.46350705e-01 -3.23088211e-01 5.86092881e-03 -1.02891631e+02] [-6.16531405e-03 -8.13031891e-05 -9.99980991e-01 4.63386950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.817628 meters 0.013193765804946363 Centerline is valid? [True, True] Translation: X:199.36, Y:-103.02, Z:0.46 [[ 3.95861954e-01 -9.18304155e-01 -3.28523830e-03 1.99362668e+02] [-9.18270115e-01 -3.95875569e-01 7.90757518e-03 -1.03016243e+02] [-8.56210473e-03 -1.13572009e-04 -9.99963338e-01 4.64303601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.877628 meters 0.013295717938933138 Centerline is valid? [True, True] Translation: X:199.39, Y:-103.13, Z:0.46 [[ 4.65478107e-01 -8.85051356e-01 -3.77208294e-03 1.99385543e+02] [-8.85020356e-01 -4.65493378e-01 7.40842142e-03 -1.03126772e+02] [-8.31271305e-03 -1.10087792e-04 -9.99965443e-01 4.63992923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.937628 meters 0.01289299707704929 Centerline is valid? [True, True] Translation: X:199.42, Y:-103.24, Z:0.46 [[ 5.30712224e-01 -8.47543242e-01 -3.87146861e-03 1.99415964e+02] [-8.47519504e-01 -5.30726337e-01 6.34390854e-03 -1.03237893e+02] [-7.43142716e-03 -8.56446511e-05 -9.99972383e-01 4.63823156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.997628 meters 0.012210044606950106 Centerline is valid? [True, True] Translation: X:199.45, Y:-103.34, Z:0.46 [[ 5.89314212e-01 -8.07897050e-01 -3.33392669e-03 1.99454857e+02] [-8.07883802e-01 -5.89323642e-01 4.62677429e-03 -1.03342352e+02] [-5.70271912e-03 -3.31984761e-05 -9.99983739e-01 4.62195775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.05762799999997 meters 0.01216281714253749 Centerline is valid? [True, True] Translation: X:199.50, Y:-103.44, Z:0.46 [[ 6.45951764e-01 -7.63373307e-01 -2.74087386e-03 1.99502649e+02] [-7.63366386e-01 -6.45957579e-01 3.25066116e-03 -1.03440426e+02] [-4.25195620e-03 -7.47933695e-06 -9.99990960e-01 4.60305817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.11762799999997 meters 0.012759512913103104 Centerline is valid? [True, True] Translation: X:199.56, Y:-103.53, Z:0.46 [[ 6.97027387e-01 -7.17043237e-01 -1.34839250e-03 1.99556307e+02] [-7.17041907e-01 -6.97028691e-01 1.38086862e-03 -1.03530502e+02] [-1.93001076e-03 4.35068320e-06 -9.99998138e-01 4.58429807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.17762799999997 meters 0.014052847439826228 Centerline is valid? [True, True] Translation: X:199.61, Y:-103.62, Z:0.46 [[ 7.44254189e-01 -6.67895092e-01 -1.35940017e-03 1.99613480e+02] [-6.67894023e-01 -7.44255430e-01 1.19508034e-03 -1.03616687e+02] [-1.80992925e-03 1.84917037e-05 -9.99998362e-01 4.60106570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.237628 meters 0.015085095807329247 Centerline is valid? [True, True] Translation: X:199.63, Y:-103.64, Z:0.46 [[ 7.91172328e-01 -6.11587563e-01 -2.64574505e-03 1.99632049e+02] [-6.11584397e-01 -7.91176750e-01 1.96868965e-03 -1.03642293e+02] [-3.29727808e-03 6.05236181e-05 -9.99994562e-01 4.61260181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.297628 meters 0.017072619798465187 Centerline is valid? [True, True] Translation: X:199.65, Y:-103.66, Z:0.46 [[ 8.33763076e-01 -5.52098332e-01 -5.15409814e-03 1.99651500e+02] [-5.52088916e-01 -8.33778992e-01 3.22811226e-03 -1.03661912e+02] [-6.07961415e-03 1.54039647e-04 -9.99981507e-01 4.62791249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.357628 meters 0.01814835636646056 Centerline is valid? [True, True] Translation: X:199.67, Y:-103.68, Z:0.46 [[ 8.72637676e-01 -4.88315388e-01 -7.18103154e-03 1.99671515e+02] [-4.88301084e-01 -8.72667190e-01 3.74522635e-03 -1.03683531e+02] [-8.09550227e-03 2.38279867e-04 -9.99967202e-01 4.64253118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.417628 meters 0.018593596991689325 Centerline is valid? [True, True] Translation: X:199.69, Y:-103.70, Z:0.46 [[ 9.07470310e-01 -4.20052849e-01 -7.29661160e-03 1.99692172e+02] [-4.20041432e-01 -9.07499611e-01 3.10666703e-03 -1.03704537e+02] [-7.92663652e-03 2.45671093e-04 -9.99968554e-01 4.64589475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.477628 meters 0.01891310702607345 Centerline is valid? [True, True] Translation: X:199.71, Y:-103.72, Z:0.47 [[ 9.37901277e-01 -3.46836430e-01 -6.75908209e-03 1.99714169e+02] [-3.46829043e-01 -9.37925608e-01 2.27360883e-03 -1.03724624e+02] [-7.12808655e-03 2.11825345e-04 -9.99974572e-01 4.65118564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.537628 meters 0.018462219354287653 Centerline is valid? [True, True] Translation: X:199.74, Y:-103.74, Z:0.47 [[ 9.63197763e-01 -2.68699135e-01 -7.13059069e-03 1.99738868e+02] [-2.68693228e-01 -9.63224137e-01 1.79173518e-03 -1.03739018e+02] [-7.34979475e-03 1.90146117e-04 -9.99972972e-01 4.65188092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.597628 meters 0.014801570055319275 Centerline is valid? [True, True] Translation: X:199.76, Y:-103.76, Z:0.46 [[ 9.82556392e-01 -1.85911343e-01 -4.46202514e-03 1.99760274e+02] [-1.85909802e-01 -9.82566520e-01 7.61192048e-04 -1.03761447e+02] [-4.52575075e-03 8.16200994e-05 -9.99989755e-01 4.61479595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.657628 meters 0.012944991659707519 Centerline is valid? [True, True] Translation: X:199.78, Y:-103.78, Z:0.46 [[ 9.94887389e-01 -1.00933260e-01 -3.40016740e-03 1.99783581e+02] [-1.00932782e-01 -9.94893198e-01 3.12259144e-04 -1.03784094e+02] [-3.41432076e-03 3.25256714e-05 -9.99994171e-01 4.61564433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.717628 meters 0.01207593557276256 Centerline is valid? [True, True] Translation: X:199.81, Y:-103.80, Z:0.46 [[ 9.99845136e-01 -1.69337107e-02 -4.79097197e-03 1.99809575e+02] [-1.69336277e-02 -9.99856614e-01 5.78874867e-05 -1.03799454e+02] [-4.79126527e-03 2.32500137e-05 -9.99988522e-01 4.63900195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.777628 meters 0.011732756561959028 Centerline is valid? [True, True] Translation: X:199.84, Y:-103.81, Z:0.46 [[ 9.97756451e-01 6.67885226e-02 -4.62153901e-03 1.99836998e+02] [ 6.67878191e-02 -9.97767154e-01 -3.06562132e-04 -1.03809577e+02] [-4.63169466e-03 -2.78816719e-06 -9.99989274e-01 4.62832194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.837628 meters 0.01180004505184088 Centerline is valid? [True, True] Translation: X:199.86, Y:-103.82, Z:0.46 [[ 9.89156790e-01 1.46822926e-01 -3.44562552e-03 1.99864349e+02] [ 1.46822080e-01 -9.89162792e-01 -4.98511592e-04 -1.03815123e+02] [-3.48147749e-03 -1.27877803e-05 -9.99993940e-01 4.63904724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.897628 meters 0.011785930226533863 Centerline is valid? [True, True] Translation: X:199.89, Y:-103.81, Z:0.47 [[ 9.74432355e-01 2.24646449e-01 -3.94452956e-03 1.99890820e+02] [ 2.24644675e-01 -9.74440338e-01 -8.92858346e-04 -1.03814126e+02] [-4.04428617e-03 -1.60875010e-05 -9.99991822e-01 4.65506839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.957628 meters 0.01190903975301364 Centerline is valid? [True, True] Translation: X:199.92, Y:-103.81, Z:0.47 [[ 9.53996071e-01 2.99778786e-01 -4.91694139e-03 1.99918262e+02] [ 2.99774881e-01 -9.54008742e-01 -1.53010370e-03 -1.03809995e+02] [-5.14949770e-03 -1.42625991e-05 -9.99986741e-01 4.66680913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.017628 meters 0.012060768002512377 Centerline is valid? [True, True] Translation: X:199.94, Y:-103.80, Z:0.47 [[ 9.28941584e-01 3.70186753e-01 -5.41302260e-03 1.99941734e+02] [ 3.70180428e-01 -9.28957355e-01 -2.16410727e-03 -1.03800542e+02] [-5.82959100e-03 6.53420995e-06 -9.99983008e-01 4.68458853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.077628 meters 0.012612055976433775 Centerline is valid? [True, True] Translation: X:199.96, Y:-103.79, Z:0.47 [[ 8.99230270e-01 4.37439811e-01 -5.59751846e-03 1.99964930e+02] [ 4.37431073e-01 -8.99247691e-01 -2.76527163e-03 -1.03789126e+02] [-6.24319545e-03 3.80874496e-05 -9.99980510e-01 4.69694977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.137628 meters 0.013540505862158412 Centerline is valid? [True, True] Translation: X:199.99, Y:-103.78, Z:0.47 [[ 8.64363150e-01 5.02831368e-01 -6.07942779e-03 1.99985217e+02] [ 5.02818321e-01 -8.64384526e-01 -3.62300944e-03 -1.03775978e+02] [-7.07672610e-03 7.47481750e-05 -9.99974957e-01 4.70589618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.197628 meters 0.014272692990827417 Centerline is valid? [True, True] Translation: X:200.01, Y:-103.76, Z:0.47 [[ 8.25428607e-01 5.64463384e-01 -6.97872732e-03 2.00007123e+02] [ 5.64441769e-01 -8.25458096e-01 -4.94173714e-03 -1.03764696e+02] [-8.55007664e-03 1.39966007e-04 -9.99963438e-01 4.71392399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.257628 meters 0.013735233382707894 Centerline is valid? [True, True] Translation: X:200.03, Y:-103.76, Z:0.47 [[ 7.77413682e-01 6.28956718e-01 -6.43545889e-03 2.00034063e+02] [ 6.28933886e-01 -7.77440308e-01 -5.36040266e-03 -1.03759790e+02] [-8.37464640e-03 1.19772195e-04 -9.99964925e-01 4.71066550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.317628 meters 0.013472045103857924 Centerline is valid? [True, True] Translation: X:200.06, Y:-103.75, Z:0.47 [[ 7.25230975e-01 6.88479864e-01 -5.95893033e-03 2.00059615e+02] [ 6.88455348e-01 -7.25255447e-01 -5.81123938e-03 -1.03750653e+02] [-8.32266798e-03 1.12033354e-04 -9.99965360e-01 4.71385429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.377628 meters 0.01618147274993092 Centerline is valid? [True, True] Translation: X:200.08, Y:-103.74, Z:0.47 [[ 6.69088332e-01 7.43163467e-01 -5.37256902e-03 2.00081482e+02] [ 7.43138190e-01 -6.69109893e-01 -6.13043061e-03 -1.03738925e+02] [-8.15075115e-03 1.09238373e-04 -9.99966776e-01 4.73644307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.437628 meters 0.013647943527765688 Centerline is valid? [True, True] Translation: X:200.10, Y:-103.73, Z:0.47 [[ 6.09043122e-01 7.93128957e-01 -3.59619339e-03 2.00102649e+02] [ 7.93114365e-01 -6.09053734e-01 -4.81176243e-03 -1.03725089e+02] [-6.00662313e-03 7.83781705e-05 -9.99981957e-01 4.69296590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.497628 meters 0.01394391192554317 Centerline is valid? [True, True] Translation: X:200.12, Y:-103.71, Z:0.47 [[ 5.45405190e-01 8.38169124e-01 -2.38701711e-03 2.00122125e+02] [ 8.38160637e-01 -5.45410410e-01 -3.77236668e-03 -1.03710229e+02] [-4.46378526e-03 5.67645818e-05 -9.99990036e-01 4.68011199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.55762799999997 meters 0.013509135203109113 Centerline is valid? [True, True] Translation: X:200.14, Y:-103.69, Z:0.47 [[ 4.77499158e-01 8.78630236e-01 -1.86102894e-03 2.00141700e+02] [ 8.78623176e-01 -4.77502782e-01 -3.52240532e-03 -1.03693931e+02] [-3.98353831e-03 4.68024172e-05 -9.99992065e-01 4.67188251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.61762799999997 meters 0.013622509232160709 Centerline is valid? [True, True] Translation: X:200.16, Y:-103.68, Z:0.47 [[ 4.05263514e-01 9.14198612e-01 -1.54320534e-03 2.00156953e+02] [ 9.14191630e-01 -4.05266450e-01 -3.57319453e-03 -1.03675524e+02] [-3.89201883e-03 3.72999677e-05 -9.99992425e-01 4.67137146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.67762799999997 meters 0.012525481650054904 Centerline is valid? [True, True] Translation: X:200.18, Y:-103.66, Z:0.47 [[ 3.28333215e-01 9.44561097e-01 -1.27842581e-03 2.00176192e+02] [ 9.44553686e-01 -3.28335703e-01 -3.74164793e-03 -1.03656766e+02] [-3.95396791e-03 2.09654790e-05 -9.99992183e-01 4.67207239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.737628 meters 0.012457029561016405 Centerline is valid? [True, True] Translation: X:200.19, Y:-103.64, Z:0.47 [[ 2.50741993e-01 9.68053709e-01 -6.84838687e-04 2.00187254e+02] [ 9.68050062e-01 -2.50742928e-01 -2.65731944e-03 -1.03636425e+02] [-2.74414639e-03 3.34343784e-06 -9.99996235e-01 4.66289971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.797628 meters 0.012170939500437893 Centerline is valid? [True, True] Translation: X:200.20, Y:-103.61, Z:0.47 [[ 1.72562027e-01 9.84998557e-01 -4.35233429e-04 2.00199330e+02] [ 9.84995452e-01 -1.72562576e-01 -2.47310052e-03 -1.03614350e+02] [-2.51110544e-03 -1.93970907e-06 -9.99996847e-01 4.65244152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.857628 meters 0.01219491672014839 Centerline is valid? [True, True] Translation: X:200.21, Y:-103.59, Z:0.47 [[ 9.30811080e-02 9.95658497e-01 -2.55433865e-04 2.00206928e+02] [ 9.95654922e-01 -9.30814583e-02 -2.66797230e-03 -1.03592363e+02] [-2.68016545e-03 -5.98616679e-06 -9.99996408e-01 4.65639035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.917628 meters 0.012405125434955084 Centerline is valid? [True, True] Translation: X:200.21, Y:-103.57, Z:0.47 [[ 1.69969797e-02 9.99855539e-01 -5.77128143e-05 2.00212576e+02] [ 9.99848812e-01 -1.69970770e-02 -3.66782557e-03 -1.03568778e+02] [-3.66827667e-03 4.63786782e-06 -9.99993272e-01 4.66549370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.977628 meters 0.012886019880389819 Centerline is valid? [True, True] Translation: X:200.22, Y:-103.54, Z:0.47 [[-5.60154891e-02 9.98429835e-01 3.58913912e-04 2.00216392e+02] [ 9.98414094e-01 5.60166214e-02 -5.60671864e-03 -1.03544977e+02] [-5.61802031e-03 4.42816222e-05 -9.99984218e-01 4.67165562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.037628 meters 0.013417351870882723 Centerline is valid? [True, True] Translation: X:200.22, Y:-103.52, Z:0.47 [[-1.31175263e-01 9.91358863e-01 8.09583191e-04 2.00220834e+02] [ 9.91342781e-01 1.31177746e-01 -5.64706409e-03 -1.03520976e+02] [-5.70446634e-03 6.18193371e-05 -9.99983727e-01 4.66678761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.097628 meters 0.014303870490356453 Centerline is valid? [True, True] Translation: X:200.22, Y:-103.50, Z:0.47 [[-2.03856595e-01 9.78999462e-01 1.59433782e-03 2.00223762e+02] [ 9.78973827e-01 2.03862796e-01 -7.08558683e-03 -1.03497350e+02] [-7.26181186e-03 1.16371389e-04 -9.99973626e-01 4.67230686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.157628 meters 0.014966650642561976 Centerline is valid? [True, True] Translation: X:200.23, Y:-103.47, Z:0.47 [[-2.76784456e-01 9.60928452e-01 2.62188173e-03 2.00226453e+02] [ 9.60891104e-01 2.76796819e-01 -8.47395801e-03 -1.03473065e+02] [-8.86859588e-03 1.73882966e-04 -9.99960658e-01 4.68972081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.217628 meters 0.015118469978499706 Centerline is valid? [True, True] Translation: X:200.23, Y:-103.45, Z:0.47 [[-3.50649236e-01 9.36499911e-01 3.60982887e-03 2.00227773e+02] [ 9.36455972e-01 3.50667760e-01 -9.07386719e-03 -1.03448471e+02] [-9.76352642e-03 1.98701205e-04 -9.99952316e-01 4.69793529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.277628 meters 0.014946488350530047 Centerline is valid? [True, True] Translation: X:200.23, Y:-103.42, Z:0.47 [[-4.23784318e-01 9.05752524e-01 4.38366836e-03 2.00227264e+02] [ 9.05708694e-01 4.23806946e-01 -8.91262495e-03 -1.03423899e+02] [-9.93046164e-03 1.93295860e-04 -9.99950673e-01 4.68556950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.337628 meters 0.013689688582664169 Centerline is valid? [True, True] Translation: X:200.23, Y:-103.40, Z:0.47 [[-4.98118983e-01 8.67096383e-01 4.61971469e-03 2.00228300e+02] [ 8.67061422e-01 4.98140389e-01 -7.78736076e-03 -1.03396745e+02] [-9.05365882e-03 1.26544170e-04 -9.99959007e-01 4.66144359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.397628 meters 0.012696345279212753 Centerline is valid? [True, True] Translation: X:200.23, Y:-103.37, Z:0.47 [[-5.69284748e-01 8.22124987e-01 5.03797920e-03 2.00226685e+02] [ 8.22093896e-01 5.69307036e-01 -7.15019515e-03 -1.03368707e+02] [-8.74651110e-03 7.11949023e-05 -9.99961746e-01 4.66240676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.457628 meters 0.014236645938175327 Centerline is valid? [True, True] Translation: X:200.22, Y:-103.35, Z:0.47 [[-6.34265399e-01 7.73095198e-01 5.58733072e-03 2.00218851e+02] [ 7.73065827e-01 6.34290006e-01 -6.73906011e-03 -1.03345960e+02] [-8.75392306e-03 4.50217988e-05 -9.99961683e-01 4.68722418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.517628 meters 0.012169469370217617 Centerline is valid? [True, True] Translation: X:200.20, Y:-103.33, Z:0.47 [[-6.94384453e-01 7.19585043e-01 5.25334812e-03 2.00204641e+02] [ 7.19564683e-01 6.94404324e-01 -5.41306673e-03 -1.03327193e+02] [-7.54310951e-03 2.13743960e-05 -9.99971550e-01 4.65381560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.577628 meters 0.012088454414400195 Centerline is valid? [True, True] Translation: X:200.19, Y:-103.31, Z:0.46 [[-7.49785666e-01 6.61651672e-01 6.20638876e-03 2.00188840e+02] [ 6.61629116e-01 7.49811353e-01 -5.46342064e-03 -1.03310819e+02] [-8.26850216e-03 9.93301750e-06 -9.99965815e-01 4.64607458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.637628 meters 0.011882159220959037 Centerline is valid? [True, True] Translation: X:200.21, Y:-103.29, Z:0.46 [[-7.93858760e-01 6.08072489e-01 6.00983937e-03 2.00214796e+02] [ 6.08055531e-01 7.93881506e-01 -4.54145006e-03 -1.03294109e+02] [-7.53263117e-03 4.90461602e-05 -9.99971628e-01 4.63287902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.697628 meters 0.012020584407710979 Centerline is valid? [True, True] Translation: X:200.23, Y:-103.27, Z:0.46 [[-8.37142797e-01 5.46939935e-01 6.97456341e-03 2.00233185e+02] [ 5.46920547e-01 8.37171850e-01 -4.60540661e-03 -1.03274039e+02] [-8.35778894e-03 -4.08509417e-05 -9.99965072e-01 4.63777309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.757628 meters 0.01208638462370456 Centerline is valid? [True, True] Translation: X:200.25, Y:-103.25, Z:0.46 [[-8.74477719e-01 4.84996250e-01 8.20705323e-03 2.00250375e+02] [ 4.84974255e-01 8.74516228e-01 -4.61929291e-03 -1.03253948e+02] [-9.41754098e-03 -5.92592061e-05 -9.99955652e-01 4.64911264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.817628 meters 0.012400551747221194 Centerline is valid? [True, True] Translation: X:200.27, Y:-103.23, Z:0.46 [[-9.07920200e-01 4.19066567e-01 8.00760529e-03 2.00265381e+02] [ 4.19049452e-01 9.07955508e-01 -3.78838502e-03 -1.03233307e+02] [-8.85813484e-03 -8.39686795e-05 -9.99960762e-01 4.64035642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.877628 meters 0.012804538419671944 Centerline is valid? [True, True] Translation: X:200.61, Y:-102.52, Z:-0.44 [[-8.68592497e-01 -4.95491339e-01 5.95042205e-03 2.00612669e+02] [ 4.95479277e-01 -8.68612877e-01 -3.45774174e-03 -1.02515581e+02] [ 6.88189430e-03 -5.50577200e-05 9.99976318e-01 -4.42970931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.937628 meters 0.012705935085343175 Centerline is valid? [True, True] Translation: X:200.60, Y:-102.54, Z:-0.44 [[-8.34165333e-01 -5.51469284e-01 7.05871470e-03 2.00602202e+02] [ 5.51450192e-01 -8.34195196e-01 -4.58925915e-03 -1.02538451e+02] [ 8.41918135e-03 6.43286924e-05 9.99964556e-01 -4.44893761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.997628 meters 0.012588789896495593 Centerline is valid? [True, True] Translation: X:200.17, Y:-103.23, Z:0.46 [[-8.79156087e-01 4.76465944e-01 8.04855722e-03 2.00169816e+02] [ 4.76445123e-01 8.79192924e-01 -4.45502920e-03 -1.03225422e+02] [-9.19890425e-03 -8.19702068e-05 -9.99957686e-01 4.64025494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.05762799999997 meters 0.012600692005603403 Centerline is valid? [True, True] Translation: X:200.18, Y:-103.20, Z:0.47 [[-9.10485334e-01 4.13437898e-01 9.24990195e-03 2.00184582e+02] [ 4.13415605e-01 9.10532315e-01 -4.29418364e-03 -1.03198541e+02] [-1.01977129e-02 -8.57374169e-05 -9.99947998e-01 4.65312590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.11762799999997 meters 0.012283813053391653 Centerline is valid? [True, True] Translation: X:200.21, Y:-103.18, Z:0.46 [[-9.36701047e-01 3.50037916e-01 8.03777925e-03 2.00205785e+02] [ 3.50024530e-01 9.36735531e-01 -3.06162538e-03 -1.03177074e+02] [-8.60095838e-03 -5.44077948e-05 -9.99963010e-01 4.62797224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.17762799999997 meters 0.012095891844644826 Centerline is valid? [True, True] Translation: X:200.22, Y:-103.15, Z:0.46 [[-9.58891697e-01 2.83678005e-01 7.31450547e-03 2.00217212e+02] [ 2.83669413e-01 9.58919594e-01 -2.20826667e-03 -1.03153428e+02] [-7.64045930e-03 -4.25871040e-05 -9.99970810e-01 4.61306920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.237628 meters 0.011896888680968701 Centerline is valid? [True, True] Translation: X:200.23, Y:-103.13, Z:0.46 [[-9.75751650e-01 2.18819564e-01 5.16875982e-03 2.00230984e+02] [ 2.18816428e-01 9.75765340e-01 -1.17153193e-03 -1.03131051e+02] [-5.29985079e-03 -1.21146511e-05 -9.99985956e-01 4.59199928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.297628 meters 0.012014626354783458 Centerline is valid? [True, True] Translation: X:200.24, Y:-103.11, Z:0.46 [[-9.88504228e-01 1.51095282e-01 5.44124366e-03 2.00242540e+02] [ 1.51092989e-01 9.88519203e-01 -8.32482920e-04 -1.03106174e+02] [-5.50455809e-03 -7.79118420e-07 -9.99984850e-01 4.59292416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.357628 meters 0.012136880061986292 Centerline is valid? [True, True] Translation: X:200.25, Y:-103.08, Z:0.46 [[-9.96571200e-01 8.25760732e-02 5.19963860e-03 2.00248062e+02] [ 8.25749962e-02 9.96584764e-01 -4.21834629e-04 -1.03080091e+02] [-5.21671405e-03 8.97189542e-06 -9.99986393e-01 4.59713773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.417628 meters 0.0124494553966133 Centerline is valid? [True, True] Translation: X:200.24, Y:-103.05, Z:0.46 [[-9.99891788e-01 1.41332843e-02 4.08203589e-03 2.00241083e+02] [ 1.41332279e-02 9.99900120e-01 -4.26716129e-05 -1.03054010e+02] [-4.08223127e-03 1.50253482e-05 -9.99991668e-01 4.58583536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.477628 meters 0.013046606019997348 Centerline is valid? [True, True] Translation: X:200.25, Y:-103.03, Z:0.46 [[-9.98634148e-01 -5.20862215e-02 4.10655768e-03 2.00254817e+02] [-5.20856345e-02 9.98642591e-01 2.49826723e-04 -1.03029538e+02] [-4.11399593e-03 3.55928342e-05 -9.99991537e-01 4.58363705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.537628 meters 0.013631735843612285 Centerline is valid? [True, True] Translation: X:200.26, Y:-103.00, Z:0.46 [[-9.92809578e-01 -1.19662747e-01 3.15720371e-03 2.00257577e+02] [-1.19662027e-01 9.92814598e-01 4.16650500e-04 -1.03004396e+02] [-3.18437548e-03 3.58572113e-05 -9.99994929e-01 4.57791310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.597628 meters 0.014136537844451761 Centerline is valid? [True, True] Translation: X:200.25, Y:-102.98, Z:0.46 [[-9.82361183e-01 -1.86977142e-01 2.46071375e-03 2.00251078e+02] [-1.86976467e-01 9.82364264e-01 5.03382418e-04 -1.02977749e+02] [-2.51143826e-03 3.44077828e-05 -9.99996846e-01 4.57533660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.657628 meters 0.014026719221402988 Centerline is valid? [True, True] Translation: X:200.23, Y:-102.95, Z:0.46 [[-9.66527116e-01 -2.56555161e-01 2.18709068e-03 2.00227173e+02] [-2.56554430e-01 9.66529590e-01 6.13233705e-04 -1.02953732e+02] [-2.27121613e-03 3.15992011e-05 -9.99997420e-01 4.58008176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.717628 meters 0.014763926536917799 Centerline is valid? [True, True] Translation: X:200.19, Y:-102.94, Z:0.46 [[-9.45367099e-01 -3.26003500e-01 1.66286993e-03 2.00185529e+02] [-3.26002954e-01 9.45368562e-01 5.97259216e-04 -1.02939003e+02] [-1.76673355e-03 2.25287041e-05 -9.99998439e-01 4.59526060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.777628 meters 0.014933108901368756 Centerline is valid? [True, True] Translation: X:200.13, Y:-102.93, Z:0.46 [[-9.18641123e-01 -3.95084954e-01 2.52315026e-03 2.00125428e+02] [-3.95083344e-01 9.18644587e-01 1.12846210e-03 -1.02932885e+02] [-2.76371673e-03 3.97970449e-05 -9.99996180e-01 4.61276811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.837628 meters 0.013900183660461375 Centerline is valid? [True, True] Translation: X:200.06, Y:-102.93, Z:0.46 [[-8.85002798e-01 -4.65578158e-01 2.65075889e-03 2.00056474e+02] [-4.65575960e-01 8.85006767e-01 1.43079681e-03 -1.02931629e+02] [-3.01208730e-03 3.21295632e-05 -9.99995463e-01 4.62148947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.897628 meters 0.012241167213964637 Centerline is valid? [True, True] Translation: X:199.98, Y:-102.94, Z:0.46 [[-8.43539223e-01 -5.37060850e-01 2.68730431e-03 1.99976907e+02] [-5.37058093e-01 8.43543504e-01 1.72097604e-03 -1.02939660e+02] [-3.19112695e-03 8.47226268e-06 -9.99994908e-01 4.61946953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.957628 meters 0.01194560183628161 Centerline is valid? [True, True] Translation: X:199.89, Y:-102.96, Z:0.46 [[-7.97668723e-01 -6.03087359e-01 3.20099039e-03 1.99893067e+02] [-6.03082547e-01 7.97675145e-01 2.40907303e-03 -1.02959896e+02] [-4.00623197e-03 -8.81923351e-06 -9.99991975e-01 4.63326590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.017628 meters 0.012294551752851688 Centerline is valid? [True, True] Translation: X:199.80, Y:-102.99, Z:0.47 [[-7.45958574e-01 -6.65981766e-01 3.75404519e-03 1.99804344e+02] [-6.65973598e-01 7.45968019e-01 3.29855869e-03 -1.02991334e+02] [-4.99717759e-03 -3.95068455e-05 -9.99987513e-01 4.66061829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.077628 meters 0.012602078134696418 Centerline is valid? [True, True] Translation: X:199.72, Y:-103.03, Z:0.46 [[-6.92238266e-01 -7.21662370e-01 3.09955178e-03 1.99721860e+02] [-7.21655419e-01 6.92245204e-01 3.16772356e-03 -1.03034943e+02] [-4.43167675e-03 -4.39888747e-05 -9.99990179e-01 4.64831042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.137628 meters 0.01252350764129549 Centerline is valid? [True, True] Translation: X:199.64, Y:-103.09, Z:0.46 [[-6.36000588e-01 -7.71685646e-01 2.12505763e-03 1.99639633e+02] [-7.71681511e-01 6.36004137e-01 2.52639272e-03 -1.03090245e+02] [-3.30112644e-03 -3.30804285e-05 -9.99994551e-01 4.62567476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.197628 meters 0.01240232593621287 Centerline is valid? [True, True] Translation: X:199.56, Y:-103.15, Z:0.46 [[-5.76876334e-01 -8.16829156e-01 1.95581807e-03 1.99559336e+02] [-8.16824620e-01 5.76879649e-01 2.72242051e-03 -1.03153986e+02] [-3.35202409e-03 -2.70603823e-05 -9.99994382e-01 4.63285319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.257628 meters 0.0123175106282413 Centerline is valid? [True, True] Translation: X:199.48, Y:-103.23, Z:0.47 [[-5.15481665e-01 -8.56897058e-01 2.46687948e-03 1.99483668e+02] [-8.56887417e-01 5.15487567e-01 4.06484685e-03 -1.03228751e+02] [-4.75480101e-03 -1.84839651e-05 -9.99988696e-01 4.65503108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.317628 meters 0.012378383251219923 Centerline is valid? [True, True] Translation: X:199.41, Y:-103.31, Z:0.47 [[-4.51266156e-01 -8.92386763e-01 2.17273987e-03 1.99413096e+02] [-8.92376441e-01 4.51271387e-01 4.29210057e-03 -1.03311628e+02] [-4.81070907e-03 -2.02214080e-06 -9.99988428e-01 4.65356201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.377628 meters 0.012873077530675518 Centerline is valid? [True, True] Translation: X:199.35, Y:-103.40, Z:0.47 [[-3.86097992e-01 -9.22455859e-01 1.87869548e-03 1.99349345e+02] [-9.22444642e-01 3.86102562e-01 4.54898009e-03 -1.03404873e+02] [-4.92160247e-03 2.33595004e-05 -9.99987889e-01 4.65024232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.437628 meters 0.013027848368659058 Centerline is valid? [True, True] Translation: X:199.29, Y:-103.50, Z:0.46 [[-3.16277661e-01 -9.48666302e-01 8.29949895e-04 1.99288929e+02] [-9.48662915e-01 3.16278750e-01 2.53508756e-03 -1.03501055e+02] [-2.66744765e-03 1.44488758e-05 -9.99996442e-01 4.62294862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.497628 meters 0.012979863455023603 Centerline is valid? [True, True] Translation: X:199.23, Y:-103.60, Z:0.46 [[-2.41787740e-01 -9.70329085e-01 3.94630909e-04 1.99231010e+02] [-9.70327764e-01 2.41788062e-01 1.60118066e-03 -1.03604008e+02] [-1.64908920e-03 4.22452435e-06 -9.99998640e-01 4.61646572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.55762799999997 meters 0.013003242153964192 Centerline is valid? [True, True] Translation: X:199.18, Y:-103.71, Z:0.46 [[-1.65997184e-01 -9.86126192e-01 2.61554602e-04 1.99180461e+02] [-9.86124934e-01 1.65997390e-01 1.57492572e-03 -1.03713910e+02] [-1.59649288e-03 3.50772020e-06 -9.99998726e-01 4.61684702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.61762799999997 meters 0.012987443504356778 Centerline is valid? [True, True] Translation: X:199.14, Y:-103.83, Z:0.46 [[-8.86077059e-02 -9.96066584e-01 1.87012886e-04 1.99137926e+02] [-9.96064192e-01 8.86079029e-02 2.18282343e-03 -1.03831270e+02] [-2.19080830e-03 7.13813755e-06 -9.99997600e-01 4.62072602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.67762799999997 meters 0.013097556481920345 Centerline is valid? [True, True] Translation: X:199.10, Y:-103.95, Z:0.46 [[-1.25331489e-02 -9.99921457e-01 1.90950376e-05 1.99103800e+02] [-9.99917964e-01 1.25331556e-02 2.64298090e-03 -1.03948797e+02] [-2.64301264e-03 1.40314022e-05 -9.99996507e-01 4.61715503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.737628 meters 0.013229523449295273 Centerline is valid? [True, True] Translation: X:199.08, Y:-104.07, Z:0.46 [[ 6.33015764e-02 -9.97994435e-01 -1.34486003e-04 1.99079268e+02] [-9.97992524e-01 -6.33017184e-02 1.95281603e-03 -1.04066800e+02] [-1.95741272e-03 1.05996923e-05 -9.99998084e-01 4.61175355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.797628 meters 0.013056810256730087 Centerline is valid? [True, True] Translation: X:199.06, Y:-104.19, Z:0.46 [[ 1.41005903e-01 -9.90008747e-01 -1.25741109e-04 1.99063095e+02] [-9.90008343e-01 -1.41005959e-01 8.94122049e-04 -1.04185263e+02] [-9.02918895e-04 -1.59173995e-06 -9.99999592e-01 4.59946087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.857628 meters 0.012573076910985586 Centerline is valid? [True, True] Translation: X:199.05, Y:-104.31, Z:0.46 [[ 2.20921989e-01 -9.75291481e-01 3.73116516e-05 1.99054312e+02] [-9.75291475e-01 -2.20921992e-01 -1.13903905e-04 -1.04309068e+02] [ 1.19332473e-04 -1.12258585e-05 -9.99999993e-01 4.58403216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.917628 meters 0.012121805074333325 Centerline is valid? [True, True] Translation: X:199.05, Y:-104.43, Z:0.46 [[ 2.98490388e-01 -9.54412639e-01 5.28317127e-05 1.99052884e+02] [-9.54412630e-01 -2.98490393e-01 -1.32665860e-04 -1.04430144e+02] [ 1.42387732e-04 -1.08237699e-05 -9.99999990e-01 4.59912081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.977628 meters 0.012074543970682985 Centerline is valid? [True, True] Translation: X:199.07, Y:-104.56, Z:0.46 [[ 3.71259115e-01 -9.28529302e-01 -6.46562735e-05 1.99069977e+02] [-9.28529283e-01 -3.71259121e-01 1.88427378e-04 -1.04558801e+02] [-1.98964573e-04 -9.92013854e-06 -9.99999980e-01 4.60453745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.037628 meters 0.012169394860783087 Centerline is valid? [True, True] Translation: X:199.09, Y:-104.66, Z:0.46 [[ 4.40565953e-01 -8.97719850e-01 -8.44242176e-04 1.99090539e+02] [-8.97718189e-01 -4.40566762e-01 1.72674026e-03 -1.04664647e+02] [-1.92207405e-03 -2.85140955e-06 -9.99998153e-01 4.61604794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.097628 meters 0.012289024331247345 Centerline is valid? [True, True] Translation: X:199.12, Y:-104.78, Z:0.46 [[ 5.08028591e-01 -8.61339369e-01 -1.20093048e-03 1.99122421e+02] [-8.61336962e-01 -5.08030010e-01 2.03641492e-03 -1.04778902e+02] [-2.36415307e-03 -1.51189051e-07 -9.99997205e-01 4.62541236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.157628 meters 0.012315016163285066 Centerline is valid? [True, True] Translation: X:199.17, Y:-104.89, Z:0.46 [[ 5.72522412e-01 -8.19886109e-01 -2.20354001e-03 1.99166226e+02] [-8.19880086e-01 -5.72526652e-01 3.14264990e-03 -1.04892265e+02] [-3.83820039e-03 7.40107346e-06 -9.99992634e-01 4.64650515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.217628 meters 0.012508118670093842 Centerline is valid? [True, True] Translation: X:199.21, Y:-104.99, Z:0.47 [[ 6.32651916e-01 -7.74428949e-01 -3.36993296e-03 1.99213898e+02] [-7.74418147e-01 -6.32660891e-01 4.09041074e-03 -1.04990960e+02] [-5.29975728e-03 2.19310437e-05 -9.99985956e-01 4.65808736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.277628 meters 0.012532183805368495 Centerline is valid? [True, True] Translation: X:199.27, Y:-105.08, Z:0.47 [[ 6.89349645e-01 -7.24418525e-01 -3.85592862e-03 1.99266005e+02] [-7.24407432e-01 -6.89360428e-01 4.00905034e-03 -1.05084357e+02] [-5.56235494e-03 2.96259284e-05 -9.99984530e-01 4.65106760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.337628 meters 0.012716198452857774 Centerline is valid? [True, True] Translation: X:199.32, Y:-105.17, Z:0.46 [[ 7.41934197e-01 -6.70463736e-01 -3.46792298e-03 1.99323520e+02] [-6.70456587e-01 -7.41942301e-01 3.09624867e-03 -1.05171495e+02] [-4.64892120e-03 2.78790339e-05 -9.99989193e-01 4.64093215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.397628 meters 0.012454542814917261 Centerline is valid? [True, True] Translation: X:199.34, Y:-105.20, Z:0.46 [[ 7.94140788e-01 -6.07723325e-01 -3.57344767e-03 1.99341228e+02] [-6.07717234e-01 -7.94148828e-01 2.72072820e-03 -1.05195608e+02] [-4.49129926e-03 1.10044977e-05 -9.99989914e-01 4.62858154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.457628 meters 0.01226590599182724 Centerline is valid? [True, True] Translation: X:199.36, Y:-105.22, Z:0.46 [[ 8.41459752e-01 -5.40300221e-01 -4.59962396e-03 1.99358238e+02] [-5.40292104e-01 -8.41472324e-01 2.96159896e-03 -1.05222315e+02] [-5.47060884e-03 -6.92581734e-06 -9.99985036e-01 4.63962245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.517628 meters 0.012449610539867541 Centerline is valid? [True, True] Translation: X:199.38, Y:-105.25, Z:0.46 [[ 8.83171730e-01 -4.69015299e-01 -5.68726350e-03 1.99378085e+02] [-4.69005324e-01 -8.83190041e-01 3.05908897e-03 -1.05247472e+02] [-6.45769402e-03 -3.43440371e-05 -9.99979148e-01 4.64589990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.577628 meters 0.01255390658890545 Centerline is valid? [True, True] Translation: X:199.40, Y:-105.27, Z:0.47 [[ 9.16981644e-01 -3.98873662e-01 -6.66827222e-03 1.99401339e+02] [-3.98862842e-01 -9.17005889e-01 2.93819814e-03 -1.05267938e+02] [-7.28681475e-03 -3.45477567e-05 -9.99973450e-01 4.66539544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.637628 meters 0.012632602175055605 Centerline is valid? [True, True] Translation: X:199.43, Y:-105.28, Z:0.47 [[ 9.44383986e-01 -3.28737837e-01 -8.38577919e-03 1.99426576e+02] [-3.28724749e-01 -9.44421217e-01 2.93342204e-03 -1.05283931e+02] [-8.88403460e-03 -1.36636422e-05 -9.99960536e-01 4.67831093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.697628 meters 0.012963790536205185 Centerline is valid? [True, True] Translation: X:199.45, Y:-105.30, Z:0.47 [[ 9.66370160e-01 -2.56988233e-01 -9.26073943e-03 1.99453846e+02] [-2.56976597e-01 -9.66414532e-01 2.44557156e-03 -1.05295979e+02] [-9.57819627e-03 1.64659233e-05 -9.99954128e-01 4.68148422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.757628 meters 0.013016904074103964 Centerline is valid? [True, True] Translation: X:199.48, Y:-105.31, Z:0.47 [[ 9.83266471e-01 -1.81982196e-01 -8.33826244e-03 1.99476767e+02] [-1.81975877e-01 -9.83301825e-01 1.51673825e-03 -1.05309032e+02] [-8.47504804e-03 2.60047583e-05 -9.99964086e-01 4.68729297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.817628 meters 0.013032064088296103 Centerline is valid? [True, True] Translation: X:199.50, Y:-105.32, Z:0.47 [[ 9.94566757e-01 -1.03847553e-01 -7.25617653e-03 1.99501120e+02] [-1.03844912e-01 -9.94593226e-01 7.40826660e-04 -1.05322035e+02] [-7.29387706e-03 1.67154433e-05 -9.99973399e-01 4.67362693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.877628 meters 0.012811027791913204 Centerline is valid? [True, True] Translation: X:199.53, Y:-105.33, Z:0.47 [[ 9.99681771e-01 -2.45922701e-02 -5.61942874e-03 1.99526214e+02] [-2.45919076e-02 -9.99697564e-01 1.33605966e-04 -1.05333065e+02] [-5.62101490e-03 4.62902354e-06 -9.99984202e-01 4.66002462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.937628 meters 0.012694716901219108 Centerline is valid? [True, True] Translation: X:199.55, Y:-105.34, Z:0.47 [[ 9.98528973e-01 5.40527277e-02 -4.26527369e-03 1.99551866e+02] [ 5.40522351e-02 -9.98538083e-01 -2.30758764e-04 -1.05341341e+02] [-4.27151135e-03 -1.28263998e-07 -9.99990877e-01 4.65568463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.99762799999996 meters 0.01267710290143139 Centerline is valid? [True, True] Translation: X:199.58, Y:-105.35, Z:0.46 [[ 9.91542624e-01 1.29766368e-01 -1.97836843e-03 1.99577877e+02] [ 1.29766111e-01 -9.91544598e-01 -2.58129272e-04 -1.05346499e+02] [-1.99513703e-03 -7.79002767e-07 -9.99998010e-01 4.64738027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.05762799999997 meters 0.012765002493660796 Centerline is valid? [True, True] Translation: X:199.60, Y:-105.35, Z:0.46 [[ 9.78781247e-01 2.04906013e-01 -8.92422684e-04 1.99604062e+02] [ 2.04905931e-01 -9.78781654e-01 -1.82877951e-04 -1.05349419e+02] [-9.10959743e-04 -3.86519191e-06 -9.99999585e-01 4.64279488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.11762799999997 meters 0.012811680364415016 Centerline is valid? [True, True] Translation: X:199.63, Y:-105.35, Z:0.46 [[ 9.59700701e-01 2.81021163e-01 -1.29222595e-03 1.99629440e+02] [ 2.81020910e-01 -9.59701571e-01 -3.77292136e-04 -1.05348640e+02] [-1.34617835e-03 -1.05498508e-06 -9.99999094e-01 4.64670924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.17762799999997 meters 0.012453228640754582 Centerline is valid? [True, True] Translation: X:199.66, Y:-105.35, Z:0.47 [[ 9.33309568e-01 3.59052739e-01 -3.79226567e-03 1.99656605e+02] [ 3.59049772e-01 -9.33317272e-01 -1.45972983e-03 -1.05348633e+02] [-4.06350705e-03 7.67694959e-07 -9.99991744e-01 4.67975061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.237628 meters 0.012575078184428526 Centerline is valid? [True, True] Translation: X:199.68, Y:-105.35, Z:0.47 [[ 8.99185526e-01 4.37529349e-01 -5.78428071e-03 1.99683648e+02] [ 4.37520578e-01 -8.99204130e-01 -2.77065433e-03 -1.05348321e+02] [-6.41349169e-03 -3.94095744e-05 -9.99979433e-01 4.71560681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.297628 meters 0.013346649890428986 Centerline is valid? [True, True] Translation: X:199.71, Y:-105.35, Z:0.47 [[ 8.58699578e-01 5.12456617e-01 -4.82182782e-03 1.99712696e+02] [ 5.12449016e-01 -8.58713113e-01 -2.79202707e-03 -1.05346508e+02] [-5.57135953e-03 -7.34284537e-05 -9.99984477e-01 4.69868716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.357628 meters 0.014111549163266563 Centerline is valid? [True, True] Translation: X:199.74, Y:-105.34, Z:0.47 [[ 8.14466835e-01 5.80192586e-01 -4.50983432e-03 1.99739451e+02] [ 5.80184276e-01 -8.14479316e-01 -3.10636129e-03 -1.05340536e+02] [-5.47545456e-03 -8.65067178e-05 -9.99985006e-01 4.70163024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.417628 meters 0.013495458071446824 Centerline is valid? [True, True] Translation: X:199.77, Y:-105.33, Z:0.47 [[ 7.66911384e-01 6.41738738e-01 -4.28038671e-03 1.99765626e+02] [ 6.41729348e-01 -7.66923324e-01 -3.47252914e-03 -1.05331964e+02] [-5.51118487e-03 -8.37276486e-05 -9.99984810e-01 4.70374091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.477628 meters 0.013119150853344742 Centerline is valid? [True, True] Translation: X:199.79, Y:-105.32, Z:0.47 [[ 7.16132385e-01 6.97956216e-01 -3.39523267e-03 1.99789325e+02] [ 6.97948770e-01 -7.16140431e-01 -3.22458173e-03 -1.05319861e+02] [-4.68208025e-03 -6.04710588e-05 -9.99989037e-01 4.70771113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.537628 meters 0.012395149416622698 Centerline is valid? [True, True] Translation: X:199.81, Y:-105.30, Z:0.47 [[ 6.63668334e-01 7.48020185e-01 -3.18519954e-03 1.99808998e+02] [ 7.48011811e-01 -6.63675977e-01 -3.53942593e-03 -1.05302245e+02] [-4.76150246e-03 -3.35619641e-05 -9.99988663e-01 4.70304904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.597628 meters 0.012184658504322807 Centerline is valid? [True, True] Translation: X:199.82, Y:-105.28, Z:0.47 [[ 6.10154781e-01 7.92277114e-01 -2.84898180e-03 1.99823849e+02] [ 7.92268410e-01 -6.10161433e-01 -3.71374594e-03 -1.05283803e+02] [-4.68065473e-03 8.80155597e-06 -9.99989046e-01 4.71517162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.657628 meters 0.012575290437397288 Centerline is valid? [True, True] Translation: X:199.84, Y:-105.27, Z:0.47 [[ 5.49147169e-01 8.35722426e-01 -2.32678579e-03 1.99840555e+02] [ 8.35714752e-01 -5.49152098e-01 -3.58139199e-03 -1.05266079e+02] [-4.27080890e-03 2.21820617e-05 -9.99990880e-01 4.71782918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.717628 meters 0.0154313117344378 Centerline is valid? [True, True] Translation: X:199.86, Y:-105.25, Z:0.48 [[ 4.86048202e-01 8.73925227e-01 -3.44148530e-03 1.99857515e+02] [ 8.73902179e-01 -4.86060379e-01 -6.34735618e-03 -1.05247342e+02] [-7.21988434e-03 7.75995585e-05 -9.99973933e-01 4.75660702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.777628 meters 0.014676992781203614 Centerline is valid? [True, True] Translation: X:199.88, Y:-105.23, Z:0.48 [[ 4.17539970e-01 9.08651289e-01 -3.63431202e-03 1.99876492e+02] [ 9.08614488e-01 -4.17555771e-01 -8.17866471e-03 -1.05230143e+02] [-8.94908219e-03 1.12730864e-04 -9.99959950e-01 4.76622282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.837628 meters 0.015332892124136547 Centerline is valid? [True, True] Translation: X:199.90, Y:-105.21, Z:0.48 [[ 3.46196503e-01 9.38155992e-01 -3.36400473e-03 1.99895341e+02] [ 9.38107692e-01 -3.46212818e-01 -9.52069995e-03 -1.05211565e+02] [-1.00965633e-02 1.40234313e-04 -9.99949019e-01 4.78625711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.897628 meters 0.013769800480821126 Centerline is valid? [True, True] Translation: X:199.91, Y:-105.19, Z:0.48 [[ 2.71825149e-01 9.62343397e-01 -2.50478496e-03 1.99912073e+02] [ 9.62297803e-01 -2.71836655e-01 -9.36866004e-03 -1.05192667e+02] [-9.69676050e-03 1.36288353e-04 -9.99952976e-01 4.78264433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.957628 meters 0.013732747683487555 Centerline is valid? [True, True] Translation: X:199.93, Y:-105.17, Z:0.48 [[ 1.95082544e-01 9.80785135e-01 -1.82218570e-03 1.99925224e+02] [ 9.80735624e-01 -1.95091007e-01 -9.85572156e-03 -1.05171190e+02] [-1.00218372e-02 1.35596808e-04 -9.99949771e-01 4.77867282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.017628 meters 0.012999348374561326 Centerline is valid? [True, True] Translation: X:199.94, Y:-105.15, Z:0.48 [[ 1.16144353e-01 9.93231833e-01 -1.00735846e-03 1.99942934e+02] [ 9.93185344e-01 -1.16148664e-01 -9.61044724e-03 -1.05148306e+02] [-9.66240547e-03 1.15705519e-04 -9.99953311e-01 4.77260691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.077628 meters 0.012925470046977005 Centerline is valid? [True, True] Translation: X:199.96, Y:-105.13, Z:0.48 [[ 3.52901183e-02 9.99377089e-01 -2.03429308e-04 1.99957295e+02] [ 9.99347081e-01 -3.52906352e-02 -7.74482573e-03 -1.05125251e+02] [-7.74718054e-03 7.00193308e-05 -9.99969988e-01 4.77018705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.137628 meters 0.012465012496222533 Centerline is valid? [True, True] Translation: X:199.96, Y:-105.10, Z:0.48 [[-4.54168534e-02 9.98968054e-01 3.68409293e-04 1.99964263e+02] [ 9.98943027e-01 4.54183234e-02 -7.07139456e-03 -1.05100758e+02] [-7.08082980e-03 4.68594045e-05 -9.99974930e-01 4.76982982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.197628 meters 0.011797475378545688 Centerline is valid? [True, True] Translation: X:199.97, Y:-105.07, Z:0.48 [[-1.27368937e-01 9.91854977e-01 9.26544319e-04 1.99973375e+02] [ 9.91829853e-01 1.27372305e-01 -7.05967069e-03 -1.05074787e+02] [-7.12018559e-03 1.97915674e-05 -9.99974651e-01 4.76814000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.257628 meters 0.011795106625264236 Centerline is valid? [True, True] Translation: X:199.98, Y:-105.05, Z:0.48 [[-2.07603981e-01 9.78211218e-01 1.84402376e-03 1.99977727e+02] [ 9.78172647e-01 2.07612171e-01 -8.68667234e-03 -1.05047862e+02] [-8.88024211e-03 3.85845465e-07 -9.99960570e-01 4.77543381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.317628 meters 0.015858932834303858 Centerline is valid? [True, True] Translation: X:199.98, Y:-105.02, Z:0.48 [[-2.88946708e-01 9.57340008e-01 3.14793254e-03 1.99980632e+02] [ 9.57280945e-01 2.88963849e-01 -1.06342341e-02 -1.05022158e+02] [-1.10902164e-02 -5.92710897e-05 -9.99938500e-01 4.81796194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.377628 meters 0.012936004102637828 Centerline is valid? [True, True] Translation: X:199.98, Y:-104.99, Z:0.48 [[-3.69626267e-01 9.29169900e-01 4.44066406e-03 1.99982865e+02] [ 9.29097806e-01 3.69652909e-01 -1.15755315e-02 -1.04994268e+02] [-1.23971398e-02 -1.52809254e-04 -9.99923141e-01 4.80759528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.437628 meters 0.013717090025665483 Centerline is valid? [True, True] Translation: X:199.98, Y:-104.97, Z:0.48 [[-4.42492893e-01 8.96752275e-01 5.94949264e-03 1.99977832e+02] [ 8.96665441e-01 4.42532848e-01 -1.24805827e-02 -1.04969076e+02] [-1.38248368e-02 -1.87864676e-04 -9.99904415e-01 4.83518088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.49762799999996 meters 0.013445348110742265 Centerline is valid? [True, True] Translation: X:199.96, Y:-104.95, Z:0.48 [[-5.10151889e-01 8.60061916e-01 6.20895466e-03 1.99961515e+02] [ 8.59994559e-01 5.10189649e-01 -1.07647794e-02 -1.04949582e+02] [-1.24261212e-02 -1.52005346e-04 -9.99922781e-01 4.80947220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.55762799999997 meters 0.012217599142584225 Centerline is valid? [True, True] Translation: X:199.94, Y:-104.93, Z:0.48 [[-5.72403975e-01 8.19957316e-01 4.86715152e-03 1.99942882e+02] [ 8.19926621e-01 5.72424663e-01 -7.09515788e-03 -1.04932365e+02] [-8.60380419e-03 -7.05894771e-05 -9.99962984e-01 4.75141494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.61762799999997 meters 0.011842602650970258 Centerline is valid? [True, True] Translation: X:199.93, Y:-104.91, Z:0.47 [[-6.32664948e-01 7.74416764e-01 3.70661277e-03 1.99927256e+02] [ 7.74403157e-01 6.32675805e-01 -4.59101310e-03 -1.04913417e+02] [-5.90044173e-03 -3.41604382e-05 -9.99982592e-01 4.72897207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.67762799999997 meters 0.011764118340168047 Centerline is valid? [True, True] Translation: X:199.91, Y:-104.89, Z:0.47 [[-6.90749562e-01 7.23088352e-01 2.87710800e-03 1.99913717e+02] [ 7.23081940e-01 6.90755553e-01 -3.04532003e-03 -1.04892347e+02] [-4.18941377e-03 -2.31686484e-05 -9.99991224e-01 4.71030200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.737628 meters 0.011961574112966182 Centerline is valid? [True, True] Translation: X:199.90, Y:-104.87, Z:0.47 [[-7.47335622e-01 6.64437204e-01 3.55944335e-03 1.99904212e+02] [ 6.64429412e-01 7.47344097e-01 -3.21818196e-03 -1.04868707e+02] [-4.79840880e-03 -4.00631618e-05 -9.99988487e-01 4.71346103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.797628 meters 0.013747481970445109 Centerline is valid? [True, True] Translation: X:199.93, Y:-104.84, Z:0.48 [[-7.95140060e-01 6.06376606e-01 7.72635652e-03 1.99928418e+02] [ 6.06346574e-01 7.95177589e-01 -6.03606121e-03 -1.04841762e+02] [-9.80395186e-03 -1.14664266e-04 -9.99951934e-01 4.77873689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.857628 meters 0.013466480344854816 Centerline is valid? [True, True] Translation: X:199.95, Y:-104.82, Z:0.48 [[-8.36605309e-01 5.47697957e-01 1.08860122e-02 1.99949846e+02] [ 5.47648953e-01 8.36676114e-01 -7.32838102e-03 -1.04821651e+02] [-1.31218057e-02 -1.69249278e-04 -9.99913891e-01 4.79206461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.917628 meters 0.012628304487884424 Centerline is valid? [True, True] Translation: X:200.38, Y:-104.19, Z:-0.46 [[-7.84495175e-01 -6.20054368e-01 9.99505313e-03 2.00384406e+02] [ 6.20006237e-01 -7.84558833e-01 -7.72681516e-03 -1.04189960e+02] [ 1.26327527e-02 1.35346072e-04 9.99920194e-01 -4.61299790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.977628 meters 0.011743786012990746 Centerline is valid? [True, True] Translation: X:199.92, Y:-104.81, Z:0.48 [[-8.33891153e-01 5.51847751e-01 9.46596070e-03 1.99917461e+02] [ 5.51811511e-01 8.33944877e-01 -6.32448991e-03 -1.04808592e+02] [-1.13842450e-02 -5.05101129e-05 -9.99935196e-01 4.75355263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.037628 meters 0.011642121927104662 Centerline is valid? [True, True] Translation: X:199.94, Y:-104.79, Z:0.47 [[-8.69254750e-01 4.94290419e-01 8.55348871e-03 1.99936221e+02] [ 4.94266348e-01 8.69296832e-01 -4.87804644e-03 -1.04790747e+02] [-9.84669226e-03 -1.25634065e-05 -9.99951520e-01 4.73826796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.097628 meters 0.011537832613458324 Centerline is valid? [True, True] Translation: X:199.95, Y:-104.77, Z:0.47 [[-9.02106166e-01 4.31447695e-01 7.57310867e-03 1.99954352e+02] [ 4.31432374e-01 9.02137953e-01 -3.63600809e-03 -1.04769358e+02] [-8.40073606e-03 -1.27810656e-05 -9.99964713e-01 4.72363366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.157628 meters 0.011510324092767083 Centerline is valid? [True, True] Translation: X:199.97, Y:-104.75, Z:0.47 [[-9.30876360e-01 3.65266592e-01 7.03700987e-03 1.99967967e+02] [ 3.65255972e-01 9.30902958e-01 -2.78541696e-03 -1.04746007e+02] [-7.56819306e-03 -2.25689243e-05 -9.99971361e-01 4.71047742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.217628 meters 0.011604280158685653 Centerline is valid? [True, True] Translation: X:199.98, Y:-104.72, Z:0.47 [[-9.55017688e-01 2.96418864e-01 8.77913720e-03 1.99978769e+02] [ 2.96405907e-01 9.55058037e-01 -2.77193551e-03 -1.04721900e+02] [-9.20623952e-03 -4.50593218e-05 -9.99957621e-01 4.72162615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.277628 meters 0.011873817272427258 Centerline is valid? [True, True] Translation: X:200.21, Y:-103.97, Z:-0.46 [[-9.29317925e-01 -3.69139332e-01 1.02150880e-02 2.00211338e+02] [ 3.69118924e-01 -9.29374052e-01 -3.88478339e-03 -1.03973975e+02] [ 1.09276641e-02 1.60383465e-04 9.99940278e-01 -4.56414418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.337628 meters 0.01192655716972776 Centerline is valid? [True, True] Translation: X:199.93, Y:-104.71, Z:0.47 [[-9.56503927e-01 2.91436938e-01 1.28354833e-02 1.99930080e+02] [ 2.91409553e-01 9.56590040e-01 -3.99601851e-03 -1.04711462e+02] [-1.34428829e-02 -8.18249556e-05 -9.99909637e-01 4.74541159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.397628 meters 0.011757819798032166 Centerline is valid? [True, True] Translation: X:199.94, Y:-104.69, Z:0.47 [[-9.74041938e-01 2.26020331e-01 1.25344747e-02 1.99937327e+02] [ 2.26001128e-01 9.74122584e-01 -2.94641196e-03 -1.04691453e+02] [-1.28760639e-02 -3.71233852e-05 -9.99917099e-01 4.72298401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.457628 meters 0.011767464316056598 Centerline is valid? [True, True] Translation: X:199.95, Y:-104.67, Z:0.47 [[-9.86923464e-01 1.60945305e-01 8.87046970e-03 1.99954821e+02] [ 1.60938920e-01 9.86963327e-01 -1.43361780e-03 -1.04671884e+02] [-8.98556234e-03 1.27327716e-05 -9.99959629e-01 4.69535362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.517628 meters 0.011974517964703578 Centerline is valid? [True, True] Translation: X:199.96, Y:-104.65, Z:0.47 [[-9.95492950e-01 9.45199049e-02 7.73141776e-03 1.99962853e+02] [ 9.45173765e-02 9.95522971e-01 -6.92570258e-04 -1.04648308e+02] [-7.76226565e-03 4.13045139e-05 -9.99969872e-01 4.68169750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.577628 meters 0.01334035149919189 Centerline is valid? [True, True] Translation: X:200.05, Y:-103.84, Z:-0.45 [[-9.89879651e-01 -1.41754499e-01 6.62860746e-03 2.00047922e+02] [ 1.41750679e-01 -9.89901840e-01 -1.04499920e-03 -1.03836062e+02] [ 6.70980406e-03 -9.48138378e-05 9.99977485e-01 -4.50530260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.637628 meters 0.017323141668953893 Centerline is valid? [True, True] Translation: X:199.90, Y:-104.65, Z:0.47 [[-9.94917421e-01 1.00240289e-01 9.55042621e-03 1.99904846e+02] [ 1.00237129e-01 9.94963246e-01 -8.10177448e-04 -1.04648355e+02] [-9.58353549e-03 1.51247647e-04 -9.99954065e-01 4.73138941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.697628 meters 0.014008438736326402 Centerline is valid? [True, True] Translation: X:199.91, Y:-104.62, Z:0.47 [[-9.99575833e-01 2.60197155e-02 1.30815788e-02 1.99908519e+02] [ 2.60196641e-02 9.99661416e-01 -1.74149201e-04 -1.04617694e+02] [-1.30816809e-02 1.66302953e-04 -9.99914417e-01 4.73543745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.757628 meters 0.013773514329219853 Centerline is valid? [True, True] Translation: X:199.91, Y:-104.59, Z:0.48 [[-9.98709004e-01 -4.82316986e-02 1.59382609e-02 1.99905501e+02] [-4.82230945e-02 9.98836162e-01 9.23947329e-04 -1.04586050e+02] [-1.59642749e-02 1.54162254e-04 -9.99872551e-01 4.77089237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.817628 meters 0.012463897160990637 Centerline is valid? [True, True] Translation: X:199.90, Y:-104.55, Z:0.47 [[-9.92107258e-01 -1.24543470e-01 1.45640617e-02 1.99897101e+02] [-1.24529134e-01 9.92214150e-01 1.89063583e-03 -1.04553454e+02] [-1.46861344e-02 6.20635382e-05 -9.99892151e-01 4.73845475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.877628 meters 0.012008626837258379 Centerline is valid? [True, True] Translation: X:199.89, Y:-104.52, Z:0.47 [[-9.80063748e-01 -1.98313167e-01 1.21217796e-02 1.99888300e+02] [-1.98297896e-01 9.80138708e-01 2.46097905e-03 -1.04523474e+02] [-1.23690699e-02 8.19296315e-06 -9.99923500e-01 4.71265456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.937628 meters 0.011910053515061076 Centerline is valid? [True, True] Translation: X:199.87, Y:-104.50, Z:0.47 [[-9.62489367e-01 -2.71140076e-01 9.86295688e-03 1.99868869e+02] [-2.71126152e-01 9.62539899e-01 2.74798005e-03 -1.04496857e+02] [-1.02385770e-02 -2.92039665e-05 -9.99947584e-01 4.68915005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.99762799999996 meters 0.011926075177438643 Centerline is valid? [True, True] Translation: X:199.84, Y:-104.48, Z:0.47 [[-9.39664779e-01 -3.42025008e-01 6.99971790e-03 1.99838599e+02] [-3.42015847e-01 9.39690849e-01 2.50358831e-03 -1.04475412e+02] [-7.43386067e-03 -4.14806934e-05 -9.99972368e-01 4.66311319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.05762799999997 meters 0.011972104084675216 Centerline is valid? [True, True] Translation: X:199.79, Y:-104.47, Z:0.46 [[-9.11682762e-01 -4.10881287e-01 3.33301568e-03 1.99785957e+02] [-4.10878658e-01 9.11688854e-01 1.47017161e-03 -1.04465257e+02] [-3.64273925e-03 -2.91348950e-05 -9.99993365e-01 4.62824759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.11762799999997 meters 0.011878901972236075 Centerline is valid? [True, True] Translation: X:199.73, Y:-104.46, Z:0.46 [[-8.79387794e-01 -4.76077518e-01 5.22538433e-03 1.99728602e+02] [-4.76069362e-01 8.79403318e-01 2.78692567e-03 -1.04461502e+02] [-5.92201297e-03 -3.68569670e-05 -9.99982464e-01 4.64870276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.17762799999997 meters 0.011935557804558263 Centerline is valid? [True, True] Translation: X:199.65, Y:-104.47, Z:0.47 [[-8.43368228e-01 -5.37256812e-01 9.22767159e-03 1.99654694e+02] [-5.37224950e-01 8.43418708e-01 5.85116338e-03 -1.04474215e+02] [-1.09263682e-02 -2.26501209e-05 -9.99940305e-01 4.69290323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.237628 meters 0.01226072801867453 Centerline is valid? [True, True] Translation: X:199.58, Y:-104.50, Z:0.47 [[-8.02972806e-01 -5.95894506e-01 1.20171412e-02 1.99579022e+02] [-5.95827197e-01 8.03062723e-01 8.95622897e-03 -1.04495067e+02] [-1.49874858e-02 3.14687516e-05 -9.99887681e-01 4.73019263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.297628 meters 0.01652231981408184 Centerline is valid? [True, True] Translation: X:199.50, Y:-104.53, Z:0.48 [[-7.60404993e-01 -6.49321366e-01 1.28845014e-02 1.99499996e+02] [-6.49224594e-01 7.60514128e-01 1.12110773e-02 -1.04530151e+02] [-1.70784374e-02 1.60023917e-04 -9.99854140e-01 4.75806088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.357628 meters 0.013679779449808355 Centerline is valid? [True, True] Translation: X:199.42, Y:-104.58, Z:0.47 [[-7.11767434e-01 -7.02338128e-01 1.04054752e-02 1.99415104e+02] [-7.02259061e-01 7.11843463e-01 1.05402022e-02 -1.04577523e+02] [-1.48098554e-02 1.94833370e-04 -9.99890309e-01 4.70247268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.417628 meters 0.013978309128315039 Centerline is valid? [True, True] Translation: X:199.33, Y:-104.63, Z:0.47 [[-6.59535424e-01 -7.51644560e-01 6.59391815e-03 1.99333552e+02] [-7.51604315e-01 6.59568362e-01 7.78012894e-03 -1.04629450e+02] [-1.01970314e-02 1.75253309e-04 -9.99947994e-01 4.65332777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.477628 meters 0.014602061256132599 Centerline is valid? [True, True] Translation: X:199.25, Y:-104.69, Z:0.46 [[-6.01985677e-01 -7.98495290e-01 4.30316185e-03 1.99248799e+02] [-7.98473223e-01 6.02001041e-01 5.93794865e-03 -1.04694074e+02] [-7.33193194e-03 1.38600526e-04 -9.99973111e-01 4.63191607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.537628 meters 0.01489365931728491 Centerline is valid? [True, True] Translation: X:199.17, Y:-104.77, Z:0.46 [[-5.39903989e-01 -8.41718856e-01 3.61241047e-03 1.99167574e+02] [-8.41698306e-01 5.39916057e-01 5.88324956e-03 -1.04765426e+02] [-6.90244051e-03 1.35830134e-04 -9.99976169e-01 4.63238223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.597628 meters 0.015740197469755128 Centerline is valid? [True, True] Translation: X:199.09, Y:-104.85, Z:0.46 [[-4.74228085e-01 -8.80394847e-01 3.55483349e-03 1.99089507e+02] [-8.80367566e-01 4.74241382e-01 6.93250376e-03 -1.04846450e+02] [-7.78918973e-03 1.58027877e-04 -9.99969651e-01 4.64222093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.657628 meters 0.017636159187896815 Centerline is valid? [True, True] Translation: X:199.01, Y:-104.94, Z:0.47 [[-4.05127963e-01 -9.14250234e-01 4.22404974e-03 1.99012920e+02] [-9.14194645e-01 4.05149922e-01 1.00842195e-02 -1.04935222e+02] [-1.09308735e-02 2.23795665e-04 -9.99940231e-01 4.67822437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.717628 meters 0.0147946465746083 Centerline is valid? [True, True] Translation: X:198.94, Y:-105.03, Z:0.47 [[-3.31308635e-01 -9.43515122e-01 3.71531973e-03 1.98941350e+02] [-9.43448444e-01 3.31329399e-01 1.12188948e-02 -1.05032790e+02] [-1.18161915e-02 2.11704103e-04 -9.99930164e-01 4.65391154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.777628 meters 0.016583724541777773 Centerline is valid? [True, True] Translation: X:198.88, Y:-105.13, Z:0.47 [[-2.56841528e-01 -9.66449028e-01 2.95052675e-03 1.98879261e+02] [-9.66375640e-01 2.56858391e-01 1.19117279e-02 -1.05132520e+02] [-1.22699454e-02 2.08109233e-04 -9.99924700e-01 4.66817368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.837628 meters 0.013584950816138799 Centerline is valid? [True, True] Translation: X:198.83, Y:-105.24, Z:0.46 [[-1.78237233e-01 -9.83986485e-01 1.44462668e-03 1.98825732e+02] [-9.83948779e-01 1.78243051e-01 8.61481743e-03 -1.05241342e+02] [-8.73435859e-03 1.14042565e-04 -9.99961848e-01 4.60683988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.897628 meters 0.012797899320289253 Centerline is valid? [True, True] Translation: X:198.78, Y:-105.36, Z:0.46 [[-9.77790817e-02 -9.95207996e-01 5.44254608e-04 1.98778254e+02] [-9.95189561e-01 9.77805833e-02 6.05757927e-03 -1.05355318e+02] [-6.08176886e-03 5.06680338e-05 -9.99981505e-01 4.58878093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.957628 meters 0.012056098414310507 Centerline is valid? [True, True] Translation: X:198.74, Y:-105.47, Z:0.46 [[-1.21269500e-02 -9.99926465e-01 3.41731768e-05 1.98737310e+02] [-9.99923920e-01 1.21269962e-02 2.25615570e-03 -1.05473494e+02] [-2.25640421e-03 -6.81028964e-06 -9.99997454e-01 4.56276058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.017628 meters 0.012580587750027874 Centerline is valid? [True, True] Translation: X:198.71, Y:-105.60, Z:0.46 [[ 7.33653779e-02 -9.97305098e-01 -2.51762053e-04 1.98705030e+02] [-9.97297229e-01 -7.33657992e-02 3.96184542e-03 -1.05595340e+02] [-3.96963936e-03 -3.95806890e-05 -9.99992120e-01 4.58778221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.077628 meters 0.01332599526028234 Centerline is valid? [True, True] Translation: X:198.68, Y:-105.72, Z:0.46 [[ 1.55472591e-01 -9.87839439e-01 -1.23128029e-03 1.98684019e+02] [-9.87801683e-01 -1.55477415e-01 8.63765023e-03 -1.05717058e+02] [-8.72404783e-03 -1.26657119e-04 -9.99961937e-01 4.63346593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.137628 meters 0.01338966835258136 Centerline is valid? [True, True] Translation: X:198.68, Y:-105.84, Z:0.46 [[ 2.31538049e-01 -9.72823304e-01 -2.22509557e-03 1.98677343e+02] [-9.72771753e-01 -2.31548689e-01 1.00160806e-02 -1.05837609e+02] [-1.02590946e-02 -1.54593638e-04 -9.99947362e-01 4.64636404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.197628 meters 0.013029209489780393 Centerline is valid? [True, True] Translation: X:198.68, Y:-105.95, Z:0.47 [[ 3.02321357e-01 -9.53199846e-01 -3.44241021e-03 1.98680428e+02] [-9.53132844e-01 -3.02340925e-01 1.13025473e-02 -1.05951694e+02] [-1.18143679e-02 -1.35927212e-04 -9.99930199e-01 4.65485919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.257628 meters 0.012517518421886056 Centerline is valid? [True, True] Translation: X:198.69, Y:-106.06, Z:0.47 [[ 3.69816859e-01 -9.29093557e-01 -4.54458943e-03 1.98693123e+02] [-9.29020744e-01 -3.69844773e-01 1.16318856e-02 -1.06062415e+02] [-1.24879026e-02 -7.96495501e-05 -9.99922020e-01 4.66135336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.317628 meters 0.012375881405757875 Centerline is valid? [True, True] Translation: X:198.72, Y:-106.17, Z:0.46 [[ 4.31149739e-01 -9.02268266e-01 -4.67742566e-03 1.98717506e+02] [-9.02216081e-01 -4.31175108e-01 9.70403591e-03 -1.06171577e+02] [-1.07724332e-02 3.61561080e-05 -9.99941975e-01 4.64957660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.377628 meters 0.013291037676685168 Centerline is valid? [True, True] Translation: X:198.75, Y:-106.27, Z:0.46 [[ 4.90769813e-01 -8.71278343e-01 -4.36345059e-03 1.98748612e+02] [-8.71245902e-01 -4.90789198e-01 7.51945018e-03 -1.06274930e+02] [-8.69306850e-03 1.11319290e-04 -9.99962208e-01 4.62243279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.437628 meters 0.0173410136555495 Centerline is valid? [True, True] Translation: X:198.79, Y:-106.38, Z:0.46 [[ 5.51386118e-01 -8.34236067e-01 -4.85102068e-03 1.98787286e+02] [-8.34206267e-01 -5.51407435e-01 7.05308304e-03 -1.06377986e+02] [-8.55882512e-03 1.57779768e-04 -9.99963360e-01 4.63550438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.49762799999996 meters 0.016390498655362535 Centerline is valid? [True, True] Translation: X:198.83, Y:-106.49, Z:0.46 [[ 6.15018807e-01 -7.88486213e-01 -6.43108204e-03 1.98832194e+02] [-7.88445984e-01 -6.15052406e-01 7.96664289e-03 -1.06486191e+02] [-1.02370406e-02 1.70925596e-04 -9.99947586e-01 4.64048426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.55762799999997 meters 0.01613685956696407 Centerline is valid? [True, True] Translation: X:198.88, Y:-106.59, Z:0.47 [[ 6.80289591e-01 -7.32883081e-01 -9.40543159e-03 1.98876170e+02] [-7.32815096e-01 -6.80354598e-01 9.98278639e-03 -1.06589612e+02] [-1.37152439e-02 1.01256585e-04 -9.99905936e-01 4.65963907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.61762799999997 meters 0.015376729385994475 Centerline is valid? [True, True] Translation: X:198.93, Y:-106.69, Z:0.47 [[ 7.40805270e-01 -6.71603321e-01 -1.25112366e-02 1.98930527e+02] [-6.71506552e-01 -7.40910910e-01 1.14005870e-02 -1.06691120e+02] [-1.69263838e-02 -4.42375624e-05 -9.99856738e-01 4.70317432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.67762799999997 meters 0.015656655087177618 Centerline is valid? [True, True] Translation: X:198.95, Y:-106.72, Z:0.46 [[ 7.93421002e-01 -6.08561838e-01 -1.16448931e-02 1.98952209e+02] [-6.08494512e-01 -7.93506446e-01 9.05253973e-03 -1.06718018e+02] [-1.47493279e-02 -9.66216040e-05 -9.99891218e-01 4.64400945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.737628 meters 0.012541499538012413 Centerline is valid? [True, True] Translation: X:198.98, Y:-106.74, Z:0.46 [[ 8.39252690e-01 -5.43687951e-01 -7.63770634e-03 1.98975292e+02] [-5.43664637e-01 -8.39287439e-01 5.03549746e-03 -1.06742739e+02] [-9.14797030e-03 -7.37039366e-05 -9.99958154e-01 4.57311396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.797628 meters 0.012435204680141991 Centerline is valid? [True, True] Translation: X:199.00, Y:-106.77, Z:0.45 [[ 8.79807122e-01 -4.75310120e-01 -4.44048762e-03 1.98998249e+02] [-4.75303773e-01 -8.79818326e-01 2.45686166e-03 -1.06768207e+02] [-5.07459360e-03 -5.09838635e-05 -9.99987123e-01 4.54015756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.857628 meters 0.015013614889427998 Centerline is valid? [True, True] Translation: X:199.02, Y:-106.79, Z:0.45 [[ 9.14964437e-01 -4.03521617e-01 -3.22240465e-03 1.99022930e+02] [-4.03518943e-01 -9.14970110e-01 1.46950977e-03 -1.06792470e+02] [-3.54138290e-03 -4.42478641e-05 -9.99993728e-01 4.54524276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.917628 meters 0.015860840474839193 Centerline is valid? [True, True] Translation: X:199.05, Y:-106.81, Z:0.45 [[ 9.44357423e-01 -3.28915200e-01 -1.96205458e-03 1.99050175e+02] [-3.28914416e-01 -9.44359460e-01 7.19098376e-04 -1.06811980e+02] [-2.08940719e-03 -3.37378545e-05 -9.99997817e-01 4.53631718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.977628 meters 0.016590798229819233 Centerline is valid? [True, True] Translation: X:199.08, Y:-106.83, Z:0.45 [[ 9.67692250e-01 -2.52129235e-01 -1.59926753e-03 1.99079883e+02] [-2.52128836e-01 -9.67693571e-01 4.49644827e-04 -1.06827761e+02] [-1.66096951e-03 -3.18963538e-05 -9.99998620e-01 4.53435399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.037628 meters 0.013496163282540215 Centerline is valid? [True, True] Translation: X:199.11, Y:-106.84, Z:0.45 [[ 9.84728521e-01 -1.74093422e-01 -1.10507827e-03 1.99111177e+02] [-1.74093282e-01 -9.84729140e-01 2.21959341e-04 -1.06840838e+02] [-1.12684444e-03 -2.61829893e-05 -9.99999365e-01 4.52447933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.097628 meters 0.013299170303034421 Centerline is valid? [True, True] Translation: X:199.14, Y:-106.85, Z:0.46 [[ 9.95211006e-01 -9.76649558e-02 -4.07556443e-03 1.99139248e+02] [-9.76638564e-02 -9.95219349e-01 4.68396015e-04 -1.06847971e+02] [-4.10182645e-03 -6.81175300e-05 -9.99991585e-01 4.55534955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.157628 meters 0.012384907373645563 Centerline is valid? [True, True] Translation: X:199.17, Y:-106.85, Z:0.46 [[ 9.99656290e-01 -2.50718898e-02 -7.66176357e-03 1.99166786e+02] [-2.50705633e-02 -9.99685648e-01 2.69137524e-04 -1.06848507e+02] [-7.66610287e-03 -7.69602898e-05 -9.99970612e-01 4.60470116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.217628 meters 0.011959105334599065 Centerline is valid? [True, True] Translation: X:199.19, Y:-106.84, Z:0.46 [[ 9.98864976e-01 4.70166560e-02 -7.62846318e-03 1.99194692e+02] [ 4.70155074e-02 -9.98894105e-01 -3.29926089e-04 -1.06843852e+02] [-7.63553892e-03 -2.91044516e-05 -9.99970848e-01 4.59772840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.277628 meters 0.014771269562134292 Centerline is valid? [True, True] Translation: X:199.22, Y:-106.83, Z:0.46 [[ 9.93434119e-01 1.14195234e-01 -6.93539115e-03 1.99219492e+02] [ 1.14192106e-01 -9.93458326e-01 -8.46677882e-04 -1.06830953e+02] [-6.98670866e-03 4.91517743e-05 -9.99975591e-01 4.59128895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.337628 meters 0.01357009581015855 Centerline is valid? [True, True] Translation: X:199.24, Y:-106.82, Z:0.46 [[ 9.82397867e-01 1.86756434e-01 -4.05782921e-03 1.99244736e+02] [ 1.86754645e-01 -9.82406246e-01 -8.18582344e-04 -1.06822762e+02] [-4.13931228e-03 4.63550944e-05 -9.99991432e-01 4.57020655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.397628 meters 0.015411476941666793 Centerline is valid? [True, True] Translation: X:199.27, Y:-106.81, Z:0.46 [[ 9.66280838e-01 2.57456798e-01 -4.16402317e-03 1.99265287e+02] [ 2.57454076e-01 -9.66289807e-01 -1.18620097e-03 -1.06806745e+02] [-4.32904865e-03 7.41585259e-05 -9.99990627e-01 4.56877279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.457628 meters 0.01609843848674497 Centerline is valid? [True, True] Translation: X:199.29, Y:-106.79, Z:0.46 [[ 9.43248638e-01 3.32030549e-01 -6.14173291e-03 1.99285628e+02] [ 3.32022691e-01 -9.43268626e-01 -2.28737439e-03 -1.06794390e+02] [-6.55278213e-03 1.18368092e-04 -9.99978523e-01 4.59709688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.517628 meters 0.012302411497498318 Centerline is valid? [True, True] Translation: X:199.32, Y:-106.80, Z:0.46 [[ 9.09550729e-01 4.15502897e-01 -8.64948896e-03 1.99315898e+02] [ 4.15483431e-01 -9.09591853e-01 -4.02246697e-03 -1.06802890e+02] [-9.53885137e-03 6.49184177e-05 -9.99954502e-01 4.61846523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.577628 meters 0.011924883099478204 Centerline is valid? [True, True] Translation: X:199.34, Y:-106.80, Z:0.46 [[ 8.71138779e-01 4.90921886e-01 -1.06268152e-02 1.99343666e+02] [ 4.90885247e-01 -8.71203594e-01 -5.99769198e-03 -1.06800176e+02] [-1.22025178e-02 8.27526606e-06 -9.99925546e-01 4.64516265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.637628 meters 0.01512681520466924 Centerline is valid? [True, True] Translation: X:199.37, Y:-106.80, Z:0.47 [[ 8.28033988e-01 5.60563003e-01 -1.13505330e-02 1.99372209e+02] [ 5.60510974e-01 -8.28111779e-01 -7.63733759e-03 -1.06796754e+02] [-1.36807190e-02 -3.81232206e-05 -9.99906414e-01 4.66411828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.697628 meters 0.011635575035711072 Centerline is valid? [True, True] Translation: X:199.40, Y:-106.79, Z:0.46 [[ 7.81484764e-01 6.23866817e-01 -8.47107855e-03 1.99398758e+02] [ 6.23830645e-01 -7.81530674e-01 -6.71810099e-03 -1.06789658e+02] [-1.08116080e-02 -3.44248264e-05 -9.99941552e-01 4.62465274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.757628 meters 0.01403831217356365 Centerline is valid? [True, True] Translation: X:199.42, Y:-106.78, Z:0.46 [[ 7.34189753e-01 6.78914577e-01 -6.35634736e-03 1.99421478e+02] [ 6.78888889e-01 -7.34217268e-01 -5.90589418e-03 -1.06776963e+02] [-8.67653765e-03 2.07933920e-05 -9.99962358e-01 4.61265515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.817628 meters 0.012301944278929501 Centerline is valid? [True, True] Translation: X:199.44, Y:-106.76, Z:0.46 [[ 6.84263973e-01 7.29226015e-01 -3.49777100e-03 1.99440567e+02] [ 7.29216130e-01 -6.84272911e-01 -3.79720033e-03 -1.06760443e+02] [-5.16244721e-03 4.76563534e-05 -9.99986673e-01 4.55984359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.877628 meters 0.013352277162091771 Centerline is valid? [True, True] Translation: X:199.46, Y:-106.75, Z:0.45 [[ 6.29051761e-01 7.77363074e-01 -7.30458179e-04 1.99459042e+02] [ 7.77362530e-01 -6.29052185e-01 -9.19437685e-04 -1.06745333e+02] [-1.17423322e-03 1.05430773e-05 -9.99999311e-01 4.53846408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.937628 meters 0.013543763373933265 Centerline is valid? [True, True] Translation: X:199.48, Y:-106.73, Z:0.45 [[ 5.66794109e-01 8.23859009e-01 -8.78183737e-04 1.99479767e+02] [ 8.23857970e-01 -5.66794789e-01 -1.30833732e-03 -1.06730363e+02] [-1.57563546e-03 1.80592171e-05 -9.99998759e-01 4.54491088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.99762799999996 meters 0.01352668434688883 Centerline is valid? [True, True] Translation: X:199.50, Y:-106.72, Z:0.46 [[ 4.99484087e-01 8.66318515e-01 -2.80667708e-03 1.99501313e+02] [ 8.66303920e-01 -4.99491966e-01 -5.02941429e-03 -1.06715196e+02] [-5.75898737e-03 8.06770480e-05 -9.99983414e-01 4.58593298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.05762799999997 meters 0.013103531948129788 Centerline is valid? [True, True] Translation: X:199.52, Y:-106.70, Z:0.46 [[ 4.27536561e-01 9.03989122e-01 -4.01951637e-03 1.99524387e+02] [ 9.03946646e-01 -4.27555440e-01 -8.76395379e-03 -1.06700058e+02] [-9.64108499e-03 1.13482320e-04 -9.99953517e-01 4.61601432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.11762799999997 meters 0.013258261672035242 Centerline is valid? [True, True] Translation: X:199.54, Y:-106.68, Z:0.46 [[ 3.54779948e-01 9.34941428e-01 -3.96427569e-03 1.99543643e+02] [ 9.34878924e-01 -3.54802072e-01 -1.08114606e-02 -1.06682074e+02] [-1.15146156e-02 1.29571632e-04 -9.99933696e-01 4.63792653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.17762799999997 meters 0.016788571455991313 Centerline is valid? [True, True] Translation: X:199.56, Y:-106.66, Z:0.47 [[ 2.82415362e-01 9.59285206e-01 -3.66831098e-03 1.99560764e+02] [ 9.59195693e-01 -2.82439126e-01 -1.31058423e-02 -1.06662296e+02] [-1.36083151e-02 1.82663092e-04 -9.99907386e-01 4.66833660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.237628 meters 0.017597161110401046 Centerline is valid? [True, True] Translation: X:199.57, Y:-106.64, Z:0.47 [[ 2.10071373e-01 9.77682483e-01 -2.64201898e-03 1.99569352e+02] [ 9.77590478e-01 -2.10087855e-01 -1.34145835e-02 -1.06640811e+02] [-1.36702594e-02 2.35207382e-04 -9.99906530e-01 4.66624292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.297628 meters 0.01715048722999993 Centerline is valid? [True, True] Translation: X:199.58, Y:-106.62, Z:0.47 [[ 1.35038142e-01 9.90839171e-01 -1.56123438e-03 1.99577303e+02] [ 9.90748705e-01 -1.35046913e-01 -1.33916153e-02 -1.06617774e+02] [-1.34797769e-02 2.61587911e-04 -9.99909109e-01 4.65984271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.357628 meters 0.015094672566419606 Centerline is valid? [True, True] Translation: X:199.59, Y:-106.59, Z:0.46 [[ 5.68762419e-02 9.98381133e-01 -4.53725627e-04 1.99585679e+02] [ 9.98308662e-01 -5.68775812e-02 -1.20314446e-02 -1.06594681e+02] [-1.20377741e-02 2.31345130e-04 -9.99927517e-01 4.63631693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.417628 meters 0.013317438914813547 Centerline is valid? [True, True] Translation: X:199.60, Y:-106.57, Z:0.46 [[-2.65746030e-02 9.99646753e-01 3.98903643e-04 1.99598613e+02] [ 9.99598423e-01 2.65772411e-02 -9.83068506e-03 -1.06570509e+02] [-9.83781416e-03 1.37496900e-04 -9.99951598e-01 4.60000828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.477628 meters 0.012069333162631826 Centerline is valid? [True, True] Translation: X:199.61, Y:-106.55, Z:0.46 [[-1.13416533e-01 9.93546992e-01 1.03137887e-03 1.99607844e+02] [ 9.93509455e-01 1.13421214e-01 -8.63660993e-03 -1.06546057e+02] [-8.69785806e-03 4.51503038e-05 -9.99962172e-01 4.57675178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.537628 meters 0.01490771580168453 Centerline is valid? [True, True] Translation: X:199.62, Y:-106.52, Z:0.46 [[-1.96890586e-01 9.80423743e-01 1.83859802e-03 1.99616212e+02] [ 9.80380606e-01 1.96899170e-01 -9.19697491e-03 -1.06520316e+02] [-9.37895099e-03 -8.27193518e-06 -9.99956017e-01 4.60271980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.597628 meters 0.011910313270136027 Centerline is valid? [True, True] Translation: X:199.62, Y:-106.49, Z:0.46 [[-2.79466918e-01 9.60153496e-01 1.87246914e-03 1.99621915e+02] [ 9.60130636e-01 2.79473186e-01 -6.62575885e-03 -1.06494874e+02] [-6.88505044e-03 -5.38654282e-05 -9.99976296e-01 4.59911829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.657628 meters 0.011593987808662491 Centerline is valid? [True, True] Translation: X:199.62, Y:-106.47, Z:0.46 [[-3.52043054e-01 9.35982160e-01 1.75589022e-03 1.99615528e+02] [ 9.35970059e-01 3.52047432e-01 -4.75961234e-03 -1.06471980e+02] [-5.07306888e-03 -3.21277886e-05 -9.99987131e-01 4.57509835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.717628 meters 0.011559344862582014 Centerline is valid? [True, True] Translation: X:199.61, Y:-106.45, Z:0.46 [[-4.22546850e-01 9.06339499e-01 1.69462159e-03 1.99611666e+02] [ 9.06332025e-01 4.22550248e-01 -3.68082956e-03 -1.06447481e+02] [-4.05214400e-03 -1.94331161e-05 -9.99991790e-01 4.56266775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.777628 meters 0.011567903141118167 Centerline is valid? [True, True] Translation: X:199.60, Y:-106.43, Z:0.45 [[-4.86970616e-01 8.73417739e-01 1.03557399e-03 1.99600544e+02] [ 8.73415760e-01 4.86971717e-01 -1.85941022e-03 -1.06427891e+02] [-2.12833712e-03 -9.91496056e-07 -9.99997735e-01 4.54890177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.837628 meters 0.01178059887492743 Centerline is valid? [True, True] Translation: X:199.59, Y:-106.41, Z:0.45 [[-5.51617131e-01 8.34097298e-01 4.88142186e-04 1.99593358e+02] [ 8.34096967e-01 5.51617347e-01 -7.42555019e-04 -1.06405522e+02] [-8.88630832e-04 -2.44815259e-06 -9.99999605e-01 4.54820989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.897628 meters 0.01179108462924214 Centerline is valid? [True, True] Translation: X:199.59, Y:-106.38, Z:0.46 [[-6.15013207e-01 7.88516609e-01 5.58249981e-04 1.99587441e+02] [ 7.88516282e-01 6.15013461e-01 -7.18963825e-04 -1.06380679e+02] [-9.10246170e-04 -1.98304913e-06 -9.99999586e-01 4.55829691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.957628 meters 0.011718719615345976 Centerline is valid? [True, True] Translation: X:199.58, Y:-106.36, Z:0.46 [[-6.74951195e-01 7.37861243e-01 1.29252787e-03 1.99579946e+02] [ 7.37859902e-01 6.74952433e-01 -1.40674083e-03 -1.06356591e+02] [-1.91037437e-03 4.22308289e-06 -9.99998175e-01 4.57180027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.017628 meters 0.01189147443295589 Centerline is valid? [True, True] Translation: X:199.57, Y:-106.34, Z:0.46 [[-7.29894375e-01 6.83558813e-01 1.24558124e-03 1.99569388e+02] [ 6.83557829e-01 7.29895438e-01 -1.15976838e-03 -1.06335061e+02] [-1.70191395e-03 4.91839118e-06 -9.99998552e-01 4.57155895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.077628 meters 0.011868972869757362 Centerline is valid? [True, True] Translation: X:199.60, Y:-106.32, Z:0.46 [[-7.75888719e-01 6.30869793e-01 1.16702228e-05 1.99598734e+02] [ 6.30869793e-01 7.75888719e-01 -1.81641088e-05 -1.06321581e+02] [-2.05139818e-05 -6.73093605e-06 -1.00000000e+00 4.56600925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.137628 meters 0.01180988670506425 Centerline is valid? [True, True] Translation: X:199.62, Y:-106.30, Z:0.46 [[-8.19086387e-01 5.73668764e-01 1.28061283e-03 1.99623776e+02] [ 5.73668069e-01 8.19087388e-01 -8.93470825e-04 -1.06304247e+02] [-1.56149013e-03 2.81690191e-06 -9.99998781e-01 4.58441449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.197628 meters 0.011771836584430515 Centerline is valid? [True, True] Translation: X:199.64, Y:-106.28, Z:0.46 [[-8.58018000e-01 5.13614244e-01 2.34950029e-03 1.99640086e+02] [ 5.13612344e-01 8.58021216e-01 -1.39731500e-03 -1.06280959e+02] [-2.73360198e-03 7.81093358e-06 -9.99996264e-01 4.60214051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.257628 meters 0.014229012648923097 Centerline is valid? [True, True] Translation: X:199.66, Y:-106.26, Z:0.46 [[-8.91548737e-01 4.52904645e-01 4.26984421e-03 1.99662642e+02] [ 4.52899583e-01 8.91558962e-01 -2.14129944e-03 -1.06263834e+02] [-4.77662233e-03 2.47378573e-05 -9.99988592e-01 4.64525478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.317628 meters 0.01217405340157222 Centerline is valid? [True, True] Translation: X:199.68, Y:-106.24, Z:0.46 [[-9.20588132e-01 3.90528703e-01 2.19595399e-03 1.99677557e+02] [ 3.90527628e-01 9.20590751e-01 -9.16716719e-04 -1.06244329e+02] [-2.37957912e-03 1.36621700e-05 -9.99997169e-01 4.61794748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.377628 meters 0.012175702736159331 Centerline is valid? [True, True] Translation: X:199.69, Y:-106.22, Z:0.46 [[-9.45955775e-01 3.24292455e-01 1.44027832e-03 1.99692263e+02] [ 3.24292089e-01 9.45956872e-01 -4.87178280e-04 -1.06223667e+02] [-1.52042941e-03 6.22175658e-06 -9.99998844e-01 4.60489010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.437628 meters 0.012035715020086147 Centerline is valid? [True, True] Translation: X:199.70, Y:-106.20, Z:0.46 [[-9.66908844e-01 2.55118902e-01 1.27818418e-03 1.99701614e+02] [ 2.55118683e-01 9.66909689e-01 -3.34488777e-04 -1.06197368e+02] [-1.32122308e-03 2.66850793e-06 -9.99999127e-01 4.60557843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.49762799999996 meters 0.01214672051027399 Centerline is valid? [True, True] Translation: X:199.71, Y:-106.17, Z:0.46 [[-9.82639531e-01 1.85524802e-01 -3.17250209e-04 1.99712751e+02] [ 1.85524795e-01 9.82639582e-01 5.07422130e-05 -1.06170432e+02] [ 3.21156552e-04 -8.99647560e-06 -9.99999948e-01 4.61088201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.55762799999997 meters 0.012381441037413541 Centerline is valid? [True, True] Translation: X:199.72, Y:-106.15, Z:0.46 [[-9.93104205e-01 1.17224453e-01 -1.57025265e-03 1.99722145e+02] [ 1.17224339e-01 9.93105446e-01 1.64654065e-04 -1.06145540e+02] [ 1.57872794e-03 -2.05531852e-05 -9.99998754e-01 4.60011518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.61762799999997 meters 0.013276431201439468 Centerline is valid? [True, True] Translation: X:199.82, Y:-105.34, Z:-0.44 [[-9.86954709e-01 -1.60978838e-01 -2.49330799e-03 1.99821146e+02] [ 1.60978391e-01 -9.86957858e-01 3.80414569e-04 -1.05335921e+02] [-2.52202861e-03 -2.59167588e-05 9.99996819e-01 -4.43926199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.67762799999997 meters 0.013957128497436626 Centerline is valid? [True, True] Translation: X:199.67, Y:-106.14, Z:0.46 [[-9.92306241e-01 1.23801771e-01 -1.20269911e-03 1.99670136e+02] [ 1.23801717e-01 9.92306969e-01 1.19542951e-04 -1.06143880e+02] [ 1.20824634e-03 -3.02729990e-05 -9.99999270e-01 4.61702970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.737628 meters 0.01561489170414199 Centerline is valid? [True, True] Translation: X:199.76, Y:-105.33, Z:-0.45 [[-9.89107683e-01 -1.47168731e-01 2.71219365e-03 1.99764267e+02] [ 1.47168691e-01 -9.89111384e-01 -2.15131912e-04 -1.05327341e+02] [ 2.71432230e-03 1.86361362e-04 9.99996299e-01 -4.50664689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.797628 meters 0.01843823267743429 Centerline is valid? [True, True] Translation: X:199.61, Y:-106.14, Z:0.47 [[-9.92123969e-01 1.25136917e-01 5.54825101e-03 1.99612329e+02] [ 1.25135711e-01 9.92139473e-01 -5.65240534e-04 -1.06138314e+02] [-5.57537129e-03 1.33495655e-04 -9.99984449e-01 4.71710470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.857628 meters 0.014814695467701732 Centerline is valid? [True, True] Translation: X:199.69, Y:-105.32, Z:-0.45 [[-9.89164210e-01 -1.46705043e-01 5.63876978e-03 1.99690280e+02] [ 1.46701925e-01 -9.89180274e-01 -9.64944395e-04 -1.05324049e+02] [ 5.71932204e-03 -1.27270079e-04 9.99983636e-01 -4.53180246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.917628 meters 0.012566818398418094 Centerline is valid? [True, True] Translation: X:199.55, Y:-106.12, Z:0.47 [[-9.94452478e-01 1.05087792e-01 4.56345800e-03 1.99547258e+02] [ 1.05086847e-01 9.94462948e-01 -4.46991890e-04 -1.06120208e+02] [-4.58516329e-03 3.50472207e-05 -9.99989487e-01 4.68534786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.977628 meters 0.011819918178642346 Centerline is valid? [True, True] Translation: X:199.62, Y:-105.33, Z:-0.45 [[-9.86272954e-01 -1.65119787e-01 1.05652519e-03 1.99620995e+02] [ 1.65119400e-01 -9.86273485e-01 -4.43968395e-04 -1.05334838e+02] [ 1.11533075e-03 -2.63421215e-04 9.99999343e-01 -4.50057586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.037628 meters 0.012328397329985176 Centerline is valid? [True, True] Translation: X:199.49, Y:-106.10, Z:0.47 [[-9.96457575e-01 8.40966166e-02 -2.43919842e-04 1.99487272e+02] [ 8.40966152e-02 9.96457605e-01 1.60477188e-05 -1.06103406e+02] [ 2.44405341e-04 -4.52196213e-06 -9.99999970e-01 4.66509691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.097628 meters 0.01267389975099318 Centerline is valid? [True, True] Translation: X:199.57, Y:-105.33, Z:-0.45 [[-9.85681023e-01 -1.68620405e-01 -2.82342896e-04 1.99565393e+02] [ 1.68620398e-01 -9.85681064e-01 4.97225546e-05 -1.05332376e+02] [-2.86684283e-04 1.40180713e-06 9.99999959e-01 -4.51277949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.157628 meters 0.012272647446562273 Centerline is valid? [True, True] Translation: X:199.43, Y:-106.11, Z:0.47 [[-9.96656100e-01 8.17090438e-02 5.01326824e-04 1.99432266e+02] [ 8.17090287e-02 9.96656226e-01 -5.06147467e-05 -1.06107115e+02] [-5.03786183e-04 -9.48256826e-06 -9.99999873e-01 4.68386020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.217628 meters 0.01201771967993293 Centerline is valid? [True, True] Translation: X:199.52, Y:-105.31, Z:-0.45 [[-9.88052817e-01 -1.54088929e-01 2.86943012e-03 1.99516001e+02] [ 1.54088749e-01 -9.88056970e-01 -2.85010607e-04 -1.05313626e+02] [ 2.87907741e-03 1.60541365e-04 9.99995843e-01 -4.53885438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.277628 meters 0.01213353205050789 Centerline is valid? [True, True] Translation: X:199.38, Y:-106.11, Z:0.47 [[-9.96123016e-01 8.79050024e-02 3.41284093e-03 1.99381392e+02] [ 8.79045144e-02 9.96128862e-01 -2.93028683e-04 -1.06110944e+02] [-3.42538804e-03 8.11150911e-06 -9.99994133e-01 4.69892905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.337628 meters 0.012505312402706524 Centerline is valid? [True, True] Translation: X:199.39, Y:-106.08, Z:0.47 [[-9.99770885e-01 2.11442117e-02 3.33157957e-03 1.99385767e+02] [ 2.11441661e-02 9.99776436e-01 -4.88930048e-05 -1.06084017e+02] [-3.33186855e-03 2.15616692e-05 -9.99994449e-01 4.70500130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.397628 meters 0.012983141843137242 Centerline is valid? [True, True] Translation: X:199.39, Y:-106.06, Z:0.47 [[-9.98913613e-01 -4.65473120e-02 2.22296725e-03 1.99386596e+02] [-4.65471529e-02 9.98916086e-01 1.23297925e-04 -1.06058035e+02] [-2.22629693e-03 1.96911796e-05 -9.99997522e-01 4.68893197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.457628 meters 0.01322680619654346 Centerline is valid? [True, True] Translation: X:199.34, Y:-105.26, Z:-0.45 [[-9.99989639e-01 4.55187570e-03 4.46558364e-05 1.99341246e+02] [-4.55188163e-03 -9.99989631e-01 -1.33530119e-04 -1.05255948e+02] [ 4.40475609e-05 -1.33732003e-04 9.99999990e-01 -4.53769840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.517628 meters 0.013759839572939853 Centerline is valid? [True, True] Translation: X:199.29, Y:-106.06, Z:0.47 [[-9.98827747e-01 -4.83988816e-02 -8.24340317e-04 1.99291641e+02] [-4.83988484e-02 9.98828087e-01 -6.02253277e-05 -1.06059762e+02] [ 8.26289101e-04 -2.02576063e-05 -9.99999658e-01 4.68514052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.577628 meters 0.015582344546930452 Centerline is valid? [True, True] Translation: X:199.25, Y:-105.26, Z:-0.45 [[-9.99790209e-01 2.04162245e-02 -1.64767798e-03 1.99253579e+02] [-2.04161717e-02 -9.99791567e-01 -4.88843880e-05 -1.05258268e+02] [-1.64833259e-03 -1.52348559e-05 9.99998641e-01 -4.51282672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.637628 meters 0.016097047278594977 Centerline is valid? [True, True] Translation: X:199.20, Y:-106.07, Z:0.47 [[-9.98999256e-01 -4.47037476e-02 -1.43593314e-03 1.99201733e+02] [-4.47036376e-02 9.99000287e-01 -1.08642582e-04 -1.06067526e+02] [ 1.43935435e-03 -4.43424241e-05 -9.99998963e-01 4.67027084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.697628 meters 0.016673511572965833 Centerline is valid? [True, True] Translation: X:199.20, Y:-106.04, Z:0.47 [[-9.93507999e-01 -1.13757111e-01 -1.08430865e-03 1.99199033e+02] [-1.13757002e-01 9.93508590e-01 -1.61599691e-04 -1.06039076e+02] [ 1.09565308e-03 -3.72028839e-05 -9.99999399e-01 4.67819646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.757628 meters 0.016851326138741372 Centerline is valid? [True, True] Translation: X:199.19, Y:-106.01, Z:0.47 [[-9.83099348e-01 -1.83072848e-01 -5.80794569e-05 1.99188608e+02] [-1.83072848e-01 9.83099350e-01 -1.89964007e-05 -1.06009171e+02] [ 6.05756015e-05 -8.04257764e-06 -9.99999998e-01 4.69846336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.817628 meters 0.01600583427033454 Centerline is valid? [True, True] Translation: X:199.01, Y:-105.24, Z:-0.45 [[-9.85074362e-01 1.72129122e-01 -2.56484833e-04 1.99009693e+02] [-1.72129117e-01 -9.85074396e-01 -4.47300959e-05 -1.05240482e+02] [-2.60355994e-04 8.60369008e-08 9.99999966e-01 -4.53577626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.877628 meters 0.014760839496601426 Centerline is valid? [True, True] Translation: X:199.05, Y:-106.03, Z:0.47 [[-9.80148220e-01 -1.98262249e-01 -1.24393839e-03 1.99053175e+02] [-1.98262046e-01 9.80149009e-01 -2.85139722e-04 -1.06027107e+02] [ 1.27577742e-03 -3.28534208e-05 -9.99999186e-01 4.68098597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.937628 meters 0.012240860918398632 Centerline is valid? [True, True] Translation: X:199.03, Y:-105.99, Z:0.47 [[-9.59281595e-01 -2.82424848e-01 -3.87648422e-03 1.99030728e+02] [-2.82422421e-01 9.59289427e-01 -1.17112601e-03 -1.05991690e+02] [ 4.04942541e-03 -2.86335714e-05 -9.99991801e-01 4.66686893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.99762799999996 meters 0.012842376205214605 Centerline is valid? [True, True] Translation: X:198.99, Y:-105.96, Z:0.47 [[-9.31397470e-01 -3.63967909e-01 -5.11023937e-03 1.98993675e+02] [-3.63962677e-01 9.31411488e-01 -1.95191278e-03 -1.05964031e+02] [ 5.47016926e-03 4.19297800e-05 -9.99985038e-01 4.67874380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.05762799999997 meters 0.016585000941661973 Centerline is valid? [True, True] Translation: X:198.94, Y:-105.95, Z:0.47 [[-8.99441658e-01 -4.37022931e-01 -3.95737559e-03 1.98944555e+02] [-4.37019012e-01 8.99450362e-01 -1.85190937e-03 -1.05952110e+02] [ 4.36878976e-03 6.37639350e-05 -9.99990455e-01 4.72794541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.11762799999997 meters 0.014467586425438972 Centerline is valid? [True, True] Translation: X:198.89, Y:-105.95, Z:0.47 [[-8.63828968e-01 -5.03774748e-01 -3.24289095e-03 1.98886839e+02] [-5.03771461e-01 8.63835053e-01 -1.82092339e-03 -1.05954304e+02] [ 3.71865810e-03 6.07095442e-05 -9.99993084e-01 4.71845263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.17762799999997 meters 0.014578411625801802 Centerline is valid? [True, True] Translation: X:198.82, Y:-105.97, Z:0.47 [[-8.24793351e-01 -5.65432252e-01 -1.51530156e-03 1.98820353e+02] [-5.65431351e-01 8.24794743e-01 -1.00973751e-03 -1.05971096e+02] [ 1.82075092e-03 2.39742227e-05 -9.99998342e-01 4.74653278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.237628 meters 0.013770006509955409 Centerline is valid? [True, True] Translation: X:198.75, Y:-106.00, Z:0.48 [[-7.82946469e-01 -6.22087859e-01 1.23377624e-03 1.98747047e+02] [-6.22087137e-01 7.82947441e-01 9.47913079e-04 -1.06001160e+02] [-1.55566717e-03 -2.53511306e-05 -9.99998790e-01 4.78989640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.297628 meters 0.015408553994684332 Centerline is valid? [True, True] Translation: X:198.67, Y:-106.04, Z:0.48 [[-7.36709023e-01 -6.76201770e-01 3.31383016e-03 1.98671268e+02] [-6.76195184e-01 7.36716475e-01 2.98483675e-03 -1.06041089e+02] [-4.45970516e-03 -4.18398297e-05 -9.99990055e-01 4.84042432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.357628 meters 0.012496370224872483 Centerline is valid? [True, True] Translation: X:198.59, Y:-106.09, Z:0.48 [[-6.85995321e-01 -7.27603690e-01 1.81351319e-03 1.98592333e+02] [-7.27601216e-01 6.85997718e-01 1.89751940e-03 -1.06094277e+02] [-2.62470803e-03 -1.78249735e-05 -9.99996555e-01 4.78410147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.417628 meters 0.0125386695957771 Centerline is valid? [True, True] Translation: X:198.51, Y:-106.14, Z:0.48 [[-6.28355245e-01 -7.77925623e-01 -1.18779199e-03 1.98507468e+02] [-7.77924241e-01 6.28356368e-01 -1.46623376e-03 -1.06143049e+02] [ 1.88697747e-03 2.69650958e-06 -9.99998220e-01 4.76489788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.477628 meters 0.012443437387682079 Centerline is valid? [True, True] Translation: X:198.42, Y:-106.20, Z:0.48 [[-5.67120761e-01 -8.23633151e-01 -1.57296857e-03 1.98423713e+02] [-8.23630019e-01 5.67122943e-01 -2.27144613e-03 -1.06203593e+02] [ 2.76290490e-03 7.35987242e-06 -9.99996183e-01 4.77289637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.537628 meters 0.012304723703757556 Centerline is valid? [True, True] Translation: X:198.35, Y:-106.28, Z:0.48 [[-5.03841567e-01 -8.63795903e-01 -5.60037810e-04 1.98345928e+02] [-8.63795364e-01 5.03841878e-01 -9.65155652e-04 -1.06278048e+02] [ 1.11586800e-03 -2.52747193e-06 -9.99999377e-01 4.77824546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.597628 meters 0.012764905679724712 Centerline is valid? [True, True] Translation: X:198.28, Y:-106.36, Z:0.48 [[-4.40719481e-01 -8.97643782e-01 1.40721791e-03 1.98277688e+02] [-8.97639214e-01 4.40721727e-01 2.86362085e-03 -1.06361891e+02] [-3.19070296e-03 -1.12048065e-06 -9.99994910e-01 4.81719692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.657628 meters 0.012307042427341377 Centerline is valid? [True, True] Translation: X:198.21, Y:-106.45, Z:0.48 [[-3.70333487e-01 -9.28897446e-01 1.62569574e-03 1.98208191e+02] [-9.28888495e-01 3.70337055e-01 4.07803599e-03 -1.06453942e+02] [-4.39013259e-03 1.43213208e-07 -9.99990363e-01 4.81913098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.717628 meters 0.012224894455471992 Centerline is valid? [True, True] Translation: X:198.14, Y:-106.55, Z:0.48 [[-2.95674962e-01 -9.55287705e-01 1.31078653e-03 1.98142351e+02] [-9.55278463e-01 2.95677867e-01 4.20211905e-03 -1.06551167e+02] [-4.40180323e-03 -9.70475446e-06 -9.99990312e-01 4.80126868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.777628 meters 0.01207750827827951 Centerline is valid? [True, True] Translation: X:198.08, Y:-106.66, Z:0.48 [[-2.19472349e-01 -9.75618699e-01 2.06496234e-04 1.98081722e+02] [-9.75618304e-01 2.19472446e-01 8.77936039e-04 -1.06656464e+02] [-9.01851050e-04 -8.77882129e-06 -9.99999593e-01 4.77412320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.837628 meters 0.012114591114065465 Centerline is valid? [True, True] Translation: X:198.04, Y:-106.76, Z:0.47 [[-1.45557642e-01 -9.89349688e-01 -4.08573279e-04 1.98036419e+02] [-9.89345715e-01 1.45558215e-01 -2.80389180e-03 -1.06759676e+02] [ 2.83350067e-03 -3.90765460e-06 -9.99995986e-01 4.74851101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.897628 meters 0.012412365326244136 Centerline is valid? [True, True] Translation: X:198.00, Y:-106.87, Z:0.47 [[-7.52040931e-02 -9.97168030e-01 -5.13471642e-04 1.98002650e+02] [-9.97140188e-01 7.52058305e-02 -7.45180322e-03 -1.06871551e+02] [ 7.46931600e-03 -4.84028940e-05 -9.99972103e-01 4.72736049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.957628 meters 0.01278985053005375 Centerline is valid? [True, True] Translation: X:197.97, Y:-106.99, Z:0.47 [[-6.05138544e-04 -9.99999814e-01 8.16945915e-05 1.97973807e+02] [-9.99951707e-01 6.04308084e-04 -9.80908963e-03 -1.06987641e+02] [ 9.80903843e-03 -8.76265045e-05 -9.99951886e-01 4.72340657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.017628 meters 0.012607977491627523 Centerline is valid? [True, True] Translation: X:197.95, Y:-107.10, Z:0.47 [[ 7.49826829e-02 -9.97184544e-01 7.63308884e-04 1.97948998e+02] [-9.97141608e-01 -7.49865378e-02 -9.25374451e-03 -1.07100281e+02] [ 9.28492889e-03 -6.72564586e-05 -9.99956892e-01 4.72873663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.077628 meters 0.012320316414536465 Centerline is valid? [True, True] Translation: X:197.93, Y:-107.22, Z:0.48 [[ 1.54037090e-01 -9.88064638e-01 9.19829589e-04 1.97932280e+02] [-9.88048196e-01 -1.54039833e-01 -5.70016091e-03 -1.07221007e+02] [ 5.77381782e-03 -3.07997659e-05 -9.99983331e-01 4.76587553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.137628 meters 0.012162843879670234 Centerline is valid? [True, True] Translation: X:197.93, Y:-107.34, Z:0.48 [[ 2.31197909e-01 -9.72906372e-01 8.47271005e-04 1.97927495e+02] [-9.72900098e-01 -2.31199461e-01 -3.49410817e-03 -1.07343543e+02] [ 3.59532870e-03 -1.64795411e-05 -9.99993537e-01 4.79459072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.197628 meters 0.012159722337616004 Centerline is valid? [True, True] Translation: X:197.93, Y:-107.47, Z:0.48 [[ 3.06741587e-01 -9.51792765e-01 3.62581930e-04 1.97933198e+02] [-9.51792131e-01 -3.06741802e-01 -1.09841871e-03 -1.07466378e+02] [ 1.15668602e-03 -8.17192784e-06 -9.99999331e-01 4.81552711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.257628 meters 0.012082939893480062 Centerline is valid? [True, True] Translation: X:197.95, Y:-107.59, Z:0.48 [[ 3.79444977e-01 -9.25214181e-01 4.79382987e-04 1.97947727e+02] [-9.25213468e-01 -3.79445280e-01 -1.14787495e-03 -1.07587077e+02] [ 1.24392979e-03 -7.97621258e-06 -9.99999226e-01 4.82972352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.317628 meters 0.012102716498902275 Centerline is valid? [True, True] Translation: X:197.97, Y:-107.70, Z:0.48 [[ 4.49482067e-01 -8.93289282e-01 3.61504505e-04 1.97971887e+02] [-8.93289006e-01 -4.49482213e-01 -7.01898308e-04 -1.07702444e+02] [ 7.89488080e-04 -7.43729764e-06 -9.99999688e-01 4.82589932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.377628 meters 0.012064033559282789 Centerline is valid? [True, True] Translation: X:198.01, Y:-107.82, Z:0.48 [[ 5.17427550e-01 -8.55726337e-01 1.07981115e-03 1.98006259e+02] [-8.55724506e-01 -5.17428677e-01 -1.77045062e-03 -1.07818290e+02] [ 2.07374647e-03 -7.94093357e-06 -9.99997850e-01 4.80811147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.437628 meters 0.013947701354503319 Centerline is valid? [True, True] Translation: X:198.04, Y:-107.93, Z:0.48 [[ 5.84082351e-01 -8.11694384e-01 -1.84465244e-04 1.98042806e+02] [-8.11694340e-01 -5.84082380e-01 2.68155159e-04 -1.07926847e+02] [-3.25402935e-04 -6.89530110e-06 -9.99999947e-01 4.83780377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.49762799999996 meters 0.014988066440013768 Centerline is valid? [True, True] Translation: X:198.09, Y:-108.03, Z:0.49 [[ 6.45349589e-01 -7.63885159e-01 -1.83635491e-03 1.98088774e+02] [-7.63881999e-01 -6.45352202e-01 2.19706649e-03 -1.08031936e+02] [-2.86340216e-03 -1.51174958e-05 -9.99995900e-01 4.87396755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.55762799999997 meters 0.012176398831615245 Centerline is valid? [True, True] Translation: X:198.14, Y:-108.13, Z:0.49 [[ 7.02016991e-01 -7.12158034e-01 -1.75449426e-03 1.98141689e+02] [-7.12155759e-01 -7.02019183e-01 1.80022550e-03 -1.08128225e+02] [-2.51373368e-03 -1.43156956e-05 -9.99996840e-01 4.85440615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.61762799999997 meters 0.01227389013727742 Centerline is valid? [True, True] Translation: X:198.20, Y:-108.22, Z:0.49 [[ 7.54793983e-01 -6.55945292e-01 -4.67088179e-03 1.98202719e+02] [-6.55932480e-01 -7.54808434e-01 4.09994342e-03 -1.08222403e+02] [-6.21495956e-03 -3.08295464e-05 -9.99980686e-01 4.87791526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.67762799999997 meters 0.016160797843122743 Centerline is valid? [True, True] Translation: X:198.22, Y:-108.25, Z:0.49 [[ 8.04775276e-01 -5.93504093e-01 -9.46820104e-03 1.98219724e+02] [-5.93461927e-01 -8.04830967e-01 7.07496042e-03 -1.08249285e+02] [-1.18193194e-02 -7.47363869e-05 -9.99930147e-01 4.93367470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.737628 meters 0.01524712797623907 Centerline is valid? [True, True] Translation: X:198.24, Y:-108.27, Z:0.49 [[ 8.47562119e-01 -5.30577719e-01 -1.12133246e-02 1.98239680e+02] [-5.30530437e-01 -8.47636291e-01 7.08338540e-03 -1.08274416e+02] [-1.32631073e-02 -5.45991421e-05 -9.99912040e-01 4.94634246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.797628 meters 0.016018063802698917 Centerline is valid? [True, True] Translation: X:198.26, Y:-108.29, Z:0.49 [[ 8.82746516e-01 -4.69712022e-01 -1.13668248e-02 1.98263243e+02] [-4.69673801e-01 -8.82819695e-01 5.99226491e-03 -1.08291030e+02] [-1.28494957e-02 4.90488495e-05 -9.99917441e-01 4.93375069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.857628 meters 0.014480627764303824 Centerline is valid? [True, True] Translation: X:198.29, Y:-108.30, Z:0.49 [[ 9.11714118e-01 -4.10753405e-01 -7.68155185e-03 1.98290641e+02] [-4.10740068e-01 -9.11746468e-01 3.31276524e-03 -1.08302379e+02] [-8.36435737e-03 1.34826287e-04 -9.99965009e-01 4.86419267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.917628 meters 0.016993562161877744 Centerline is valid? [True, True] Translation: X:198.32, Y:-108.31, Z:0.49 [[ 9.37799782e-01 -3.47105284e-01 -7.03495789e-03 1.98317075e+02] [-3.47097025e-01 -9.37826149e-01 2.40197745e-03 -1.08314801e+02] [-7.43130653e-03 1.89239025e-04 -9.99972370e-01 4.86425140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.977628 meters 0.02022217078966489 Centerline is valid? [True, True] Translation: X:198.34, Y:-108.32, Z:0.49 [[ 9.59926684e-01 -2.80173822e-01 -6.58716402e-03 1.98344154e+02] [-2.80168830e-01 -9.59949258e-01 1.68776645e-03 -1.08322007e+02] [-6.79621120e-03 2.25385987e-04 -9.99976880e-01 4.86392000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.037628 meters 0.019870092431235595 Centerline is valid? [True, True] Translation: X:198.37, Y:-108.33, Z:0.49 [[ 9.79483000e-01 -2.01375674e-01 -7.80319002e-03 1.98368319e+02] [-2.01371239e-01 -9.79514053e-01 1.35808704e-03 -1.08330284e+02] [-7.91681998e-03 2.41114880e-04 -9.99968632e-01 4.85598173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.097628 meters 0.016387288504983406 Centerline is valid? [True, True] Translation: X:198.39, Y:-108.35, Z:0.49 [[ 9.93567214e-01 -1.12794084e-01 -1.00839092e-02 1.98390467e+02] [-1.12790266e-01 -9.93618366e-01 9.48364213e-04 -1.08345532e+02] [-1.01265272e-02 1.95103206e-04 -9.99948706e-01 4.88969868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.157628 meters 0.012239153607743124 Centerline is valid? [True, True] Translation: X:198.42, Y:-108.37, Z:0.49 [[ 9.99800485e-01 -1.76702524e-02 -9.31411778e-03 1.98415324e+02] [-1.76696789e-02 -9.99843869e-01 1.43870397e-04 -1.08365581e+02] [-9.31520578e-03 2.07357776e-05 -9.99956612e-01 4.86569711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.217628 meters 0.012436109191730932 Centerline is valid? [True, True] Translation: X:198.44, Y:-108.38, Z:0.48 [[ 9.97460077e-01 7.07261463e-02 -8.43839126e-03 1.98442548e+02] [ 7.07241823e-02 -9.97495768e-01 -5.31302201e-04 -1.08380412e+02] [-8.45483653e-03 -6.68455874e-05 -9.99964255e-01 4.84555824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.277628 meters 0.013859547747026737 Centerline is valid? [True, True] Translation: X:198.47, Y:-108.39, Z:0.48 [[ 9.87551000e-01 1.57202353e-01 -5.51749734e-03 1.98471514e+02] [ 1.57200435e-01 -9.87566408e-01 -7.82420466e-04 -1.08391852e+02] [-5.57189337e-03 -9.46728668e-05 -9.99984472e-01 4.82974768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.337628 meters 0.01378804168458302 Centerline is valid? [True, True] Translation: X:198.50, Y:-108.39, Z:0.48 [[ 9.72364511e-01 2.33458689e-01 -2.07316007e-03 1.98500285e+02] [ 2.33458243e-01 -9.72366720e-01 -4.58213023e-04 -1.08391357e+02] [-2.12284567e-03 -3.84462258e-05 -9.99997746e-01 4.80788750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.397628 meters 0.013057205039458716 Centerline is valid? [True, True] Translation: X:198.53, Y:-108.38, Z:0.48 [[ 9.52390494e-01 3.04869102e-01 -2.67910948e-03 1.98527287e+02] [ 3.04868005e-01 -9.52394261e-01 -8.18851905e-04 -1.08384561e+02] [-2.80121114e-03 -3.69079898e-05 -9.99996076e-01 4.80989457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.457628 meters 0.012733228081984255 Centerline is valid? [True, True] Translation: X:198.55, Y:-108.38, Z:0.49 [[ 9.26525885e-01 3.76159150e-01 -7.35381045e-03 1.98554520e+02] [ 3.76147929e-01 -9.26555065e-01 -2.90644763e-03 -1.08377992e+02] [-7.90699719e-03 -7.32216093e-05 -9.99968737e-01 4.86741146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.517628 meters 0.012620040665742526 Centerline is valid? [True, True] Translation: X:198.58, Y:-108.37, Z:0.49 [[ 8.95406463e-01 4.45133141e-01 -1.01858719e-02 1.98580074e+02] [ 4.45105260e-01 -8.95464394e-01 -4.98260674e-03 -1.08368690e+02] [-1.13390090e-02 -7.23268947e-05 -9.99935709e-01 4.88867819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.577628 meters 0.012408542663944006 Centerline is valid? [True, True] Translation: X:198.60, Y:-108.36, Z:0.49 [[ 8.61535831e-01 5.07602582e-01 -9.77908200e-03 1.98604652e+02] [ 5.07569748e-01 -8.61591329e-01 -5.77346022e-03 -1.08356708e+02] [-1.13561956e-02 1.04766634e-05 -9.99935516e-01 4.88083643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.637628 meters 0.01278958392085756 Centerline is valid? [True, True] Translation: X:198.63, Y:-108.34, Z:0.48 [[ 8.23086490e-01 5.67876358e-01 -6.71349028e-03 1.98627359e+02] [ 5.67856851e-01 -8.23113867e-01 -4.70728538e-03 -1.08343554e+02] [-8.19912302e-03 6.22015541e-05 -9.99966385e-01 4.84910144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.697628 meters 0.013349551552730165 Centerline is valid? [True, True] Translation: X:198.65, Y:-108.33, Z:0.48 [[ 7.78360045e-01 6.27797534e-01 -5.08886323e-03 1.98650689e+02] [ 6.27783506e-01 -7.78376677e-01 -4.19742500e-03 -1.08332149e+02] [-6.59618551e-03 7.24035151e-05 -9.99978242e-01 4.83443911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.757628 meters 0.013519554662590078 Centerline is valid? [True, True] Translation: X:198.67, Y:-108.32, Z:0.48 [[ 7.27135942e-01 6.86471899e-01 -5.44544832e-03 1.98673569e+02] [ 6.86451742e-01 -7.27156327e-01 -5.26138944e-03 -1.08319233e+02] [-7.57148820e-03 8.77078855e-05 -9.99971332e-01 4.84278975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.817628 meters 0.016200264552185057 Centerline is valid? [True, True] Translation: X:198.70, Y:-108.31, Z:0.49 [[ 6.71977794e-01 7.40535068e-01 -7.32514787e-03 1.98697977e+02] [ 7.40488731e-01 -6.72017703e-01 -8.28533259e-03 -1.08307338e+02] [-1.10582084e-02 1.43370065e-04 -9.99938846e-01 4.89078895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.877628 meters 0.013690861965273714 Centerline is valid? [True, True] Translation: X:198.72, Y:-108.29, Z:0.49 [[ 6.11395526e-01 7.91294217e-01 -6.99804385e-03 1.98721759e+02] [ 7.91239677e-01 -6.11435557e-01 -9.29153496e-03 -1.08293772e+02] [-1.16311907e-02 1.43672944e-04 -9.99932345e-01 4.87333321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.937628 meters 0.013423503703964267 Centerline is valid? [True, True] Translation: X:198.74, Y:-108.28, Z:0.49 [[ 5.46803071e-01 8.37240309e-01 -5.92167707e-03 1.98743946e+02] [ 8.37188701e-01 -5.46835121e-01 -9.29676120e-03 -1.08278611e+02] [-1.10218042e-02 1.25936440e-04 -9.99939250e-01 4.85191895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.99762799999996 meters 0.013108860066782642 Centerline is valid? [True, True] Translation: X:198.76, Y:-108.26, Z:0.48 [[ 4.76726836e-01 8.79043512e-01 -3.74554756e-03 1.98764469e+02] [ 8.79015324e-01 -4.76741545e-01 -7.03984584e-03 -1.08261883e+02] [-7.97398894e-03 6.36897255e-05 -9.99968205e-01 4.83038221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.05762799999997 meters 0.012371700334458611 Centerline is valid? [True, True] Translation: X:198.78, Y:-108.24, Z:0.48 [[ 4.00848745e-01 9.16140337e-01 -2.67718404e-03 1.98782425e+02] [ 9.16119711e-01 -4.00857685e-01 -6.14746887e-03 -1.08243407e+02] [-6.70511400e-03 1.15841049e-05 -9.99977520e-01 4.82252676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.11762799999997 meters 0.012605507643577454 Centerline is valid? [True, True] Translation: X:198.80, Y:-108.22, Z:0.48 [[ 3.20439280e-01 9.47266884e-01 -2.02948632e-03 1.98796524e+02] [ 9.47248637e-01 -3.20445704e-01 -5.87957825e-03 -1.08221506e+02] [-6.21986994e-03 -3.83803297e-05 -9.99980656e-01 4.80966499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.17762799999997 meters 0.012654925345372757 Centerline is valid? [True, True] Translation: X:198.81, Y:-108.20, Z:0.48 [[ 2.42099011e-01 9.70250651e-01 -1.32016424e-03 1.98813682e+02] [ 9.70237344e-01 -2.42102605e-01 -5.08189126e-03 -1.08199293e+02] [-5.25032351e-03 -5.05518016e-05 -9.99986216e-01 4.80769819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.237628 meters 0.01318086754138735 Centerline is valid? [True, True] Translation: X:198.83, Y:-108.18, Z:0.48 [[ 1.62377049e-01 9.86728500e-01 -7.48566397e-04 1.98828137e+02] [ 9.86719525e-01 -1.62378765e-01 -4.20893876e-03 -1.08175396e+02] [-4.27463111e-03 -5.51900248e-05 -9.99990862e-01 4.80872189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.297628 meters 0.013779572422488333 Centerline is valid? [True, True] Translation: X:198.84, Y:-108.15, Z:0.48 [[ 8.25748956e-02 9.96584762e-01 -4.45564289e-04 1.98835902e+02] [ 9.96574354e-01 -8.25760697e-02 -4.55509648e-03 -1.08151269e+02] [-4.57633269e-03 -6.79013279e-05 -9.99989526e-01 4.80719785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.357628 meters 0.013589489753359715 Centerline is valid? [True, True] Translation: X:198.84, Y:-108.13, Z:0.48 [[ 4.46153177e-03 9.99990042e-01 -1.06666682e-04 1.98840879e+02] [ 9.99973976e-01 -4.46206479e-03 -5.66896416e-03 -1.08125212e+02] [-5.66938366e-03 -8.13716425e-05 -9.99983926e-01 4.82171245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.417628 meters 0.013317578664100865 Centerline is valid? [True, True] Translation: X:198.84, Y:-108.10, Z:0.48 [[-7.17073828e-02 9.97425623e-01 4.21277844e-04 1.98842425e+02] [ 9.97400831e-01 7.17085709e-02 -7.03299355e-03 -1.08100203e+02] [-7.04509721e-03 -8.41346888e-05 -9.99975179e-01 4.84495933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.477628 meters 0.012462642459347669 Centerline is valid? [True, True] Translation: X:198.84, Y:-108.08, Z:0.49 [[-1.43415436e-01 9.89661888e-01 1.16636491e-03 1.98835790e+02] [ 9.89626459e-01 1.43420171e-01 -8.37409248e-03 -1.08075781e+02] [-8.45480042e-03 -4.67085456e-05 -9.99964256e-01 4.85428270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.537628 meters 0.012600741265552096 Centerline is valid? [True, True] Translation: X:198.83, Y:-108.05, Z:0.49 [[-2.12368627e-01 9.77187427e-01 2.07343706e-03 1.98826001e+02] [ 9.77142130e-01 2.12378747e-01 -9.40879428e-03 -1.08053451e+02] [-9.63450944e-03 2.79099828e-05 -9.99953587e-01 4.87323930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.597628 meters 0.012575339545345473 Centerline is valid? [True, True] Translation: X:198.83, Y:-108.03, Z:0.49 [[-2.85541562e-01 9.58363257e-01 2.42572511e-03 1.98828341e+02] [ 9.58330073e-01 2.85551862e-01 -7.97534909e-03 -1.08027109e+02] [-8.33595185e-03 4.73516792e-05 -9.99965254e-01 4.85634110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.657628 meters 0.012721255622687425 Centerline is valid? [True, True] Translation: X:198.83, Y:-108.00, Z:0.49 [[-3.57806170e-01 9.33791882e-01 2.73239928e-03 1.98827870e+02] [ 9.33765871e-01 3.57816598e-01 -6.96996267e-03 -1.08001376e+02] [-7.48619238e-03 5.75255488e-05 -9.99971976e-01 4.85836232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.717628 meters 0.013384218605339024 Centerline is valid? [True, True] Translation: X:198.82, Y:-107.98, Z:0.48 [[-4.25407771e-01 9.04996018e-01 3.23033203e-03 1.98824283e+02] [ 9.04971568e-01 4.25420025e-01 -6.65308227e-03 -1.07976383e+02] [-7.39526090e-03 9.30857420e-05 -9.99972650e-01 4.84660200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.777628 meters 0.014347332240531908 Centerline is valid? [True, True] Translation: X:198.82, Y:-107.95, Z:0.49 [[-4.91058489e-01 8.71116308e-01 4.23524715e-03 1.98819076e+02] [ 8.71086395e-01 4.91076732e-01 -7.22048549e-03 -1.07951150e+02] [-8.36971399e-03 1.43585476e-04 -9.99964963e-01 4.85010902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.837628 meters 0.01451781715329236 Centerline is valid? [True, True] Translation: X:198.82, Y:-107.92, Z:0.49 [[-5.57626531e-01 8.30068097e-01 6.29335255e-03 1.98815193e+02] [ 8.30019089e-01 5.57662010e-01 -9.02190218e-03 -1.07924058e+02] [-1.09983568e-02 1.92750734e-04 -9.99939498e-01 4.87254972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.897628 meters 0.014141061334273008 Centerline is valid? [True, True] Translation: X:198.81, Y:-107.90, Z:0.49 [[-6.22176741e-01 7.82847114e-01 6.81900698e-03 1.98808036e+02] [ 7.82803084e-01 6.22214084e-01 -8.30450647e-03 -1.07897797e+02] [-1.07440411e-02 1.71068929e-04 -9.99942266e-01 4.85895005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.957628 meters 0.013502805978832617 Centerline is valid? [True, True] Translation: X:198.80, Y:-107.87, Z:0.48 [[-6.84436054e-01 7.29049492e-01 5.84175005e-03 1.98800192e+02] [ 7.29024184e-01 6.84460976e-01 -6.07547337e-03 -1.07872580e+02] [-8.42777072e-03 1.00504051e-04 -9.99964481e-01 4.84225848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.017628 meters 0.012232222378768984 Centerline is valid? [True, True] Translation: X:198.79, Y:-107.84, Z:0.48 [[-7.44827210e-01 6.67242607e-01 4.44186792e-03 1.98792508e+02] [ 6.67230915e-01 7.44840455e-01 -3.95001681e-03 -1.07843047e+02] [-5.94410244e-03 2.16715969e-05 -9.99982333e-01 4.81780870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.077628 meters 0.012103697456152735 Centerline is valid? [True, True] Translation: X:198.81, Y:-107.82, Z:0.48 [[-7.94360730e-01 6.07439652e-01 2.84587842e-03 1.98809606e+02] [ 6.07435693e-01 7.94365828e-01 -2.19307964e-03 -1.07818647e+02] [-3.59283210e-03 -1.34082116e-05 -9.99993546e-01 4.80215116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.137628 meters 0.012248471013398616 Centerline is valid? [True, True] Translation: X:198.83, Y:-107.80, Z:0.48 [[-8.37212016e-01 5.46876440e-01 1.48273707e-03 1.98828024e+02] [ 5.46875551e-01 8.37213329e-01 -9.86649213e-04 -1.07798724e+02] [-1.78094245e-03 -1.51619228e-05 -9.99998414e-01 4.78984004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.197628 meters 0.012775893582063574 Centerline is valid? [True, True] Translation: X:198.84, Y:-107.78, Z:0.48 [[-8.75832740e-01 4.82610186e-01 2.10239310e-03 1.98838437e+02] [ 4.82608716e-01 8.75835263e-01 -1.19150861e-03 -1.07775528e+02] [-2.41638420e-03 -2.89290118e-05 -9.99997080e-01 4.79347189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.257628 meters 0.013151421396592727 Centerline is valid? [True, True] Translation: X:198.85, Y:-107.76, Z:0.48 [[-9.08725647e-01 4.17367279e-01 4.71732041e-03 1.98853131e+02] [ 4.17361263e-01 9.08737888e-01 -2.24189275e-03 -1.07755479e+02] [-5.22250046e-03 -6.84386387e-05 -9.99986360e-01 4.82371070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.317628 meters 0.013157466533443025 Centerline is valid? [True, True] Translation: X:199.19, Y:-107.08, Z:-0.47 [[-8.67865708e-01 -4.96763132e-01 5.95847228e-03 1.99186330e+02] [ 4.96752811e-01 -8.67886144e-01 -3.20710355e-03 -1.07075563e+02] [ 6.76444633e-03 1.76552655e-04 9.99977105e-01 -4.70200279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.377628 meters 0.012364144895169744 Centerline is valid? [True, True] Translation: X:198.82, Y:-107.75, Z:0.49 [[-9.07030740e-01 4.20993256e-01 7.74046759e-03 1.98817360e+02] [ 4.20977509e-01 9.07063766e-01 -3.64144341e-03 -1.07751195e+02] [-8.55412080e-03 -4.43383414e-05 -9.99963412e-01 4.86039560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.437628 meters 0.012281937243333506 Centerline is valid? [True, True] Translation: X:199.16, Y:-107.05, Z:-0.47 [[-8.73619987e-01 -4.86555111e-01 7.22796629e-03 1.99156965e+02] [ 4.86538705e-01 -8.73649886e-01 -3.99562881e-03 -1.07053633e+02] [ 8.25880554e-03 2.60241716e-05 9.99965895e-01 -4.71258354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.49762799999996 meters 0.012112405625295638 Centerline is valid? [True, True] Translation: X:198.78, Y:-107.73, Z:0.49 [[-9.07430623e-01 4.20148693e-01 6.68874628e-03 1.98777063e+02] [ 4.20137120e-01 9.07455274e-01 -3.11849790e-03 -1.07732264e+02] [-7.37997090e-03 -1.96298884e-05 -9.99972767e-01 4.85124206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.55762799999997 meters 0.012381205243427345 Centerline is valid? [True, True] Translation: X:198.79, Y:-107.70, Z:0.49 [[-9.36199405e-01 3.51390737e-01 7.43133069e-03 1.98793221e+02] [ 3.51379241e-01 9.36228897e-01 -2.84285352e-03 -1.07704067e+02] [-7.95637893e-03 -5.02624312e-05 -9.99968346e-01 4.86415117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.61762799999997 meters 0.0127756731018492 Centerline is valid? [True, True] Translation: X:198.80, Y:-107.68, Z:0.49 [[-9.59566763e-01 2.81295835e-01 1.02118406e-02 1.98804801e+02] [ 2.81278817e-01 9.59621094e-01 -3.09566243e-03 -1.07677349e+02] [-1.06702946e-02 -9.81203263e-05 -9.99943066e-01 4.88925191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.67762799999997 meters 0.01273998502040799 Centerline is valid? [True, True] Translation: X:198.81, Y:-107.65, Z:0.49 [[-9.77027980e-01 2.12722811e-01 1.28581242e-02 1.98814338e+02] [ 2.12702796e-01 9.77112579e-01 -2.92042785e-03 -1.07651894e+02] [-1.31850765e-02 -1.18380753e-04 -9.99913066e-01 4.91314075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.737628 meters 0.01545575564413199 Centerline is valid? [True, True] Translation: X:198.82, Y:-107.63, Z:0.50 [[-9.88580077e-01 1.49746028e-01 1.68984542e-02 1.98822150e+02] [ 1.49723584e-01 9.88724495e-01 -2.59273191e-03 -1.07631994e+02] [-1.70961669e-02 -3.30259730e-05 -9.99853849e-01 4.95469985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.797628 meters 0.012837481022491423 Centerline is valid? [True, True] Translation: X:198.83, Y:-107.61, Z:0.49 [[-9.96314165e-01 8.41086211e-02 1.68471112e-02 1.98827506e+02] [ 8.40974667e-02 9.96456591e-01 -1.37071362e-03 -1.07610431e+02] [-1.69027039e-02 5.11379815e-05 -9.99857138e-01 4.93289143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.857628 meters 0.013497288376754745 Centerline is valid? [True, True] Translation: X:198.84, Y:-107.59, Z:0.49 [[-9.99666262e-01 2.27366097e-02 1.22641995e-02 1.98837002e+02] [ 2.27367784e-02 9.99741478e-01 -1.25691093e-04 -1.07592192e+02] [-1.22638867e-02 1.53199241e-04 -9.99924784e-01 4.86767947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.917628 meters 0.01488910829709663 Centerline is valid? [True, True] Translation: X:198.84, Y:-107.57, Z:0.48 [[-9.99161186e-01 -4.04821108e-02 6.17440494e-03 1.98843663e+02] [-4.04805740e-02 9.99180256e-01 3.73722106e-04 -1.07568616e+02] [-6.18447256e-03 1.23465167e-04 -9.99980868e-01 4.82144951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.977628 meters 0.0152803399205155 Centerline is valid? [True, True] Translation: X:198.84, Y:-107.54, Z:0.48 [[-9.94090339e-01 -1.08463382e-01 4.48247440e-03 1.98841830e+02] [-1.08461814e-01 9.94100440e-01 5.92216482e-04 -1.07540840e+02] [-4.52026358e-03 1.02539378e-04 -9.99989778e-01 4.80420318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.037628 meters 0.015851875894949942 Centerline is valid? [True, True] Translation: X:198.83, Y:-107.51, Z:0.48 [[-9.84504274e-01 -1.75325785e-01 3.49325891e-03 1.98832784e+02] [-1.75324344e-01 9.84510467e-01 7.17187953e-04 -1.07511957e+02] [-3.56489151e-03 9.36212793e-05 -9.99993641e-01 4.80375882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.097628 meters 0.01695431108286246 Centerline is valid? [True, True] Translation: X:198.66, Y:-106.74, Z:-0.47 [[-9.86407789e-01 1.64187888e-01 6.48158168e-03 1.98657823e+02] [-1.64184203e-01 -9.86429084e-01 1.10031608e-03 -1.06739144e+02] [ 6.57427925e-03 2.11870336e-05 9.99978389e-01 -4.68540007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.157628 meters 0.016478357631883392 Centerline is valid? [True, True] Translation: X:198.69, Y:-107.53, Z:0.49 [[-9.83322661e-01 -1.81633241e-01 9.26882196e-03 1.98694109e+02] [-1.81622673e-01 9.83366309e-01 1.97650152e-03 -1.07533343e+02] [-9.47364562e-03 2.60110518e-04 -9.99955090e-01 4.85200844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.217628 meters 0.015990457767701523 Centerline is valid? [True, True] Translation: X:198.67, Y:-107.51, Z:0.49 [[-9.67295237e-01 -2.53508706e-01 8.55918526e-03 1.98667045e+02] [-2.53496673e-01 9.67333078e-01 2.48058989e-03 -1.07506339e+02] [-8.90843415e-03 2.29737793e-04 -9.99960293e-01 4.85040537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.277628 meters 0.014933356863757267 Centerline is valid? [True, True] Translation: X:198.62, Y:-107.49, Z:0.48 [[-9.45355617e-01 -3.25960292e-01 7.25570455e-03 1.98623229e+02] [-3.25949262e-01 9.45383444e-01 2.68729557e-03 -1.07488348e+02] [-7.73537461e-03 1.75458417e-04 -9.99970066e-01 4.82943338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.337628 meters 0.013827016418803378 Centerline is valid? [True, True] Translation: X:198.56, Y:-107.48, Z:0.48 [[-9.17048798e-01 -3.98745440e-01 4.85555218e-03 1.98558657e+02] [-3.98739308e-01 9.17061647e-01 2.21332884e-03 -1.07479193e+02] [-5.33539547e-03 9.36310346e-05 -9.99985762e-01 4.81408348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.397628 meters 0.01176761898708497 Centerline is valid? [True, True] Translation: X:198.49, Y:-107.47, Z:0.48 [[-8.79969539e-01 -4.75027930e-01 1.44112241e-03 1.98490227e+02] [-4.75027282e-01 8.79970719e-01 7.84677043e-04 -1.07470203e+02] [-1.64088903e-03 5.91943653e-06 -9.99998654e-01 4.80996905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.457628 meters 0.011413143719938599 Centerline is valid? [True, True] Translation: X:198.41, Y:-107.48, Z:0.48 [[-8.37322715e-01 -5.46707698e-01 -1.16775098e-03 1.98414748e+02] [-5.46707160e-01 8.37323529e-01 -7.67304709e-04 -1.07476149e+02] [ 1.39727676e-03 -4.06384204e-06 -9.99999024e-01 4.79065740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.517628 meters 0.013204228790521286 Centerline is valid? [True, True] Translation: X:198.33, Y:-107.49, Z:0.48 [[-7.87339417e-01 -6.16518568e-01 -1.22378279e-03 1.98332636e+02] [-6.16517851e-01 7.87340368e-01 -9.40258769e-04 -1.07491596e+02] [ 1.54322058e-03 1.41811436e-05 -9.99998809e-01 4.79846174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.577628 meters 0.014341831158958995 Centerline is valid? [True, True] Translation: X:198.25, Y:-107.52, Z:0.48 [[-7.35226628e-01 -6.77821326e-01 2.34436997e-04 1.98250860e+02] [-6.77821297e-01 7.35226666e-01 1.99116102e-04 -1.07519833e+02] [-3.07329472e-04 -1.25109287e-05 -9.99999953e-01 4.81815556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.637628 meters 0.013845130102119433 Centerline is valid? [True, True] Translation: X:198.17, Y:-107.56, Z:0.49 [[-6.82573292e-01 -7.30808047e-01 3.64679590e-03 1.98171604e+02] [-7.30798417e-01 6.82583026e-01 3.75316603e-03 -1.07562797e+02] [-5.23208491e-03 -1.03261781e-04 -9.99986307e-01 4.86405051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.697628 meters 0.012660338665255427 Centerline is valid? [True, True] Translation: X:198.10, Y:-107.62, Z:0.49 [[-6.30335283e-01 -7.76300951e-01 5.85356831e-03 1.98097138e+02] [-7.76269166e-01 6.30362451e-01 7.02573975e-03 -1.07617755e+02] [-9.14395812e-03 -1.15372942e-04 -9.99958186e-01 4.90205003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.757628 meters 0.0117660385209231 Centerline is valid? [True, True] Translation: X:198.02, Y:-107.68, Z:0.49 [[-5.75832290e-01 -8.17549515e-01 5.47385706e-03 1.98023741e+02] [-8.17513321e-01 5.75858305e-01 7.69300516e-03 -1.07682957e+02] [-9.44157870e-03 -4.50702830e-05 -9.99955426e-01 4.90723941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.817628 meters 0.012441164784620177 Centerline is valid? [True, True] Translation: X:197.96, Y:-107.76, Z:0.49 [[-5.22961291e-01 -8.52349112e-01 3.53263660e-03 1.97961549e+02] [-8.52328939e-01 5.22973220e-01 5.86448825e-03 -1.07756597e+02] [-6.84606569e-03 5.59319450e-05 -9.99976564e-01 4.87583995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.877628 meters 0.014989688490536973 Centerline is valid? [True, True] Translation: X:197.90, Y:-107.84, Z:0.48 [[-4.65118194e-01 -8.85247812e-01 1.17306450e-03 1.97900241e+02] [-8.85244756e-01 4.65119671e-01 2.32652006e-03 -1.07842849e+02] [-2.60516217e-03 4.36576101e-05 -9.99996606e-01 4.81535403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.937628 meters 0.017118161422140375 Centerline is valid? [True, True] Translation: X:197.83, Y:-107.94, Z:0.48 [[-4.00937036e-01 -9.16105504e-01 4.45045044e-04 1.97834214e+02] [-9.16104877e-01 4.00937282e-01 1.07258139e-03 -1.07938568e+02] [-1.16103286e-03 2.23296663e-05 -9.99999326e-01 4.80168632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.99762799999996 meters 0.01659519163852509 Centerline is valid? [True, True] Translation: X:197.77, Y:-108.03, Z:0.48 [[-3.31300569e-01 -9.43524329e-01 1.33150163e-03 1.97770536e+02] [-9.43515309e-01 3.31303226e-01 4.12714577e-03 -1.08032143e+02] [-4.33519323e-03 1.11033569e-04 -9.99990597e-01 4.83270015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.05762799999997 meters 0.019867440634019115 Centerline is valid? [True, True] Translation: X:197.72, Y:-108.14, Z:0.49 [[-2.58110990e-01 -9.66113809e-01 1.68063054e-03 1.97716769e+02] [-9.66088165e-01 2.58116389e-01 7.04184444e-03 -1.08141287e+02] [-7.23702144e-03 1.93940161e-04 -9.99973794e-01 4.85918749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.11762799999997 meters 0.0163742372084813 Centerline is valid? [True, True] Translation: X:197.66, Y:-108.25, Z:0.49 [[-1.82490364e-01 -9.83206575e-01 1.44862950e-03 1.97659837e+02] [-9.83163945e-01 1.82495946e-01 9.15897732e-03 -1.08247106e+02] [-9.26953573e-03 2.47184802e-04 -9.99957006e-01 4.85352831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.17762799999997 meters 0.015495969164470172 Centerline is valid? [True, True] Translation: X:197.61, Y:-108.36, Z:0.49 [[-1.03666911e-01 -9.94611736e-01 8.16236008e-04 1.97613133e+02] [-9.94559195e-01 1.03669827e-01 1.02261505e-02 -1.08363267e+02] [-1.02556684e-02 2.48318410e-04 -9.99947378e-01 4.85694429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.237628 meters 0.014949319740865441 Centerline is valid? [True, True] Translation: X:197.58, Y:-108.48, Z:0.48 [[-2.01636810e-02 -9.99796692e-01 2.23848466e-05 1.97577032e+02] [-9.99759493e-01 2.01631239e-02 8.62576841e-03 -1.08483800e+02] [-8.62446607e-03 1.51547779e-04 -9.99962797e-01 4.84389353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.297628 meters 0.01181114384141891 Centerline is valid? [True, True] Translation: X:196.81, Y:-108.60, Z:-0.47 [[-6.31959160e-02 9.98000903e-01 6.88461084e-04 1.96810959e+02] [-9.97990948e-01 -6.31983732e-02 4.47581696e-03 -1.08598935e+02] [ 4.51037899e-03 -4.04224577e-04 9.99989746e-01 -4.65157258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.357628 meters 0.011470952091413893 Centerline is valid? [True, True] Translation: X:197.55, Y:-108.78, Z:0.48 [[ 1.12166002e-02 -9.99937092e-01 -1.50028387e-05 1.97553416e+02] [-9.99934020e-01 -1.12166030e-02 2.47848623e-03 -1.08783485e+02] [-2.47849859e-03 -1.27983404e-05 -9.99996928e-01 4.78689439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.417628 meters 0.01304846947464368 Centerline is valid? [True, True] Translation: X:197.53, Y:-108.91, Z:0.48 [[ 9.91217858e-02 -9.95075306e-01 -8.50767271e-05 1.97526574e+02] [-9.95074748e-01 -9.91218203e-02 1.05431253e-03 -1.08910216e+02] [-1.05755332e-03 -1.98476375e-05 -9.99999441e-01 4.77145586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.477628 meters 0.013863358845768071 Centerline is valid? [True, True] Translation: X:197.51, Y:-109.03, Z:0.48 [[ 1.78965696e-01 -9.83855291e-01 -2.16364480e-04 1.97512685e+02] [-9.83854361e-01 -1.78965824e-01 1.35285190e-03 -1.09028641e+02] [-1.36973234e-03 -2.92429440e-05 -9.99999061e-01 4.77522785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.537628 meters 0.013096936024581047 Centerline is valid? [True, True] Translation: X:197.51, Y:-109.15, Z:0.48 [[ 2.50698553e-01 -9.68064835e-01 -8.43171847e-04 1.97512575e+02] [-9.68058584e-01 -2.50699964e-01 3.47922739e-03 -1.09145631e+02] [-3.57950085e-03 -5.59975285e-05 -9.99993592e-01 4.80324295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.597628 meters 0.012193386676386182 Centerline is valid? [True, True] Translation: X:197.52, Y:-109.26, Z:0.48 [[ 3.20497675e-01 -9.47248519e-01 -1.21793683e-03 1.97522909e+02] [-9.47241147e-01 -3.20499987e-01 3.73728313e-03 -1.09260767e+02] [-3.93048464e-03 -4.41106765e-05 -9.99992275e-01 4.80730720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.657628 meters 0.011557047642762443 Centerline is valid? [True, True] Translation: X:197.55, Y:-109.37, Z:0.48 [[ 3.86196080e-01 -9.22414526e-01 -2.00726972e-03 1.97545359e+02] [-9.22401782e-01 -3.86201296e-01 4.84896625e-03 -1.09374237e+02] [-5.24796708e-03 -2.11425899e-05 -9.99986229e-01 4.81289503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.717628 meters 0.011603187347461057 Centerline is valid? [True, True] Translation: X:197.57, Y:-109.48, Z:0.48 [[ 4.52037257e-01 -8.91994311e-01 -2.91003706e-03 1.97571784e+02] [-8.91975887e-01 -4.52046623e-01 5.73303533e-03 -1.09483205e+02] [-6.42930732e-03 4.13732878e-06 -9.99979332e-01 4.82497795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.777628 meters 0.011696462439985277 Centerline is valid? [True, True] Translation: X:197.61, Y:-109.60, Z:0.48 [[ 5.17168737e-01 -8.55878654e-01 -2.86825178e-03 1.97609636e+02] [-8.55865671e-01 -5.17176690e-01 4.71419703e-03 -1.09596746e+02] [-5.51817357e-03 1.68029103e-05 -9.99984775e-01 4.82209828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.837628 meters 0.011619165306605828 Centerline is valid? [True, True] Translation: X:197.65, Y:-109.70, Z:0.48 [[ 5.81910694e-01 -8.13250298e-01 -1.97414395e-03 1.97649748e+02] [-8.13245655e-01 -5.81914043e-01 2.74797657e-03 -1.09700119e+02] [-3.38357485e-03 6.38703492e-06 -9.99994276e-01 4.79521127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.897628 meters 0.011546219168703834 Centerline is valid? [True, True] Translation: X:197.69, Y:-109.80, Z:0.48 [[ 6.44682336e-01 -7.64443211e-01 -3.35603083e-03 1.97694311e+02] [-7.64432834e-01 -6.44691072e-01 3.98301081e-03 -1.09804800e+02] [-5.20838869e-03 -2.31655844e-06 -9.99986436e-01 4.82337098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.957628 meters 0.01173584056314973 Centerline is valid? [True, True] Translation: X:197.75, Y:-109.90, Z:0.48 [[ 7.02189353e-01 -7.11967489e-01 -5.69276487e-03 1.97749052e+02] [-7.11943954e-01 -7.02212428e-01 5.78894199e-03 -1.09904375e+02] [-8.11906874e-03 -1.20038997e-05 -9.99967040e-01 4.84512208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.017628 meters 0.012024289203034588 Centerline is valid? [True, True] Translation: X:197.80, Y:-110.00, Z:0.49 [[ 7.54512958e-01 -6.56216375e-01 -9.50078159e-03 1.97804381e+02] [-6.56164061e-01 -7.54572772e-01 8.28591296e-03 -1.09995769e+02] [-1.26063829e-02 -1.77572674e-05 -9.99920536e-01 4.86811661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.077628 meters 0.012206056093468894 Centerline is valid? [True, True] Translation: X:197.82, Y:-110.02, Z:0.49 [[ 8.02976747e-01 -5.95896815e-01 -1.16330786e-02 1.97821842e+02] [-5.95834148e-01 -8.03061010e-01 8.64192008e-03 -1.10021965e+02] [-1.44917645e-02 -7.87541849e-06 -9.99894989e-01 4.88075366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.137628 meters 0.012356221477141953 Centerline is valid? [True, True] Translation: X:197.84, Y:-110.04, Z:0.48 [[ 8.43780809e-01 -5.36599417e-01 -9.74743272e-03 1.97843690e+02] [-5.36564507e-01 -8.43837106e-01 6.12112732e-03 -1.10043489e+02] [-1.15098388e-02 6.52366761e-05 -9.99933757e-01 4.84704789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.197628 meters 0.014143209945256308 Centerline is valid? [True, True] Translation: X:197.87, Y:-110.06, Z:0.48 [[ 8.77858690e-01 -4.78856358e-01 -7.79163441e-03 1.97869298e+02] [-4.78838982e-01 -8.77893255e-01 4.08195622e-03 -1.10059236e+02] [-8.79489398e-03 1.47557556e-04 -9.99961313e-01 4.80657783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.257628 meters 0.01507599242491197 Centerline is valid? [True, True] Translation: X:197.89, Y:-110.08, Z:0.48 [[ 9.11034819e-01 -4.12267902e-01 -7.12289159e-03 1.97894205e+02] [-4.12256660e-01 -9.11062650e-01 3.04871290e-03 -1.10076859e+02] [-7.74628696e-03 1.58975888e-04 -9.99969984e-01 4.80212949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.317628 meters 0.01651859098451012 Centerline is valid? [True, True] Translation: X:197.92, Y:-110.10, Z:0.48 [[ 9.37606471e-01 -3.47664640e-01 -4.83778249e-03 1.97918975e+02] [-3.47660811e-01 -9.37618940e-01 1.63818308e-03 -1.10096014e+02] [-5.10553482e-03 1.45936322e-04 -9.99986956e-01 4.79051451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.377628 meters 0.01660832348573128 Centerline is valid? [True, True] Translation: X:197.94, Y:-110.11, Z:0.48 [[ 9.61941289e-01 -2.73218146e-01 -4.56082414e-03 1.97944970e+02] [-2.73215732e-01 -9.61952092e-01 1.15637051e-03 -1.10114010e+02] [-4.70323573e-03 1.33728366e-04 -9.99988931e-01 4.79404171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.437628 meters 0.01531205857064082 Centerline is valid? [True, True] Translation: X:197.97, Y:-110.13, Z:0.48 [[ 9.81469936e-01 -1.91567081e-01 -4.33797837e-03 1.97967891e+02] [-1.91565661e-01 -9.81479518e-01 7.44473641e-04 -1.10129709e+02] [-4.40025356e-03 1.00329196e-04 -9.99990314e-01 4.77920298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.49762799999996 meters 0.012601705993733649 Centerline is valid? [True, True] Translation: X:197.99, Y:-110.15, Z:0.48 [[ 9.94792867e-01 -1.01777828e-01 -5.33154787e-03 1.97991611e+02] [-1.01776670e-01 -9.94807152e-01 4.88723851e-04 -1.10152519e+02] [-5.35360320e-03 5.64481874e-05 -9.99985668e-01 4.80481538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.55762799999997 meters 0.011812030136844148 Centerline is valid? [True, True] Translation: X:198.02, Y:-110.17, Z:0.48 [[ 9.99870498e-01 -1.32751465e-02 -9.09717572e-03 1.98018460e+02] [-1.32746448e-02 -9.99911881e-01 1.15535022e-04 -1.10168877e+02] [-9.09790783e-03 5.24171625e-06 -9.99958613e-01 4.84779228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.61762799999997 meters 0.01182699866852826 Centerline is valid? [True, True] Translation: X:198.05, Y:-110.18, Z:0.48 [[ 9.97496883e-01 7.03415151e-02 -7.21383138e-03 1.98045968e+02] [ 7.03399314e-02 -9.97522967e-01 -4.73335702e-04 -1.10176720e+02] [-7.22925763e-03 -3.52695169e-05 -9.99973868e-01 4.81442212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.67762799999997 meters 0.011746330390847985 Centerline is valid? [True, True] Translation: X:198.07, Y:-110.18, Z:0.48 [[ 9.88859138e-01 1.48782489e-01 -4.62337187e-03 1.98074398e+02] [ 1.48780991e-01 -9.88869946e-01 -6.68194622e-04 -1.10182171e+02] [-4.67132915e-03 -2.71194890e-05 -9.99989089e-01 4.80024340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.737628 meters 0.011634696785914845 Centerline is valid? [True, True] Translation: X:198.10, Y:-110.18, Z:0.48 [[ 9.75174958e-01 2.21424804e-01 -2.20381711e-03 1.98101713e+02] [ 2.21424251e-01 -9.75177449e-01 -4.94894990e-04 -1.10178932e+02] [-2.25869478e-03 -5.36935159e-06 -9.99997449e-01 4.78059450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.797628 meters 0.012435708828593942 Centerline is valid? [True, True] Translation: X:198.13, Y:-110.17, Z:0.48 [[ 9.57845707e-01 2.87278658e-01 -1.60438516e-03 1.98126709e+02] [ 2.87278234e-01 -9.57847051e-01 -4.93810964e-04 -1.10167890e+02] [-1.67861695e-03 1.20897768e-05 -9.99998591e-01 4.77342364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.857628 meters 0.013230648286747965 Centerline is valid? [True, True] Translation: X:198.15, Y:-110.16, Z:0.48 [[ 9.34065014e-01 3.57091901e-01 -2.81511187e-03 1.98152310e+02] [ 3.57090152e-01 -9.34069255e-01 -1.11837170e-03 -1.10163219e+02] [-3.02887092e-03 3.93831517e-05 -9.99995412e-01 4.79548579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.917628 meters 0.013658563128489842 Centerline is valid? [True, True] Translation: X:198.18, Y:-110.16, Z:0.48 [[ 9.04372178e-01 4.26715730e-01 -4.96477752e-03 1.98179404e+02] [ 4.26708749e-01 -9.04385801e-01 -2.44252745e-03 -1.10161890e+02] [-5.53233918e-03 9.04398695e-05 -9.99984692e-01 4.81009287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.977628 meters 0.014072265010974671 Centerline is valid? [True, True] Translation: X:198.21, Y:-110.16, Z:0.48 [[ 8.68371852e-01 4.95861247e-01 -7.20763747e-03 1.98205451e+02] [ 4.95842796e-01 -8.68401752e-01 -4.27998670e-03 -1.10157969e+02] [-8.38140455e-03 1.42764859e-04 -9.99964865e-01 4.83540725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.037628 meters 0.01676886999078306 Centerline is valid? [True, True] Translation: X:198.23, Y:-110.15, Z:0.49 [[ 8.27310957e-01 5.61624054e-01 -1.16190155e-02 1.98231138e+02] [ 5.61564274e-01 -8.27392504e-01 -8.19820119e-03 -1.10151078e+02] [-1.42177933e-02 2.57637653e-04 -9.99898889e-01 4.87572078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.097628 meters 0.014512457364539804 Centerline is valid? [True, True] Translation: X:198.26, Y:-110.14, Z:0.49 [[ 7.81234623e-01 6.24146182e-01 -1.06774323e-02 1.98258007e+02] [ 6.24083302e-01 -7.81307543e-01 -8.86316473e-03 -1.10143598e+02] [-1.38742688e-02 2.60603938e-04 -9.99903714e-01 4.85767397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.157628 meters 0.014196739395182553 Centerline is valid? [True, True] Translation: X:198.29, Y:-110.14, Z:0.48 [[ 7.29783947e-01 6.83619765e-01 -8.91105124e-03 1.98285314e+02] [ 6.83564946e-01 -7.29838314e-01 -8.66025907e-03 -1.10135346e+02] [-1.24239509e-02 2.28835791e-04 -9.99922794e-01 4.84978966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.217628 meters 0.013194140743441529 Centerline is valid? [True, True] Translation: X:198.31, Y:-110.13, Z:0.48 [[ 6.71226315e-01 7.41215263e-01 -7.42756329e-03 1.98314578e+02] [ 7.41167166e-01 -6.71267389e-01 -8.44536889e-03 -1.10127068e+02] [-1.12457173e-02 1.63687801e-04 -9.99936752e-01 4.84306535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.277628 meters 0.012251941523185117 Centerline is valid? [True, True] Translation: X:198.34, Y:-110.12, Z:0.48 [[ 6.06996095e-01 7.94686335e-01 -5.41940913e-03 1.98342130e+02] [ 7.94653430e-01 -6.07020281e-01 -7.23219890e-03 -1.10115231e+02] [-9.03702089e-03 8.33644359e-05 -9.99959162e-01 4.82734520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.337628 meters 0.011710211480799494 Centerline is valid? [True, True] Translation: X:198.37, Y:-110.10, Z:0.48 [[ 5.39502695e-01 8.41976972e-01 -3.40900632e-03 1.98366240e+02] [ 8.41959793e-01 -5.39513464e-01 -5.37849320e-03 -1.10099342e+02] [-6.36777223e-03 3.14653180e-05 -9.99979725e-01 4.81569590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.397628 meters 0.011275465789051883 Centerline is valid? [True, True] Translation: X:198.39, Y:-110.08, Z:0.48 [[ 4.66246373e-01 8.84650186e-01 -2.89272070e-03 1.98387163e+02] [ 8.84633284e-01 -4.66255346e-01 -5.46864597e-03 -1.10080406e+02] [-6.18658516e-03 -9.26066790e-06 -9.99980863e-01 4.81187494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.457628 meters 0.011784615161129273 Centerline is valid? [True, True] Translation: X:198.40, Y:-110.06, Z:0.48 [[ 3.89797733e-01 9.20891430e-01 -4.08671613e-03 1.98404677e+02] [ 9.20842858e-01 -3.89819148e-01 -9.45844710e-03 -1.10059990e+02] [-1.03032831e-02 -7.63421234e-05 -9.99946917e-01 4.83914636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.517628 meters 0.012299293843591241 Centerline is valid? [True, True] Translation: X:198.42, Y:-110.04, Z:0.49 [[ 3.13557900e-01 9.49558773e-01 -4.42489149e-03 1.98420022e+02] [ 9.49470498e-01 -3.13589088e-01 -1.29482254e-02 -1.10038143e+02] [-1.36826987e-02 -1.41285574e-04 -9.99906378e-01 4.86531486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.577628 meters 0.01582098737238086 Centerline is valid? [True, True] Translation: X:198.43, Y:-110.01, Z:0.49 [[ 2.40075637e-01 9.70745284e-01 -4.15721443e-03 1.98429839e+02] [ 9.70609734e-01 -2.40111587e-01 -1.62225288e-02 -1.10013740e+02] [-1.67461387e-02 -1.40398863e-04 -9.99859764e-01 4.90589526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.637628 meters 0.011619155339725932 Centerline is valid? [True, True] Translation: X:198.43, Y:-109.99, Z:0.49 [[ 1.71153925e-01 9.85241325e-01 -2.42179641e-03 1.98431244e+02] [ 9.85143282e-01 -1.71171058e-01 -1.38989983e-02 -1.09988435e+02] [-1.41084089e-02 -6.94835454e-06 -9.99900471e-01 4.85175609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.697628 meters 0.011624243061612602 Centerline is valid? [True, True] Translation: X:198.44, Y:-109.96, Z:0.48 [[ 1.00002786e-01 9.94986813e-01 -8.27674758e-04 1.98437954e+02] [ 9.94948311e-01 -1.00006197e-01 -8.75324897e-03 -1.09964005e+02] [-8.79213990e-03 5.18556778e-05 -9.99961347e-01 4.79508341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.757628 meters 0.012581337690884714 Centerline is valid? [True, True] Translation: X:198.45, Y:-109.94, Z:0.48 [[ 2.92330251e-02 9.99572620e-01 -8.13362958e-05 1.98445687e+02] [ 9.99560052e-01 -2.92330654e-02 -5.01295619e-03 -1.09940052e+02] [-5.01319147e-03 6.52433619e-05 -9.99987432e-01 4.77155018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.817628 meters 0.013463405824167909 Centerline is valid? [True, True] Translation: X:198.45, Y:-109.92, Z:0.48 [[-4.42319207e-02 9.99021254e-01 2.65802424e-04 1.98451632e+02] [ 9.99012099e-01 4.42326535e-02 -4.27764740e-03 -1.09915748e+02] [-4.28521782e-03 7.63312772e-05 -9.99990815e-01 4.77332876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.877628 meters 0.015475817208781446 Centerline is valid? [True, True] Translation: X:198.46, Y:-109.89, Z:0.48 [[-1.15895186e-01 9.93260971e-01 9.73906186e-04 1.98455137e+02] [ 9.93237241e-01 1.15899151e-01 -6.86800692e-03 -1.09891120e+02] [-6.93459813e-03 1.71350956e-04 -9.99975941e-01 4.79744297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.937628 meters 0.015509917188894549 Centerline is valid? [True, True] Translation: X:198.46, Y:-109.86, Z:0.48 [[-1.90250145e-01 9.81733680e-01 1.96578935e-03 1.98464848e+02] [ 9.81694124e-01 1.90260133e-01 -8.81632826e-03 -1.09864879e+02] [-9.02929773e-03 2.52496123e-04 -9.99959203e-01 4.81381261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.99762799999996 meters 0.018502111818548137 Centerline is valid? [True, True] Translation: X:198.47, Y:-109.84, Z:0.48 [[-2.65542675e-01 9.64095031e-01 2.80355826e-03 1.98467369e+02] [ 9.64051794e-01 2.65557329e-01 -9.13471733e-03 -1.09840058e+02] [-9.55124103e-03 2.77118099e-04 -9.99954347e-01 4.82867850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.05762799999997 meters 0.014941759770309723 Centerline is valid? [True, True] Translation: X:198.47, Y:-109.81, Z:0.48 [[-3.43187937e-01 9.39263153e-01 2.60174185e-03 1.98474351e+02] [ 9.39240058e-01 3.43197751e-01 -6.58914746e-03 -1.09811778e+02] [-7.08185537e-03 1.82344246e-04 -9.99974907e-01 4.78012352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.11762799999997 meters 0.01414359392398329 Centerline is valid? [True, True] Translation: X:198.48, Y:-109.78, Z:0.48 [[-4.21410736e-01 9.06867478e-01 2.09027512e-03 1.98479432e+02] [ 9.06857377e-01 4.21415910e-01 -4.28117841e-03 -1.09782902e+02] [-4.76333666e-03 9.14468662e-05 -9.99988651e-01 4.77565861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.17762799999997 meters 0.012410293774132723 Centerline is valid? [True, True] Translation: X:198.48, Y:-109.75, Z:0.48 [[-4.96769627e-01 8.67881098e-01 1.52894567e-03 1.98480943e+02] [ 8.67877213e-01 4.96771979e-01 -2.59705609e-03 -1.09753498e+02] [-3.01347326e-03 3.67985189e-05 -9.99995459e-01 4.77077688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.237628 meters 0.014370085923693453 Centerline is valid? [True, True] Translation: X:198.48, Y:-109.73, Z:0.48 [[-5.68360232e-01 8.22779523e-01 7.09471166e-04 1.98476314e+02] [ 8.22778893e-01 5.68360675e-01 -1.01812902e-03 -1.09725943e+02] [-1.24093122e-03 5.07385708e-06 -9.99999230e-01 4.77500781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.297628 meters 0.011110277431902361 Centerline is valid? [True, True] Translation: X:198.47, Y:-109.70, Z:0.47 [[-6.37612132e-01 7.70356836e-01 -1.05558441e-03 1.98471168e+02] [ 7.70355786e-01 6.37613006e-01 1.27171847e-03 -1.09695983e+02] [ 1.65273136e-03 -2.31243464e-06 -9.99998634e-01 4.74189218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.357628 meters 0.011221529259531389 Centerline is valid? [True, True] Translation: X:198.46, Y:-109.67, Z:0.48 [[-6.97813718e-01 7.16278032e-01 -1.33977005e-03 1.98459379e+02] [ 7.16276704e-01 6.97815004e-01 1.37920591e-03 -1.09669937e+02] [ 1.92280654e-03 2.78272518e-06 -9.99998151e-01 4.75017710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.417628 meters 0.011284356066234793 Centerline is valid? [True, True] Translation: X:198.44, Y:-109.65, Z:0.48 [[-7.51940435e-01 6.59231021e-01 -2.05132557e-04 1.98441843e+02] [ 6.59230998e-01 7.51940463e-01 1.75810513e-04 -1.09648978e+02] [ 2.70147214e-04 -3.03070614e-06 -9.99999964e-01 4.76135680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.477628 meters 0.011100890210899491 Centerline is valid? [True, True] Translation: X:198.46, Y:-109.63, Z:0.48 [[-7.95286851e-01 6.06221974e-01 3.70711084e-03 1.98459669e+02] [ 6.06215325e-01 7.95295491e-01 -2.83927194e-03 -1.09633109e+02] [-4.66947757e-03 -1.07282372e-05 -9.99989098e-01 4.81382965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.537628 meters 0.015060051927709308 Centerline is valid? [True, True] Translation: X:198.48, Y:-109.62, Z:0.49 [[-8.34312529e-01 5.51237688e-01 7.72108741e-03 1.98477889e+02] [ 5.51214209e-01 8.34348255e-01 -5.08769817e-03 -1.09617099e+02] [-9.24660679e-03 1.12427597e-05 -9.99957249e-01 4.88877355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.597628 meters 0.012247598893443349 Centerline is valid? [True, True] Translation: X:198.49, Y:-109.61, Z:0.49 [[-8.67845528e-01 4.96777849e-01 7.47721508e-03 1.98493032e+02] [ 4.96760091e-01 8.67877736e-01 -4.20096647e-03 -1.09607482e+02] [-8.57625558e-03 6.85920800e-05 -9.99963221e-01 4.88765874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.657628 meters 0.01476962946406316 Centerline is valid? [True, True] Translation: X:198.51, Y:-109.60, Z:0.49 [[-8.97346257e-01 4.41273403e-01 6.89051768e-03 1.98506628e+02] [ 4.41261429e-01 8.97372703e-01 -3.25304964e-03 -1.09597536e+02] [-7.61884676e-03 1.21407756e-04 -9.99970969e-01 4.87381544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.717628 meters 0.013636558049196341 Centerline is valid? [True, True] Translation: X:198.52, Y:-109.58, Z:0.48 [[-9.25748629e-01 3.78100850e-01 5.40580805e-03 1.98523916e+02] [ 3.78095035e-01 9.25764407e-01 -2.09943802e-03 -1.09579989e+02] [-5.79830399e-03 1.00357312e-04 -9.99983185e-01 4.84027389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.777628 meters 0.015530001110940451 Centerline is valid? [True, True] Translation: X:198.82, Y:-108.84, Z:-0.47 [[-9.11952763e-01 -4.10271766e-01 4.38591640e-03 1.98815454e+02] [ 4.10266260e-01 -9.11963298e-01 -2.13034355e-03 -1.08843043e+02] [ 4.87381459e-03 -1.43379169e-04 9.99988113e-01 -4.72922600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.837628 meters 0.012469276760472166 Centerline is valid? [True, True] Translation: X:198.48, Y:-109.55, Z:0.49 [[-9.30924472e-01 3.65155045e-01 6.43592003e-03 1.98480734e+02] [ 3.65146686e-01 9.30946717e-01 -2.47118644e-03 -1.09554056e+02] [-6.89386482e-03 4.95669459e-05 -9.99976236e-01 4.87798590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.897628 meters 0.014625063817559706 Centerline is valid? [True, True] Translation: X:198.49, Y:-109.52, Z:0.49 [[-9.56092385e-01 2.92896586e-01 9.94694240e-03 1.98488058e+02] [ 2.92880930e-01 9.56144126e-01 -3.02837653e-03 -1.09522025e+02] [-1.03977117e-02 1.78620063e-05 -9.99945942e-01 4.93650481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.957628 meters 0.011791663943156354 Centerline is valid? [True, True] Translation: X:198.50, Y:-109.49, Z:0.49 [[-9.74792559e-01 2.22814280e-01 1.15439908e-02 1.98495968e+02] [ 2.22798675e-01 9.74860911e-01 -2.63703404e-03 -1.09494506e+02] [-1.18413543e-02 1.42470351e-06 -9.99929889e-01 4.93376188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.017628 meters 0.01158694045666248 Centerline is valid? [True, True] Translation: X:198.51, Y:-109.47, Z:0.49 [[-9.87998682e-01 1.54149352e-01 9.82764028e-03 1.98506781e+02] [ 1.54141834e-01 9.88047558e-01 -1.52240253e-03 -1.09471418e+02] [-9.94485335e-03 1.07188054e-05 -9.99950549e-01 4.90130445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.077628 meters 0.011490486038251629 Centerline is valid? [True, True] Translation: X:198.51, Y:-109.45, Z:0.49 [[-9.96527357e-01 8.30414831e-02 6.11046971e-03 1.98511220e+02] [ 8.30399301e-02 9.96546091e-01 -5.07867763e-04 -1.09448462e+02] [-6.13153880e-03 1.30885780e-06 -9.99981202e-01 4.85673630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.137628 meters 0.011508565174246827 Centerline is valid? [True, True] Translation: X:198.51, Y:-109.42, Z:0.48 [[-9.99962740e-01 8.53439708e-03 1.29689499e-03 1.98510624e+02] [ 8.53438100e-03 9.99963581e-01 -1.79341913e-05 -1.09422638e+02] [-1.29700082e-03 -6.86532713e-06 -9.99999159e-01 4.81574232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.197628 meters 0.011612970109603342 Centerline is valid? [True, True] Translation: X:198.51, Y:-109.40, Z:0.48 [[-9.98009912e-01 -6.30441072e-02 -1.28700814e-03 1.98510114e+02] [-6.30440561e-02 9.98010742e-01 -8.02365135e-05 -1.09396689e+02] [ 1.28950639e-03 1.06137771e-06 -9.99999169e-01 4.79511653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.257628 meters 0.011588858451915011 Centerline is valid? [True, True] Translation: X:198.47, Y:-108.62, Z:-0.47 [[-9.99971942e-01 -7.46364170e-03 -6.39464928e-04 1.98472613e+02] [ 7.46361359e-03 -9.99972146e-01 4.63285348e-05 -1.08618837e+02] [-6.39792896e-04 4.15545158e-05 9.99999794e-01 -4.67232892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.317628 meters 0.012039768123170666 Centerline is valid? [True, True] Translation: X:198.42, Y:-109.41, Z:0.48 [[-9.98345578e-01 -5.74987065e-02 -7.07347868e-05 1.98424863e+02] [-5.74987061e-02 9.98345581e-01 -8.20507803e-06 -1.09405608e+02] [ 7.10895432e-05 -4.12434467e-06 -9.99999997e-01 4.81199774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.377628 meters 0.013201144126476735 Centerline is valid? [True, True] Translation: X:198.42, Y:-109.38, Z:0.48 [[-9.92651002e-01 -1.21008094e-01 -1.01443962e-03 1.98422596e+02] [-1.21008011e-01 9.92651520e-01 -1.43311010e-04 -1.09380209e+02] [ 1.02432683e-03 -1.95024965e-05 -9.99999475e-01 4.80925542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.437628 meters 0.016924741307270345 Centerline is valid? [True, True] Translation: X:198.42, Y:-109.36, Z:0.49 [[-9.82235548e-01 -1.87650790e-01 7.14011059e-04 1.98415533e+02] [-1.87650733e-01 9.82235807e-01 1.47547260e-04 -1.09355010e+02] [-7.29014589e-04 1.09414658e-05 -9.99999734e-01 4.85119272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.49762799999996 meters 0.015780788300859785 Centerline is valid? [True, True] Translation: X:198.39, Y:-109.33, Z:0.49 [[-9.65539675e-01 -2.60246574e-01 2.20385790e-03 1.98391750e+02] [-2.60245810e-01 9.65542189e-01 6.31277990e-04 -1.09330641e+02] [-2.29220572e-03 3.59791593e-05 -9.99997372e-01 4.87021927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.55762799999997 meters 0.012750956043232047 Centerline is valid? [True, True] Translation: X:198.35, Y:-109.31, Z:0.49 [[-9.42644609e-01 -3.33791259e-01 2.13011298e-03 1.98353635e+02] [-3.33790347e-01 9.42647015e-01 7.80881751e-04 -1.09310459e+02] [-2.26859614e-03 2.50828228e-05 -9.99997426e-01 4.86066789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.61762799999997 meters 0.011860511063643843 Centerline is valid? [True, True] Translation: X:198.30, Y:-109.30, Z:0.48 [[-9.12819445e-01 -4.08361810e-01 1.13763283e-03 1.98295256e+02] [-4.08361488e-01 9.12820153e-01 5.12387798e-04 -1.09300442e+02] [-1.24769378e-03 3.15210911e-06 -9.99999222e-01 4.84177081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.67762799999997 meters 0.011723645445401474 Centerline is valid? [True, True] Translation: X:198.23, Y:-109.30, Z:0.48 [[-8.76972822e-01 -4.80539913e-01 2.48745993e-04 1.98229271e+02] [-4.80539895e-01 8.76972857e-01 1.31813201e-04 -1.09297451e+02] [-2.81484989e-04 -3.93577877e-06 -9.99999960e-01 4.83231061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.737628 meters 0.011933220497777241 Centerline is valid? [True, True] Translation: X:198.16, Y:-109.31, Z:0.48 [[-8.37480389e-01 -5.46466509e-01 9.75926931e-04 1.98158348e+02] [-5.46466149e-01 8.37480958e-01 6.27022974e-04 -1.09307858e+02] [-1.15996728e-03 -8.19158776e-06 -9.99999327e-01 4.83935465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.797628 meters 0.011987295159506778 Centerline is valid? [True, True] Translation: X:198.08, Y:-109.33, Z:0.49 [[-7.94180757e-01 -6.07674463e-01 2.94475110e-03 1.98079867e+02] [-6.07670372e-01 7.94186217e-01 2.22974325e-03 -1.09332537e+02] [-3.69363876e-03 -1.86188151e-05 -9.99993178e-01 4.85693966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.857628 meters 0.012001470056017618 Centerline is valid? [True, True] Translation: X:198.00, Y:-109.37, Z:0.49 [[-7.46949544e-01 -6.64861266e-01 5.08687471e-03 1.97998169e+02] [-6.64846064e-01 7.46966864e-01 4.49610113e-03 -1.09367419e+02] [-6.78901034e-03 -2.36279403e-05 -9.99976954e-01 4.87375798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.917628 meters 0.01525698606674986 Centerline is valid? [True, True] Translation: X:197.91, Y:-109.41, Z:0.49 [[-6.95448324e-01 -7.18547208e-01 6.44507015e-03 1.97910808e+02] [-7.18516605e-01 6.95478188e-01 6.63165308e-03 -1.09411644e+02] [-9.24756152e-03 -1.89179044e-05 -9.99957240e-01 4.91969292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.977628 meters 0.012024763397768314 Centerline is valid? [True, True] Translation: X:197.83, Y:-109.46, Z:0.49 [[-6.39837431e-01 -7.68489839e-01 5.60618347e-03 1.97826114e+02] [-7.68460439e-01 6.39861990e-01 6.72208047e-03 -1.09463311e+02] [-8.75303425e-03 -7.09151420e-06 -9.99961691e-01 4.88961112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.037628 meters 0.012019762895915224 Centerline is valid? [True, True] Translation: X:197.75, Y:-109.52, Z:0.49 [[-5.80437671e-01 -8.14288727e-01 5.09701718e-03 1.97745584e+02] [-8.14257274e-01 5.80460050e-01 7.15696451e-03 -1.09524321e+02] [-8.78645037e-03 3.88849331e-06 -9.99961398e-01 4.87961895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.097628 meters 0.01260250460076614 Centerline is valid? [True, True] Translation: X:197.67, Y:-109.60, Z:0.49 [[-5.23225269e-01 -8.52186973e-01 3.56104694e-03 1.97671919e+02] [-8.52166494e-01 5.23237384e-01 5.90811979e-03 -1.09595312e+02] [-6.89809561e-03 5.66726839e-05 -9.99976206e-01 4.86529612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.157628 meters 0.01770437897301523 Centerline is valid? [True, True] Translation: X:197.61, Y:-109.68, Z:0.49 [[-4.68525488e-01 -8.83444630e-01 3.07453209e-03 1.97605655e+02] [-8.83423456e-01 4.68535552e-01 6.11831135e-03 -1.09679651e+02] [-6.84571690e-03 1.50471048e-04 -9.99976556e-01 4.88487825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.217628 meters 0.017544143780130545 Centerline is valid? [True, True] Translation: X:197.54, Y:-109.77, Z:0.49 [[-4.05808039e-01 -9.13955413e-01 2.31055497e-03 1.97538668e+02] [-9.13938025e-01 4.05814578e-01 5.64050001e-03 -1.09768805e+02] [-6.09282241e-03 1.77256203e-04 -9.99981423e-01 4.85375157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.277628 meters 0.019365994367657176 Centerline is valid? [True, True] Translation: X:197.47, Y:-109.86, Z:0.49 [[-3.35147458e-01 -9.42162563e-01 2.42604831e-03 1.97470368e+02] [-9.42132500e-01 3.35156154e-01 7.53023556e-03 -1.09862708e+02] [-7.90781106e-03 2.38080349e-04 -9.99968704e-01 4.88734733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.337628 meters 0.015766082170185578 Centerline is valid? [True, True] Translation: X:197.40, Y:-109.97, Z:0.49 [[-2.56687795e-01 -9.66492637e-01 1.83234440e-03 1.97403437e+02] [-9.66462283e-01 2.56694261e-01 7.66234567e-03 -1.09968328e+02] [-7.87595297e-03 1.95938871e-04 -9.99968965e-01 4.86528813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.397628 meters 0.018309237530059357 Centerline is valid? [True, True] Translation: X:197.35, Y:-110.08, Z:0.49 [[-1.78024935e-01 -9.84025113e-01 1.30396757e-03 1.97351529e+02] [-9.83990962e-01 1.78029623e-01 8.20000187e-03 -1.10076877e+02] [-8.30115262e-03 1.76712499e-04 -9.99965529e-01 4.89528742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.457628 meters 0.013986675948143073 Centerline is valid? [True, True] Translation: X:197.30, Y:-110.19, Z:0.49 [[-9.67195362e-02 -9.95311542e-01 5.15110634e-04 1.97300735e+02] [-9.95291219e-01 9.67208535e-02 6.36122136e-03 -1.10192465e+02] [-6.38121898e-03 1.02569288e-04 -9.99979635e-01 4.86187077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.517628 meters 0.013536325086778862 Centerline is valid? [True, True] Translation: X:197.26, Y:-110.31, Z:0.49 [[-1.59244364e-02 -9.99873198e-01 2.36173330e-05 1.97263984e+02] [-9.99855087e-01 1.59242901e-02 6.01849904e-03 -1.10306661e+02] [-6.01811197e-03 7.22272945e-05 -9.99981888e-01 4.86888378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.577628 meters 0.01324402597266426 Centerline is valid? [True, True] Translation: X:197.24, Y:-110.43, Z:0.49 [[ 6.33578412e-02 -9.97990720e-01 -5.53873632e-04 1.97240416e+02] [-9.97962164e-01 -6.33602185e-02 7.54999734e-03 -1.10430909e+02] [-7.56992084e-03 7.43933947e-05 -9.99971345e-01 4.87021678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.637628 meters 0.016735786571041748 Centerline is valid? [True, True] Translation: X:197.23, Y:-110.55, Z:0.49 [[ 1.39922752e-01 -9.90161630e-01 -1.25272681e-03 1.97227328e+02] [-9.90127109e-01 -1.39928335e-01 8.26857259e-03 -1.10548392e+02] [-8.36251529e-03 8.33973434e-05 -9.99965030e-01 4.91392598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.697628 meters 0.013248230365558793 Centerline is valid? [True, True] Translation: X:197.22, Y:-110.67, Z:0.49 [[ 2.18183345e-01 -9.75905686e-01 -2.03003030e-03 1.97224716e+02] [-9.75866291e-01 -2.18192778e-01 8.76893498e-03 -1.10667776e+02] [-9.00059145e-03 6.78025757e-05 -9.99959492e-01 4.88917188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.757628 meters 0.013622363144752061 Centerline is valid? [True, True] Translation: X:197.23, Y:-110.79, Z:0.49 [[ 2.93158173e-01 -9.56060741e-01 -2.47906317e-03 1.97232414e+02] [-9.56028211e-01 -2.93168649e-01 7.88695017e-03 -1.10788315e+02] [-8.26718702e-03 5.79304284e-05 -9.99965825e-01 4.88583208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.817628 meters 0.012858109241818223 Centerline is valid? [True, True] Translation: X:197.25, Y:-110.91, Z:0.49 [[ 3.67399047e-01 -9.30056702e-01 -3.53150165e-03 1.97250675e+02] [-9.30015054e-01 -3.67416016e-01 8.80170067e-03 -1.10905468e+02] [-9.48361097e-03 5.06132598e-05 -9.99955028e-01 4.86998949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.877628 meters 0.012839726152539283 Centerline is valid? [True, True] Translation: X:197.28, Y:-111.02, Z:0.49 [[ 4.38917573e-01 -8.98517088e-01 -4.29014832e-03 1.97279270e+02] [-8.98475066e-01 -4.38938538e-01 8.68992751e-03 -1.11021935e+02] [-9.69115980e-03 4.04293968e-05 -9.99953039e-01 4.87354718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.937628 meters 0.012842770004936978 Centerline is valid? [True, True] Translation: X:197.32, Y:-111.13, Z:0.49 [[ 5.06091292e-01 -8.62469426e-01 -4.25354271e-03 1.97315286e+02] [-8.62439632e-01 -5.06109165e-01 7.16895688e-03 -1.11129685e+02] [-8.33576307e-03 4.02771596e-05 -9.99965256e-01 4.85320393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.99762799999996 meters 0.012708755883944467 Centerline is valid? [True, True] Translation: X:197.36, Y:-111.24, Z:0.48 [[ 5.71400335e-01 -8.20664344e-01 -3.41929138e-03 1.97355378e+02] [-8.20649900e-01 -5.71410565e-01 4.86907068e-03 -1.11242394e+02] [-5.94969191e-03 2.38525134e-05 -9.99982300e-01 4.83519049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.05762799999997 meters 0.012828986903454189 Centerline is valid? [True, True] Translation: X:197.40, Y:-111.35, Z:0.48 [[ 6.30946257e-01 -7.75816840e-01 -3.87957997e-03 1.97399618e+02] [-7.75802542e-01 -6.30958183e-01 4.71033588e-03 -1.11346171e+02] [-6.10221063e-03 3.78192128e-05 -9.99981381e-01 4.83798530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.11762799999997 meters 0.01339759431528959 Centerline is valid? [True, True] Translation: X:197.45, Y:-111.44, Z:0.48 [[ 6.85588699e-01 -7.27974653e-01 -4.58687559e-03 1.97447316e+02] [-7.27959018e-01 -6.85604040e-01 4.77157627e-03 -1.11439542e+02] [-6.61836702e-03 6.77186811e-05 -9.99978096e-01 4.84145380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.17762799999997 meters 0.01430081933955065 Centerline is valid? [True, True] Translation: X:197.50, Y:-111.53, Z:0.49 [[ 7.36582695e-01 -6.76322401e-01 -5.82604193e-03 1.97501985e+02] [-6.76302423e-01 -7.36605727e-01 5.19948102e-03 -1.11528386e+02] [-7.80802134e-03 1.10318529e-04 -9.99969511e-01 4.85091430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.237628 meters 0.0151228996538266 Centerline is valid? [True, True] Translation: X:197.52, Y:-111.55, Z:0.49 [[ 7.85656258e-01 -6.18607300e-01 -8.32184596e-03 1.97523033e+02] [-6.18574936e-01 -7.85700311e-01 6.33011260e-03 -1.11550839e+02] [-1.04543308e-02 1.74392758e-04 -9.99945337e-01 4.87282545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.297628 meters 0.015460087179442725 Centerline is valid? [True, True] Translation: X:197.54, Y:-111.57, Z:0.49 [[ 8.31025879e-01 -5.56139475e-01 -1.02407619e-02 1.97543687e+02] [-5.56100440e-01 -8.31088947e-01 6.59266183e-03 -1.11573571e+02] [-1.21774235e-02 2.16219623e-04 -9.99925829e-01 4.89129571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.357628 meters 0.014122604696589271 Centerline is valid? [True, True] Translation: X:197.56, Y:-111.60, Z:0.49 [[ 8.74189163e-01 -4.85473499e-01 -1.04301814e-02 1.97564700e+02] [-4.85441071e-01 -8.74251369e-01 5.61333082e-03 -1.11598880e+02] [-1.18437238e-02 1.56125475e-04 -9.99929848e-01 4.88763792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.417628 meters 0.012859032360160607 Centerline is valid? [True, True] Translation: X:197.59, Y:-111.62, Z:0.49 [[ 9.12574007e-01 -4.08798670e-01 -9.60879759e-03 1.97587440e+02] [-4.08776690e-01 -9.12624591e-01 4.23953304e-03 -1.11622664e+02] [-1.05023404e-02 5.89648250e-05 -9.99944847e-01 4.86036955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.477628 meters 0.012450364241481366 Centerline is valid? [True, True] Translation: X:197.61, Y:-111.64, Z:0.48 [[ 9.43715510e-01 -3.30701274e-01 -6.14026050e-03 1.97612969e+02] [-3.30694256e-01 -9.43735486e-01 2.15452157e-03 -1.11640056e+02] [-6.50728475e-03 -2.70655096e-06 -9.99978827e-01 4.83227743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.537628 meters 0.012511114424655138 Centerline is valid? [True, True] Translation: X:197.64, Y:-111.66, Z:0.48 [[ 9.67474257e-01 -2.52924184e-01 -4.78749115e-03 1.97640627e+02] [-2.52920994e-01 -9.67486102e-01 1.27041299e-03 -1.11656117e+02] [-4.95314932e-03 -1.82348399e-05 -9.99987733e-01 4.81238217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.597628 meters 0.012810111176274286 Centerline is valid? [True, True] Translation: X:197.67, Y:-111.67, Z:0.48 [[ 9.85048491e-01 -1.72192512e-01 -5.40458156e-03 1.97668876e+02] [-1.72189676e-01 -9.85063316e-01 9.89248300e-04 -1.11668511e+02] [-5.49419619e-03 -4.38443986e-05 -9.99984906e-01 4.81807818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.657628 meters 0.012973304398990814 Centerline is valid? [True, True] Translation: X:197.69, Y:-111.68, Z:0.48 [[ 9.95543109e-01 -9.39881458e-02 -7.75538077e-03 1.97694289e+02] [-9.39847854e-02 -9.95573314e-01 7.97429487e-04 -1.11675983e+02] [-7.79599906e-03 -6.49876329e-05 -9.99969609e-01 4.83384120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.717628 meters 0.012941443047327137 Centerline is valid? [True, True] Translation: X:197.72, Y:-111.69, Z:0.48 [[ 9.99840362e-01 -1.54145780e-02 -9.03560604e-03 1.97720177e+02] [-1.54132447e-02 -9.99881185e-01 2.17175136e-04 -1.11687570e+02] [-9.03788014e-03 -7.78724594e-05 -9.99959154e-01 4.84575609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.777628 meters 0.012704051361130484 Centerline is valid? [True, True] Translation: X:197.75, Y:-111.70, Z:0.49 [[ 9.98148132e-01 6.02998969e-02 -8.01434239e-03 1.97747586e+02] [ 6.02983464e-02 -9.98180304e-01 -4.35167131e-04 -1.11697956e+02] [-8.02599926e-03 -4.88903348e-05 -9.99967790e-01 4.85119560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.837628 meters 0.012429895451434384 Centerline is valid? [True, True] Translation: X:197.77, Y:-111.70, Z:0.48 [[ 9.90981324e-01 1.33913393e-01 -4.81847235e-03 1.97774748e+02] [ 1.33911858e-01 -9.90993039e-01 -6.41432190e-04 -1.11699827e+02] [-4.86096892e-03 -9.60326233e-06 -9.99988185e-01 4.81698998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.897628 meters 0.013984329087678497 Centerline is valid? [True, True] Translation: X:197.80, Y:-111.70, Z:0.48 [[ 9.78486288e-01 2.06269669e-01 -4.17234413e-03 1.97800567e+02] [ 2.06267741e-01 -9.78495183e-01 -8.91898239e-04 -1.11697187e+02] [-4.26659018e-03 1.20901979e-05 -9.99990898e-01 4.83253701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.957628 meters 0.013161701232890583 Centerline is valid? [True, True] Translation: X:197.83, Y:-111.69, Z:0.48 [[ 9.60478316e-01 2.78311882e-01 -4.88891687e-03 1.97826158e+02] [ 2.78308086e-01 -9.60490757e-01 -1.45399938e-03 -1.11689106e+02] [-5.10042477e-03 3.59097817e-05 -9.99986992e-01 4.83617804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.017628 meters 0.013434369286326782 Centerline is valid? [True, True] Translation: X:197.85, Y:-111.69, Z:0.49 [[ 9.36587790e-01 3.50378244e-01 -6.19664207e-03 1.97853267e+02] [ 3.50370124e-01 -9.36608286e-01 -2.38625110e-03 -1.11686543e+02] [-6.63991678e-03 6.38153978e-05 -9.99977953e-01 4.86325264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.077628 meters 0.013365190992824346 Centerline is valid? [True, True] Translation: X:197.88, Y:-111.68, Z:0.49 [[ 9.06223975e-01 4.22732112e-01 -7.46112230e-03 1.97880287e+02] [ 4.22717063e-01 -9.06254686e-01 -3.56777484e-03 -1.11683256e+02] [-8.26989004e-03 7.92593979e-05 -9.99965801e-01 4.86799997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.137628 meters 0.015663333439868782 Centerline is valid? [True, True] Translation: X:197.91, Y:-111.68, Z:0.49 [[ 8.69295394e-01 4.94225796e-01 -8.14739025e-03 1.97908440e+02] [ 4.94203330e-01 -8.69333571e-01 -4.71291550e-03 -1.11679508e+02] [-9.41204428e-03 7.04483458e-05 -9.99955703e-01 4.88473862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.197628 meters 0.012737619143668569 Centerline is valid? [True, True] Translation: X:197.94, Y:-111.67, Z:0.49 [[ 8.25919792e-01 5.63749072e-01 -6.59401496e-03 1.97937087e+02] [ 5.63730810e-01 -8.25946113e-01 -4.53778887e-03 -1.11674532e+02] [-8.00447530e-03 3.06002451e-05 -9.99967963e-01 4.85244539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.257628 meters 0.012422529455480587 Centerline is valid? [True, True] Translation: X:197.96, Y:-111.67, Z:0.48 [[ 7.77746563e-01 6.28560007e-01 -4.75412629e-03 1.97964612e+02] [ 6.28548200e-01 -7.77761093e-01 -3.85249905e-03 -1.11666539e+02] [-6.11910129e-03 8.07037167e-06 -9.99981278e-01 4.84371983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.317628 meters 0.012476088398842282 Centerline is valid? [True, True] Translation: X:197.99, Y:-111.65, Z:0.48 [[ 7.27404269e-01 6.86195570e-01 -4.32080545e-03 1.97986619e+02] [ 6.86183310e-01 -7.27417102e-01 -4.10190549e-03 -1.11651042e+02] [-5.95773715e-03 1.88789836e-05 -9.99982252e-01 4.84439327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.377628 meters 0.012578435237144723 Centerline is valid? [True, True] Translation: X:198.01, Y:-111.63, Z:0.48 [[ 6.72326894e-01 7.40243777e-01 -3.96207444e-03 1.98006370e+02] [ 7.40230697e-01 -6.72338568e-01 -4.40051836e-03 -1.11633255e+02] [-5.92131179e-03 2.57377193e-05 -9.99982469e-01 4.84577130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.437628 meters 0.012607350121133617 Centerline is valid? [True, True] Translation: X:198.02, Y:-111.61, Z:0.48 [[ 6.12050365e-01 7.90814031e-01 -2.74196862e-03 1.98021308e+02] [ 7.90805968e-01 -6.12056507e-01 -3.57119634e-03 -1.11613350e+02] [-4.50239191e-03 1.73868775e-05 -9.99989864e-01 4.83384981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.49762799999996 meters 0.012400121342081872 Centerline is valid? [True, True] Translation: X:198.04, Y:-111.60, Z:0.48 [[ 5.44859073e-01 8.38522079e-01 -3.05169856e-03 1.98043671e+02] [ 8.38508930e-01 -5.44867619e-01 -4.69592682e-03 -1.11597537e+02] [-5.60041005e-03 -2.58156702e-07 -9.99984318e-01 4.84469676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.55762799999997 meters 0.014106563880867111 Centerline is valid? [True, True] Translation: X:198.07, Y:-111.58, Z:0.49 [[ 4.73935188e-01 8.80552640e-01 -3.53349949e-03 1.98067275e+02] [ 8.80528627e-01 -4.73948359e-01 -6.50312469e-03 -1.11582261e+02] [-7.40103990e-03 -2.92878378e-05 -9.99972612e-01 4.90799761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.61762799999997 meters 0.015525207447979555 Centerline is valid? [True, True] Translation: X:198.09, Y:-111.56, Z:0.49 [[ 4.00952237e-01 9.16092616e-01 -3.40911702e-03 1.98088620e+02] [ 9.16060689e-01 -4.00966726e-01 -7.64846795e-03 -1.11563205e+02] [-8.37364751e-03 -5.62877527e-05 -9.99964939e-01 4.91585937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.67762799999997 meters 0.012490205014661268 Centerline is valid? [True, True] Translation: X:198.10, Y:-111.54, Z:0.49 [[ 3.31126015e-01 9.43583288e-01 -2.47786673e-03 1.98102399e+02] [ 9.43557443e-01 -3.31135285e-01 -6.98382850e-03 -1.11540347e+02] [-7.41033297e-03 -2.54822922e-05 -9.99972543e-01 4.87501287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.737628 meters 0.012610271702028279 Centerline is valid? [True, True] Translation: X:198.11, Y:-111.52, Z:0.49 [[ 2.63211557e-01 9.64736620e-01 -1.71204193e-03 1.98110282e+02] [ 9.64715600e-01 -2.63217123e-01 -6.36842243e-03 -1.11516186e+02] [-6.59448908e-03 2.46088261e-05 -9.99978256e-01 4.87511191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.797628 meters 0.012748663603736964 Centerline is valid? [True, True] Translation: X:198.12, Y:-111.49, Z:0.49 [[ 1.88839956e-01 9.82007343e-01 -1.02421962e-03 1.98121837e+02] [ 9.81991976e-01 -1.88842731e-01 -5.49377718e-03 -1.11492694e+02] [-5.58834596e-03 3.16691904e-05 -9.99984385e-01 4.86677844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.857628 meters 0.01428307320459167 Centerline is valid? [True, True] Translation: X:198.14, Y:-111.47, Z:0.49 [[ 1.09623926e-01 9.93973032e-01 -4.54199033e-04 1.98139234e+02] [ 9.93963873e-01 -1.09624866e-01 -4.26701841e-03 -1.11469788e+02] [-4.29109273e-03 1.63098816e-05 -9.99990793e-01 4.88695576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.917628 meters 0.012310096301972766 Centerline is valid? [True, True] Translation: X:198.15, Y:-111.45, Z:0.49 [[ 2.69276565e-02 9.99637382e-01 -7.16394676e-05 1.98153032e+02] [ 9.99634143e-01 -2.69277516e-02 -2.54473751e-03 -1.11446376e+02] [-2.54574383e-03 -3.08944026e-06 -9.99996760e-01 4.85384650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.977628 meters 0.01254506820696057 Centerline is valid? [True, True] Translation: X:198.17, Y:-111.42, Z:0.49 [[-5.65561146e-02 9.98399419e-01 7.80582257e-05 1.98166936e+02] [ 9.98398177e-01 5.65561673e-02 -1.57457043e-03 -1.11420085e+02] [-1.57646488e-03 -1.11183955e-05 -9.99998757e-01 4.85313114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.037628 meters 0.012706120861542434 Centerline is valid? [True, True] Translation: X:198.17, Y:-111.39, Z:0.49 [[-1.36248777e-01 9.90674517e-01 5.21942929e-04 1.98172718e+02] [ 9.90666367e-01 1.36249774e-01 -4.01839856e-03 -1.11392804e+02] [-4.05203966e-03 -3.04305846e-05 -9.99991790e-01 4.88568271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.097628 meters 0.012674379978788128 Centerline is valid? [True, True] Translation: X:198.17, Y:-111.37, Z:0.49 [[-2.10631142e-01 9.77563742e-01 1.91132846e-03 1.98171863e+02] [ 9.77521804e-01 2.10639810e-01 -9.05497808e-03 -1.11366998e+02] [-9.25442012e-03 -3.88951222e-05 -9.99957176e-01 4.94573179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.157628 meters 0.012740465909475142 Centerline is valid? [True, True] Translation: X:198.17, Y:-111.34, Z:0.50 [[-2.84904706e-01 9.58550419e-01 3.22535781e-03 1.98168537e+02] [ 9.58487890e-01 2.84922961e-01 -1.09485304e-02 -1.11341356e+02] [-1.14136969e-02 -2.78214314e-05 -9.99934861e-01 4.96180596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.217628 meters 0.015566659033636618 Centerline is valid? [True, True] Translation: X:198.17, Y:-111.31, Z:0.50 [[-3.59463084e-01 9.33148099e-01 4.57345913e-03 1.98172078e+02] [ 9.33071320e-01 3.59492176e-01 -1.19703017e-02 -1.11312587e+02] [-1.28141871e-02 -3.55180352e-05 -9.99917894e-01 4.97609813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.277628 meters 0.012579210566765267 Centerline is valid? [True, True] Translation: X:198.17, Y:-111.29, Z:0.49 [[-4.31462894e-01 9.02124997e-01 3.20320939e-03 1.98171710e+02] [ 9.02099762e-01 4.31474784e-01 -6.74767528e-03 -1.11285984e+02] [-7.46935062e-03 -2.17570790e-05 -9.99972104e-01 4.91483212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.337628 meters 0.012443725360603935 Centerline is valid? [True, True] Translation: X:198.16, Y:-111.26, Z:0.49 [[-4.99701678e-01 8.66195558e-01 1.86745566e-03 1.98164129e+02] [ 8.66189452e-01 4.99705168e-01 -3.25257357e-03 -1.11262369e+02] [-3.75054202e-03 -7.74608214e-06 -9.99992967e-01 4.87952402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.397628 meters 0.012552887563636485 Centerline is valid? [True, True] Translation: X:198.15, Y:-111.24, Z:0.49 [[-5.64260528e-01 8.25596467e-01 7.28004243e-04 1.98152141e+02] [ 8.25595775e-01 5.64260998e-01 -1.06854481e-03 -1.11240037e+02] [-1.29297122e-03 -1.90043107e-06 -9.99999164e-01 4.86002165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.457628 meters 0.012466761774291698 Centerline is valid? [True, True] Translation: X:198.14, Y:-111.22, Z:0.49 [[-6.28000128e-01 7.78213022e-01 5.76808039e-04 1.98140898e+02] [ 7.78212689e-01 6.28000392e-01 -7.19820182e-04 -1.11216710e+02] [-9.22409114e-04 -3.16783083e-06 -9.99999575e-01 4.86236788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.517628 meters 0.012642327633331167 Centerline is valid? [True, True] Translation: X:198.13, Y:-111.19, Z:0.49 [[-6.90620941e-01 7.23216183e-01 1.03322274e-03 1.98130911e+02] [ 7.23215351e-01 6.90621714e-01 -1.09748532e-03 -1.11191342e+02] [-1.50728520e-03 -1.07037940e-05 -9.99998864e-01 4.86038919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.577628 meters 0.012912176546123734 Centerline is valid? [True, True] Translation: X:198.12, Y:-111.16, Z:0.49 [[-7.47463739e-01 6.64292428e-01 3.67815564e-03 1.98120435e+02] [ 6.64284084e-01 7.47472787e-01 -3.32981273e-03 -1.11164044e+02] [-4.96129063e-03 -4.55740191e-05 -9.99987692e-01 4.89451666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.637628 meters 0.012651957317961544 Centerline is valid? [True, True] Translation: X:198.14, Y:-111.15, Z:0.50 [[-7.90786124e-01 6.12036448e-01 8.28814696e-03 1.98141068e+02] [ 6.12001996e-01 7.90829553e-01 -6.49421695e-03 -1.11146480e+02] [-1.05292090e-02 -6.31741698e-05 -9.99944564e-01 4.95207016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.697628 meters 0.012459953805931949 Centerline is valid? [True, True] Translation: X:198.16, Y:-111.13, Z:0.49 [[-8.29283417e-01 5.58770933e-01 8.00363587e-03 1.98160706e+02] [ 5.58744800e-01 8.29322039e-01 -5.40402395e-03 -1.11134428e+02] [-9.65720312e-03 -9.47752503e-06 -9.99953368e-01 4.94080178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.757628 meters 0.01634764992219936 Centerline is valid? [True, True] Translation: X:198.18, Y:-111.12, Z:0.50 [[-8.63058641e-01 5.05045137e-01 7.69367140e-03 1.98180561e+02] [ 5.05025637e-01 8.63092931e-01 -4.43833645e-03 -1.11121936e+02] [-8.88191364e-03 5.49566777e-05 -9.99960554e-01 4.95267240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.817628 meters 0.016160949119245115 Centerline is valid? [True, True] Translation: X:198.20, Y:-111.10, Z:0.49 [[-8.95582427e-01 4.44872007e-01 4.58418048e-03 1.98198974e+02] [ 4.44866424e-01 8.95594158e-01 -2.22921263e-03 -1.11099997e+02] [-5.09727955e-03 4.29043200e-05 -9.99987008e-01 4.92921979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.877628 meters 0.012968612145888628 Centerline is valid? [True, True] Translation: X:198.21, Y:-111.08, Z:0.49 [[-9.24755758e-01 3.80556660e-01 1.84872739e-03 1.98214243e+02] [ 3.80555932e-01 9.24757605e-01 -7.44028050e-04 -1.11075029e+02] [-1.99276954e-03 1.54999507e-05 -9.99998014e-01 4.89562367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.937628 meters 0.013080298999680554 Centerline is valid? [True, True] Translation: X:198.22, Y:-111.05, Z:0.49 [[-9.49486243e-01 3.13808454e-01 -3.59239933e-04 1.98223578e+02] [ 3.13808434e-01 9.49486311e-01 1.12348945e-04 -1.11046681e+02] [ 3.76349447e-04 -6.05874365e-06 -9.99999929e-01 4.88455164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.99762799999996 meters 0.012866083878760343 Centerline is valid? [True, True] Translation: X:198.23, Y:-111.02, Z:0.49 [[-9.69836330e-01 2.43756952e-01 2.04483868e-04 1.98231743e+02] [ 2.43756946e-01 9.69836351e-01 -5.27054648e-05 -1.11019212e+02] [-2.11163212e-04 -1.27131127e-06 -9.99999978e-01 4.89608048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.05762799999997 meters 0.014763372186169237 Centerline is valid? [True, True] Translation: X:198.24, Y:-110.99, Z:0.49 [[-9.84680747e-01 1.74337328e-01 3.21275244e-03 1.98239835e+02] [ 1.74336464e-01 9.84685988e-01 -5.49178335e-04 -1.10991719e+02] [-3.25929459e-03 1.93345647e-05 -9.99994688e-01 4.94601576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.11762799999997 meters 0.01664099588183529 Centerline is valid? [True, True] Translation: X:198.25, Y:-110.97, Z:0.50 [[-9.94506825e-01 1.04444256e-01 6.89720836e-03 1.98248753e+02] [ 1.04442061e-01 9.94530741e-01 -6.78644088e-04 -1.10965627e+02] [-6.93036622e-03 4.54424768e-05 -9.99975984e-01 4.98984555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.17762799999997 meters 0.013192527489359448 Centerline is valid? [True, True] Translation: X:198.25, Y:-110.94, Z:0.50 [[-9.99453577e-01 3.22385442e-02 7.29540089e-03 1.98249877e+02] [ 3.22379625e-02 9.99480202e-01 -1.97348089e-04 -1.10938676e+02] [-7.29797098e-03 3.79486065e-05 -9.99973369e-01 4.97750185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.237628 meters 0.014422886256206469 Centerline is valid? [True, True] Translation: X:198.27, Y:-110.20, Z:-0.49 [[-9.95969876e-01 -8.92719013e-02 8.63324191e-03 1.98272987e+02] [ 8.92689306e-02 -9.96007292e-01 -7.29604154e-04 -1.10197585e+02] [ 8.66390505e-03 4.40165143e-05 9.99962467e-01 -4.85800051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.297628 meters 0.016046141769862753 Centerline is valid? [True, True] Translation: X:198.18, Y:-110.93, Z:0.50 [[-9.99609170e-01 2.64486340e-02 9.05412968e-03 1.98182678e+02] [ 2.64478745e-02 9.99650173e-01 -2.03630822e-04 -1.10931057e+02] [-9.05634805e-03 3.59112482e-05 -9.99958990e-01 5.01658797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.357628 meters 0.013238669924270545 Centerline is valid? [True, True] Translation: X:198.18, Y:-110.90, Z:0.50 [[-9.99119161e-01 -4.14585395e-02 6.48780036e-03 1.98184292e+02] [-4.14573674e-02 9.99140224e-01 3.15099932e-04 -1.10904689e+02] [-6.49528588e-03 4.58552563e-05 -9.99978904e-01 4.99397163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.417628 meters 0.015389493859649252 Centerline is valid? [True, True] Translation: X:198.16, Y:-110.17, Z:-0.49 [[-9.99968974e-01 -3.65596839e-03 6.97749945e-03 1.98155841e+02] [ 3.65573154e-03 -9.99993317e-01 -4.66988389e-05 -1.10166524e+02] [ 6.97762355e-03 -2.11895252e-05 9.99975656e-01 -4.86301636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.477628 meters 0.014684444458409142 Centerline is valid? [True, True] Translation: X:198.11, Y:-110.92, Z:0.50 [[-9.99275541e-01 -3.74111726e-02 6.98555728e-03 1.98105309e+02] [-3.74094400e-02 9.99299950e-01 3.78569146e-04 -1.10915652e+02] [-6.99482976e-03 1.16969103e-04 -9.99975529e-01 4.99420435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.537628 meters 0.014859940978529617 Centerline is valid? [True, True] Translation: X:198.07, Y:-110.17, Z:-0.49 [[-9.99953640e-01 3.54088629e-03 8.95429272e-03 1.98066988e+02] [-3.54092385e-03 -9.99993731e-01 1.16592429e-05 -1.10172475e+02] [ 8.95427787e-03 -2.00477663e-05 9.99959909e-01 -4.88404287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.597628 meters 0.016956631260930992 Centerline is valid? [True, True] Translation: X:198.02, Y:-110.91, Z:0.51 [[-9.98799540e-01 -4.72074625e-02 1.30742118e-02 1.98018806e+02] [-4.72012693e-02 9.98885093e-01 7.82033786e-04 -1.10908053e+02] [-1.30965531e-02 1.63975592e-04 -9.99914223e-01 5.05630657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.657628 meters 0.01416683617674188 Centerline is valid? [True, True] Translation: X:198.01, Y:-110.88, Z:0.50 [[-9.92714145e-01 -1.19752536e-01 1.33400338e-02 1.98006496e+02] [-1.19739732e-01 9.92803761e-01 1.75730427e-03 -1.10877177e+02] [-1.34544774e-02 1.47168739e-04 -9.99909474e-01 5.04356683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.717628 meters 0.014853505276869142 Centerline is valid? [True, True] Translation: X:198.00, Y:-110.85, Z:0.50 [[-9.82323902e-01 -1.86757940e-01 1.26973701e-02 1.97998597e+02] [-1.86739870e-01 9.82405943e-01 2.60466340e-03 -1.10849109e+02] [-1.29604134e-02 1.87517877e-04 -9.99915993e-01 5.03349719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.777628 meters 0.015674902562420445 Centerline is valid? [True, True] Translation: X:197.98, Y:-110.83, Z:0.50 [[-9.67267544e-01 -2.53477847e-01 1.19364527e-02 1.97977834e+02] [-2.53455690e-01 9.67341166e-01 3.35888990e-03 -1.10825795e+02] [-1.23980263e-02 2.23583319e-04 -9.99923117e-01 5.02158072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.837628 meters 0.019233465270580754 Centerline is valid? [True, True] Translation: X:197.94, Y:-110.81, Z:0.50 [[-9.47866578e-01 -3.18465600e-01 1.13407573e-02 1.97939931e+02] [-3.18439327e-01 9.47934379e-01 4.09981496e-03 -1.10808577e+02] [-1.20559438e-02 2.74734435e-04 -9.99927287e-01 5.01060858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.897628 meters 0.015804561600198174 Centerline is valid? [True, True] Translation: X:197.88, Y:-110.80, Z:0.50 [[-9.21972411e-01 -3.87169505e-01 8.16381289e-03 1.97881757e+02] [-3.87152380e-01 9.22008532e-01 3.64703589e-03 -1.10801988e+02] [-8.93912622e-03 2.01826886e-04 -9.99960025e-01 4.95893431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.957628 meters 0.014899119592417293 Centerline is valid? [True, True] Translation: X:197.82, Y:-110.80, Z:0.50 [[-8.88493247e-01 -4.58828232e-01 7.51019364e-03 1.97815003e+02] [-4.58810452e-01 8.88524976e-01 4.04189859e-03 -1.10801577e+02] [-8.52753180e-03 1.45444270e-04 -9.99963629e-01 4.95719021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.017628 meters 0.015029214067897053 Centerline is valid? [True, True] Translation: X:197.74, Y:-110.81, Z:0.50 [[-8.47626227e-01 -5.30547529e-01 7.00702115e-03 1.97736578e+02] [-5.30528723e-01 8.47655186e-01 4.46756414e-03 -1.10809369e+02] [-8.30979293e-03 6.93985572e-05 -9.99965471e-01 4.95608775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.077628 meters 0.012397583048922724 Centerline is valid? [True, True] Translation: X:197.66, Y:-110.83, Z:0.49 [[-8.01989311e-01 -5.97299310e-01 6.83217088e-03 1.97657852e+02] [-5.97277456e-01 8.02018412e-01 5.10948243e-03 -1.10826631e+02] [-8.53141717e-03 1.70486565e-05 -9.99963607e-01 4.93788396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.137628 meters 0.012266480057010459 Centerline is valid? [True, True] Translation: X:197.58, Y:-110.85, Z:0.49 [[-7.50780934e-01 -6.60530574e-01 5.22982760e-03 1.97575584e+02] [-6.60514851e-01 7.50799148e-01 4.55757606e-03 -1.10854457e+02] [-6.93696844e-03 -3.26375892e-05 -9.99975938e-01 4.90998991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.197628 meters 0.012492816138769321 Centerline is valid? [True, True] Translation: X:197.49, Y:-110.89, Z:0.49 [[-6.97298249e-01 -7.16767772e-01 4.37172414e-03 1.97493911e+02] [-7.16754089e-01 6.97311952e-01 4.42920491e-03 -1.10891377e+02] [-6.22316683e-03 -4.49743253e-05 -9.99980635e-01 4.90378005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.257628 meters 0.01236302120400011 Centerline is valid? [True, True] Translation: X:197.41, Y:-110.94, Z:0.49 [[-6.41476673e-01 -7.67130611e-01 4.27829201e-03 1.97411132e+02] [-7.67114021e-01 6.41490938e-01 5.04536786e-03 -1.10941574e+02] [-6.61494168e-03 -4.54519908e-05 -9.99978120e-01 4.90900222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.317628 meters 0.012327408131730192 Centerline is valid? [True, True] Translation: X:197.33, Y:-111.00, Z:0.49 [[-5.83349684e-01 -8.12214368e-01 3.31140523e-03 1.97334413e+02] [-8.12201542e-01 5.83359082e-01 4.56474737e-03 -1.10999682e+02] [-5.63929172e-03 -2.66844974e-05 -9.99984099e-01 4.89309238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.377628 meters 0.01240050814202871 Centerline is valid? [True, True] Translation: X:197.26, Y:-111.07, Z:0.49 [[-5.20602640e-01 -8.53793425e-01 3.11114294e-03 1.97256875e+02] [-8.53778450e-01 5.20611936e-01 5.05681102e-03 -1.11069286e+02] [-5.93717014e-03 -2.36376262e-05 -9.99982375e-01 4.88596233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.437628 meters 0.012867994893494732 Centerline is valid? [True, True] Translation: X:197.18, Y:-111.15, Z:0.49 [[-4.51990380e-01 -8.92018357e-01 2.81891011e-03 1.97180678e+02] [-8.92001551e-01 4.51999169e-01 5.47588004e-03 -1.11145818e+02] [-6.15873054e-03 -3.94270894e-05 -9.99981034e-01 4.89826701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.49762799999996 meters 0.013373670508823123 Centerline is valid? [True, True] Translation: X:197.11, Y:-111.23, Z:0.49 [[-3.80201362e-01 -9.24899324e-01 2.85737466e-03 1.97108501e+02] [-9.24874502e-01 3.80212093e-01 6.77643875e-03 -1.11232823e+02] [-7.35393201e-03 -6.63017236e-05 -9.99972957e-01 4.91483865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.55762799999997 meters 0.013323612391683944 Centerline is valid? [True, True] Translation: X:197.05, Y:-111.32, Z:0.49 [[-3.10372448e-01 -9.50608849e-01 3.42925741e-03 1.97047821e+02] [-9.50553386e-01 3.10391384e-01 1.02688317e-02 -1.11323512e+02] [-1.08260542e-02 -7.25298106e-05 -9.99941394e-01 4.94143198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.61762799999997 meters 0.013138067270146185 Centerline is valid? [True, True] Translation: X:197.00, Y:-111.42, Z:0.50 [[-2.40965716e-01 -9.70528439e-01 3.17382400e-03 1.96995902e+02] [-9.70446032e-01 2.40986615e-01 1.26471457e-02 -1.11415739e+02] [-1.30392637e-02 -3.24963917e-05 -9.99914985e-01 4.95522305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.67762799999997 meters 0.01412194210932899 Centerline is valid? [True, True] Translation: X:196.95, Y:-111.52, Z:0.50 [[-1.72909639e-01 -9.84933534e-01 2.86190155e-03 1.96950108e+02] [-9.84790756e-01 1.72933302e-01 1.67701878e-02 -1.11520477e+02] [-1.70124385e-02 8.13529355e-05 -9.99855275e-01 4.98105663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.737628 meters 0.014173373205167993 Centerline is valid? [True, True] Translation: X:196.91, Y:-111.62, Z:0.50 [[-1.03478008e-01 -9.94630550e-01 1.53989049e-03 1.96912092e+02] [-9.94490945e-01 1.03489285e-01 1.66652072e-02 -1.11624583e+02] [-1.67350864e-02 1.93075288e-04 -9.99859940e-01 4.96943750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.797628 meters 0.014223269542249126 Centerline is valid? [True, True] Translation: X:196.88, Y:-111.74, Z:0.50 [[-2.84852332e-02 -9.99594182e-01 2.49340816e-04 1.96880075e+02] [-9.99460313e-01 2.84854993e-02 1.63602976e-02 -1.11737508e+02] [-1.63607609e-02 2.16820640e-04 -9.99866130e-01 4.95619745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.857628 meters 0.015546972598224643 Centerline is valid? [True, True] Translation: X:196.86, Y:-111.85, Z:0.49 [[ 4.43306723e-02 -9.99016547e-01 -8.54923546e-04 1.96859527e+02] [-9.98920647e-01 -4.43382641e-02 1.38441215e-02 -1.11851924e+02] [-1.38684122e-02 2.40281570e-04 -9.99903800e-01 4.92938554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.917628 meters 0.014727016264392327 Centerline is valid? [True, True] Translation: X:196.84, Y:-111.97, Z:0.49 [[ 1.20566859e-01 -9.92704035e-01 -1.52675088e-03 1.96842795e+02] [-9.92643613e-01 -1.20576368e-01 1.09543111e-02 -1.11971678e+02] [-1.10584789e-02 1.94792631e-04 -9.99938834e-01 4.89592530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.977628 meters 0.01570222339719867 Centerline is valid? [True, True] Translation: X:196.83, Y:-112.09, Z:0.49 [[ 2.00508874e-01 -9.79690109e-01 -1.86603010e-03 1.96833644e+02] [-9.79652919e-01 -2.00517523e-01 8.53702838e-03 -1.12094752e+02] [-8.73781400e-03 1.16311885e-04 -9.99961818e-01 4.87813638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.037628 meters 0.012715809997584647 Centerline is valid? [True, True] Translation: X:196.83, Y:-112.22, Z:0.49 [[ 2.84452629e-01 -9.58686852e-01 -2.49435467e-03 1.96831625e+02] [-9.58650938e-01 -2.84463563e-01 8.29824805e-03 -1.12218835e+02] [-8.66497431e-03 3.07569740e-05 -9.99962458e-01 4.87651191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.097628 meters 0.01249438080766506 Centerline is valid? [True, True] Translation: X:196.84, Y:-112.34, Z:0.49 [[ 3.63097641e-01 -9.31743377e-01 -3.79235334e-03 1.96838633e+02] [-9.31691707e-01 -3.63117444e-01 9.81249684e-03 -1.12340305e+02] [-1.05197986e-02 -2.95902980e-05 -9.99944665e-01 4.89608842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.157628 meters 0.012701368938567313 Centerline is valid? [True, True] Translation: X:196.86, Y:-112.46, Z:0.49 [[ 4.38992390e-01 -8.98476750e-01 -5.02114540e-03 1.96859061e+02] [-8.98415221e-01 -4.39021092e-01 1.05153039e-02 -1.12459844e+02] [-1.16521448e-02 -1.05064945e-04 -9.99932106e-01 4.89032684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.217628 meters 0.013075586575208985 Centerline is valid? [True, True] Translation: X:196.89, Y:-112.57, Z:0.49 [[ 5.07831802e-01 -8.61433847e-01 -6.21203061e-03 1.96886012e+02] [-8.61366190e-01 -5.07869777e-01 1.07970156e-02 -1.12569691e+02] [-1.24558173e-02 -1.32234743e-04 -9.99922415e-01 4.89818019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.277628 meters 0.01296065775293193 Centerline is valid? [True, True] Translation: X:196.92, Y:-112.68, Z:0.49 [[ 5.72714625e-01 -8.19723251e-01 -7.19370545e-03 1.96923719e+02] [-8.19655421e-01 -5.72759784e-01 1.05461059e-02 -1.12678991e+02] [-1.27651534e-02 -1.43549422e-04 -9.99918512e-01 4.88972556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.337628 meters 0.012619477541882905 Centerline is valid? [True, True] Translation: X:196.96, Y:-112.78, Z:0.49 [[ 6.31815636e-01 -7.75094809e-01 -6.08599404e-03 1.96964739e+02] [-7.75057502e-01 -6.31844941e-01 7.60519000e-03 -1.12775285e+02] [-9.74014784e-03 -8.80826203e-05 -9.99952560e-01 4.86945383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.397628 meters 0.012100533232896785 Centerline is valid? [True, True] Translation: X:197.01, Y:-112.86, Z:0.49 [[ 6.83098763e-01 -7.30304320e-01 -5.62844228e-03 1.97014977e+02] [-7.30279442e-01 -6.83121951e-01 6.02796842e-03 -1.12861291e+02] [-8.24716384e-03 -7.36208517e-06 -9.99965992e-01 4.85271885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.457628 meters 0.012580045933850698 Centerline is valid? [True, True] Translation: X:197.07, Y:-112.95, Z:0.49 [[ 7.31855695e-01 -6.81435182e-01 -5.77363826e-03 1.97070541e+02] [-6.81414501e-01 -7.31878467e-01 5.30916416e-03 -1.12945237e+02] [-7.84345276e-03 4.86988112e-05 -9.99969238e-01 4.85094035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.517628 meters 0.014669867466953316 Centerline is valid? [True, True] Translation: X:197.10, Y:-112.96, Z:0.49 [[ 7.76343974e-01 -6.30284108e-01 -5.65489898e-03 1.97097596e+02] [-6.30268502e-01 -7.76364559e-01 4.43695952e-03 -1.12963602e+02] [-7.18680823e-03 1.19497923e-04 -9.99974167e-01 4.85476351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.577628 meters 0.01616663331544982 Centerline is valid? [True, True] Translation: X:197.12, Y:-112.98, Z:0.49 [[ 8.18955087e-01 -5.73803738e-01 -7.86355397e-03 1.97122955e+02] [-5.73779947e-01 -8.18992807e-01 5.23008353e-03 -1.12983536e+02] [-9.44123562e-03 2.28746067e-04 -9.99955404e-01 4.87244517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.637628 meters 0.018678517708847715 Centerline is valid? [True, True] Translation: X:197.15, Y:-113.00, Z:0.49 [[ 8.59957688e-01 -5.10247072e-01 -1.09863850e-02 1.97148354e+02] [-5.10210421e-01 -8.60027797e-01 6.12488150e-03 -1.13003419e+02] [-1.25737993e-02 3.38229198e-04 -9.99920889e-01 4.90086725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.697628 meters 0.016667521450261312 Centerline is valid? [True, True] Translation: X:197.17, Y:-113.02, Z:0.49 [[ 8.98266334e-01 -4.39315985e-01 -1.09114412e-02 1.97173191e+02] [-4.39287534e-01 -8.98332555e-01 5.00832484e-03 -1.13023263e+02] [-1.20023400e-02 2.94450498e-04 -9.99927926e-01 4.89349784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.757628 meters 0.01585444215217212 Centerline is valid? [True, True] Translation: X:197.20, Y:-113.04, Z:0.49 [[ 9.32326618e-01 -3.61451297e-01 -1.09561037e-02 1.97198475e+02] [-3.61428944e-01 -9.32390968e-01 4.02511355e-03 -1.13043791e+02] [-1.16702546e-02 2.07132481e-04 -9.99931879e-01 4.89836114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.817628 meters 0.014809157606617688 Centerline is valid? [True, True] Translation: X:197.23, Y:-113.06, Z:0.49 [[ 9.59361797e-01 -2.81992395e-01 -1.02582420e-02 1.97225295e+02] [-2.81977698e-01 -9.59416631e-01 2.88185507e-03 -1.13058578e+02] [-1.06545892e-02 1.27853818e-04 -9.99943230e-01 4.89817426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.877628 meters 0.012027857346233597 Centerline is valid? [True, True] Translation: X:197.26, Y:-113.07, Z:0.49 [[ 9.80050357e-01 -1.98601216e-01 -7.67166497e-03 1.97255893e+02] [-1.98595392e-01 -9.80080382e-01 1.52131546e-03 -1.13069656e+02] [-7.82098344e-03 3.25915525e-05 -9.99969415e-01 4.87852456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.937628 meters 0.014680389035977567 Centerline is valid? [True, True] Translation: X:197.28, Y:-113.07, Z:0.49 [[ 9.93108712e-01 -1.16946567e-01 -7.65421487e-03 1.97283556e+02] [-1.16943082e-01 -9.93138208e-01 9.02854842e-04 -1.13074842e+02] [-7.70727902e-03 -1.52553364e-06 -9.99970298e-01 4.90091085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.99762799999996 meters 0.011732257930098822 Centerline is valid? [True, True] Translation: X:197.31, Y:-113.07, Z:0.49 [[ 9.99305316e-01 -3.66361009e-02 -6.83234668e-03 1.97310706e+02] [-3.66351305e-02 -9.99328673e-01 2.67168319e-04 -1.13073320e+02] [-6.83754795e-03 -1.66788092e-05 -9.99976624e-01 4.87433105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.05762799999997 meters 0.011945398558776714 Centerline is valid? [True, True] Translation: X:197.34, Y:-113.07, Z:0.49 [[ 9.99041646e-01 4.30340461e-02 -7.99124779e-03 1.97337837e+02] [ 4.30329057e-02 -9.99073606e-01 -3.14679771e-04 -1.13070754e+02] [-7.99738669e-03 -2.95084158e-05 -9.99968020e-01 4.88566943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.11762799999997 meters 0.012574290902133413 Centerline is valid? [True, True] Translation: X:197.36, Y:-113.07, Z:0.49 [[ 9.92172066e-01 1.24388967e-01 -1.10442872e-02 1.97363577e+02] [ 1.24382113e-01 -9.92233531e-01 -1.30803884e-03 -1.13067795e+02] [-1.11212177e-02 -7.59121775e-05 -9.99938154e-01 4.91923480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.17762799999997 meters 0.013143646605843358 Centerline is valid? [True, True] Translation: X:197.39, Y:-113.07, Z:0.49 [[ 9.78737269e-01 2.04699375e-01 -1.30967349e-02 1.97391914e+02] [ 2.04682843e-01 -9.78824881e-01 -2.60486618e-03 -1.13069396e+02] [-1.33526245e-02 -1.31197311e-04 -9.99910841e-01 4.94616073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.237628 meters 0.012805905642756132 Centerline is valid? [True, True] Translation: X:197.42, Y:-113.07, Z:0.50 [[ 9.60135174e-01 2.79098682e-01 -1.56324763e-02 1.97420443e+02] [ 2.79063934e-01 -9.60262416e-01 -4.40595457e-03 -1.13069362e+02] [-1.62409756e-02 -1.32148387e-04 -9.99868098e-01 4.95405215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.297628 meters 0.013749526500408202 Centerline is valid? [True, True] Translation: X:197.45, Y:-113.06, Z:0.49 [[ 9.37346277e-01 3.48127824e-01 -1.37468639e-02 1.97446971e+02] [ 3.48090961e-01 -9.37447074e-01 -5.06613292e-03 -1.13061152e+02] [-1.46506192e-02 -3.64382552e-05 -9.99892673e-01 4.94993521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.357628 meters 0.015897918830852713 Centerline is valid? [True, True] Translation: X:197.47, Y:-113.05, Z:0.50 [[ 9.10922440e-01 4.12402341e-01 -1.20256700e-02 1.97468795e+02] [ 4.12365192e-01 -9.11001812e-01 -5.53590709e-03 -1.13046139e+02] [-1.32384282e-02 8.38142964e-05 -9.99912365e-01 4.96014320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.417628 meters 0.013181154602461366 Centerline is valid? [True, True] Translation: X:197.49, Y:-113.04, Z:0.49 [[ 8.78014255e-01 4.78523679e-01 -1.02984425e-02 1.97493796e+02] [ 4.78489068e-01 -8.78074640e-01 -5.75664509e-03 -1.13035376e+02] [-1.17974922e-02 1.26724307e-04 -9.99930399e-01 4.91210017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.477628 meters 0.013295515169911757 Centerline is valid? [True, True] Translation: X:197.52, Y:-113.03, Z:0.49 [[ 8.38601017e-01 5.44668636e-01 -9.18756057e-03 1.97520133e+02] [ 5.44634210e-01 -8.38651334e-01 -6.12516498e-03 -1.13027996e+02] [-1.10413452e-02 1.32709786e-04 -9.99939034e-01 4.89536042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.537628 meters 0.014387295722830862 Centerline is valid? [True, True] Translation: X:197.55, Y:-113.02, Z:0.49 [[ 7.92565762e-01 6.09728171e-01 -8.43031322e-03 1.97547332e+02] [ 6.09692145e-01 -7.92610588e-01 -6.62903217e-03 -1.13020264e+02] [-1.07238632e-02 1.14048185e-04 -9.99942491e-01 4.90016009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.597628 meters 0.012464567933526101 Centerline is valid? [True, True] Translation: X:197.57, Y:-113.01, Z:0.49 [[ 7.39481837e-01 6.73124155e-01 -8.39553331e-03 1.97572512e+02] [ 6.73079666e-01 -7.39529490e-01 -7.73932970e-03 -1.13010055e+02] [-1.14182742e-02 7.22309873e-05 -9.99934807e-01 4.89372456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.657628 meters 0.012362426867175496 Centerline is valid? [True, True] Translation: X:197.60, Y:-113.00, Z:0.49 [[ 6.83809080e-01 7.29616169e-01 -8.08632119e-03 1.97596862e+02] [ 7.29564049e-01 -6.83856887e-01 -8.72100108e-03 -1.12997534e+02] [-1.18928698e-02 6.40104955e-05 -9.99929275e-01 4.89358987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.717628 meters 0.012452420096634638 Centerline is valid? [True, True] Translation: X:197.62, Y:-112.98, Z:0.49 [[ 6.23456973e-01 7.81814234e-01 -8.24053128e-03 1.97617741e+02] [ 7.81744824e-01 -6.23511428e-01 -1.04177548e-02 -1.12982861e+02] [-1.32828144e-02 5.30292256e-05 -9.99911778e-01 4.91144621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.777628 meters 0.012884546563588126 Centerline is valid? [True, True] Translation: X:197.64, Y:-112.97, Z:0.49 [[ 5.58836197e-01 8.29239996e-01 -7.94565914e-03 1.97640775e+02] [ 8.29155378e-01 -5.58892680e-01 -1.18461675e-02 -1.12967971e+02] [-1.42640866e-02 3.18811948e-05 -9.99898262e-01 4.92485939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.837628 meters 0.013365507068161408 Centerline is valid? [True, True] Translation: X:197.66, Y:-112.95, Z:0.49 [[ 4.91226005e-01 8.71008859e-01 -6.37023971e-03 1.97658843e+02] [ 8.70935260e-01 -4.91267308e-01 -1.13227604e-02 -1.12949716e+02] [-1.29917151e-02 1.39679751e-05 -9.99915604e-01 4.90351674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.897628 meters 0.011986832519711827 Centerline is valid? [True, True] Translation: X:197.68, Y:-112.93, Z:0.49 [[ 4.19729402e-01 9.07641078e-01 -3.86045588e-03 1.97678959e+02] [ 9.07602888e-01 -4.19747154e-01 -8.32612818e-03 -1.12931323e+02] [-9.17755132e-03 -9.04010517e-06 -9.99957885e-01 4.86181774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.957628 meters 0.01213547126838547 Centerline is valid? [True, True] Translation: X:197.69, Y:-112.91, Z:0.49 [[ 3.47062051e-01 9.37835622e-01 -3.50414900e-03 1.97694291e+02] [ 9.37788188e-01 -3.47079741e-01 -9.43227196e-03 -1.12911432e+02] [-1.00621398e-02 -1.25658854e-05 -9.99949375e-01 4.87730458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.017628 meters 0.01222326764478259 Centerline is valid? [True, True] Translation: X:197.71, Y:-112.89, Z:0.49 [[ 2.72605589e-01 9.62119741e-01 -3.43464683e-03 1.97706520e+02] [ 9.62044007e-01 -2.72627225e-01 -1.20716187e-02 -1.12888899e+02] [-1.25507209e-02 -1.34906830e-05 -9.99921237e-01 4.89930673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.077628 meters 0.01459196371000196 Centerline is valid? [True, True] Translation: X:197.72, Y:-112.86, Z:0.49 [[ 1.96120260e-01 9.80576007e-01 -2.74560653e-03 1.97716571e+02] [ 9.80481222e-01 -1.96139477e-01 -1.36337161e-02 -1.12864867e+02] [-1.39074168e-02 -1.81676886e-05 -9.99903287e-01 4.91392032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.137628 meters 0.012454007480633538 Centerline is valid? [True, True] Translation: X:197.73, Y:-112.84, Z:0.49 [[ 1.15167360e-01 9.93344974e-01 -1.49738023e-03 1.97729202e+02] [ 9.93267804e-01 -1.15177077e-01 -1.23818560e-02 -1.12842717e+02] [-1.24719183e-02 -6.13139093e-05 -9.99922221e-01 4.90004686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.197628 meters 0.012796647620632207 Centerline is valid? [True, True] Translation: X:197.74, Y:-112.82, Z:0.49 [[ 3.38011725e-02 9.99428443e-01 -5.18606364e-04 1.97739221e+02] [ 9.99352051e-01 -3.38050011e-02 -1.23571567e-02 -1.12817995e+02] [-1.23676254e-02 -1.00583948e-04 -9.99923513e-01 4.89220153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.257628 meters 0.01258022564028112 Centerline is valid? [True, True] Translation: X:197.74, Y:-112.79, Z:0.49 [[-4.27274963e-02 9.99086676e-01 4.19405800e-04 1.97739025e+02] [ 9.99020620e-01 4.27294942e-02 -1.14887482e-02 -1.12792426e+02] [-1.14961763e-02 -7.18904049e-05 -9.99933914e-01 4.87710829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.317628 meters 0.012416512772880585 Centerline is valid? [True, True] Translation: X:197.73, Y:-112.77, Z:0.49 [[-1.12822809e-01 9.93614393e-01 1.20526424e-03 1.97731797e+02] [ 9.93559501e-01 1.12829245e-01 -1.04440677e-02 -1.12769778e+02] [-1.05133650e-02 1.91726868e-05 -9.99944733e-01 4.87338890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.377628 meters 0.013698566936467252 Centerline is valid? [True, True] Translation: X:197.72, Y:-112.75, Z:0.49 [[-1.81669033e-01 9.83358270e-01 1.69553237e-03 1.97723962e+02] [ 9.83320113e-01 1.81676921e-01 -8.66327889e-03 -1.12748244e+02] [-8.82714605e-03 9.34015805e-05 -9.99961036e-01 4.86393495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.437628 meters 0.014677364365206738 Centerline is valid? [True, True] Translation: X:197.72, Y:-112.72, Z:0.49 [[-2.54704347e-01 9.67016360e-01 2.24832228e-03 1.97718308e+02] [ 9.66982682e-01 2.54714242e-01 -8.07142021e-03 -1.12724992e+02] [-8.37787510e-03 1.18262892e-04 -9.99964898e-01 4.86743920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.49762799999996 meters 0.015507032323062254 Centerline is valid? [True, True] Translation: X:197.71, Y:-112.70, Z:0.49 [[-3.28227709e-01 9.44594227e-01 2.88396058e-03 1.97709361e+02] [ 9.44561210e-01 3.28240353e-01 -7.89877933e-03 -1.12703858e+02] [-8.40777359e-03 1.31479050e-04 -9.99964645e-01 4.86933952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.55762799999997 meters 0.01539347355401561 Centerline is valid? [True, True] Translation: X:197.70, Y:-112.68, Z:0.49 [[-4.02356340e-01 9.15477105e-01 3.32369990e-03 1.97699714e+02] [ 9.15448193e-01 4.02370051e-01 -7.27650289e-03 -1.12683387e+02] [-7.99882910e-03 1.14928001e-04 -9.99968002e-01 4.87239169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.61762799999997 meters 0.013017928605505328 Centerline is valid? [True, True] Translation: X:197.70, Y:-112.65, Z:0.49 [[-4.76167142e-01 8.79345658e-01 4.00840817e-03 1.97704846e+02] [ 8.79316036e-01 4.76184005e-01 -7.21815249e-03 -1.12653510e+02] [-8.25599090e-03 8.76105380e-05 -9.99965915e-01 4.86952094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.67762799999997 meters 0.013593389785160356 Centerline is valid? [True, True] Translation: X:197.70, Y:-112.63, Z:0.49 [[-5.46385105e-01 8.37517453e-01 5.27576918e-03 1.97700341e+02] [ 8.37479639e-01 5.46410571e-01 -7.95878425e-03 -1.12628043e+02] [-9.54835675e-03 6.97881015e-05 -9.99954411e-01 4.89232862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.737628 meters 0.012106133999698933 Centerline is valid? [True, True] Translation: X:197.69, Y:-112.60, Z:0.49 [[-6.12866632e-01 7.90166233e-01 5.64052682e-03 1.97693963e+02] [ 7.90133326e-01 6.12892587e-01 -7.21141308e-03 -1.12601306e+02] [-9.15525218e-03 3.71337686e-05 -9.99958089e-01 4.86915771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.797628 meters 0.011856632293605736 Centerline is valid? [True, True] Translation: X:197.68, Y:-112.58, Z:0.49 [[-6.74630453e-01 7.38145297e-01 3.90803556e-03 1.97684728e+02] [ 7.38132984e-01 6.74641772e-01 -4.26352255e-03 -1.12576221e+02] [-5.78362316e-03 8.34780007e-06 -9.99983275e-01 4.85274222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.857628 meters 0.011715783545082157 Centerline is valid? [True, True] Translation: X:197.67, Y:-112.55, Z:0.48 [[-7.31993174e-01 6.81310801e-01 1.25916079e-03 1.97673355e+02] [ 6.81309783e-01 7.31994257e-01 -1.17771296e-03 -1.12550314e+02] [-1.72408703e-03 -4.19928327e-06 -9.99998514e-01 4.82201787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.917628 meters 0.011800730485305458 Centerline is valid? [True, True] Translation: X:197.69, Y:-112.53, Z:0.48 [[-7.79422412e-01 6.26498721e-01 -2.35721161e-04 1.97689089e+02] [ 6.26498694e-01 7.79422448e-01 1.86034671e-04 -1.12530679e+02] [ 3.00276848e-04 -2.67940727e-06 -9.99999955e-01 4.80174305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.977628 meters 0.011952327760495719 Centerline is valid? [True, True] Translation: X:197.71, Y:-112.51, Z:0.48 [[-8.22930135e-01 5.68142557e-01 1.69177490e-04 1.97706903e+02] [ 5.68142543e-01 8.22930152e-01 -1.21807034e-04 -1.12513450e+02] [-2.08425017e-04 -4.12174969e-06 -9.99999978e-01 4.80626980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.037628 meters 0.01194192647806901 Centerline is valid? [True, True] Translation: X:197.73, Y:-112.49, Z:0.48 [[-8.61483269e-01 5.07784219e-01 1.32846751e-03 1.97725154e+02] [ 5.07783596e-01 8.61484293e-01 -7.95618486e-04 -1.12493147e+02] [-1.54845641e-03 -1.08380030e-05 -9.99998801e-01 4.83414351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.097628 meters 0.015006337229858628 Centerline is valid? [True, True] Translation: X:197.74, Y:-112.48, Z:0.49 [[-8.93723196e-01 4.48596628e-01 4.46262671e-03 1.97741221e+02] [ 4.48590975e-01 8.93734337e-01 -2.25200834e-03 -1.12478345e+02] [-4.99864607e-03 -1.07780199e-05 -9.99987507e-01 4.88624856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.157628 meters 0.014642083086431718 Centerline is valid? [True, True] Translation: X:198.10, Y:-111.79, Z:-0.48 [[-8.62176062e-01 -5.06581618e-01 5.24429189e-03 1.98102794e+02] [ 5.06572742e-01 -8.62192009e-01 -2.99952980e-03 -1.11790239e+02] [ 6.04109322e-03 7.04925332e-05 9.99981750e-01 -4.75653729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.217628 meters 0.014151582589989874 Centerline is valid? [True, True] Translation: X:197.71, Y:-112.46, Z:0.49 [[-8.93631591e-01 4.48780416e-01 4.32646504e-03 1.97706847e+02] [ 4.48775198e-01 8.93642064e-01 -2.16417903e-03 -1.12462548e+02] [-4.83755231e-03 7.63145562e-06 -9.99988299e-01 4.87669118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.277628 meters 0.014952774099137367 Centerline is valid? [True, True] Translation: X:197.72, Y:-112.44, Z:0.49 [[-9.23761184e-01 3.82960307e-01 2.58407225e-03 1.97723116e+02] [ 3.82958804e-01 9.23764799e-01 -1.07290846e-03 -1.12435591e+02] [-2.79795634e-03 -1.51797286e-06 -9.99996086e-01 4.87008627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.337628 meters 0.014927322747466425 Centerline is valid? [True, True] Translation: X:197.73, Y:-112.41, Z:0.49 [[-9.49028882e-01 3.15185723e-01 1.46326977e-03 1.97732711e+02] [ 3.15185341e-01 9.49030010e-01 -4.91047008e-04 -1.12409126e+02] [-1.54345793e-03 -4.81661223e-06 -9.99998809e-01 4.85037267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.397628 meters 0.011809356242300718 Centerline is valid? [True, True] Translation: X:197.75, Y:-112.39, Z:0.48 [[-9.69040968e-01 2.46897623e-01 1.08035327e-03 1.97745228e+02] [ 2.46897464e-01 9.69041570e-01 -2.80228359e-04 -1.12385544e+02] [-1.11609495e-03 -4.81627671e-06 -9.99999377e-01 4.82864411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.457628 meters 0.011873585378931252 Centerline is valid? [True, True] Translation: X:197.94, Y:-111.65, Z:-0.47 [[-9.50347841e-01 -3.11186101e-01 1.48035756e-03 1.97940520e+02] [ 3.11185774e-01 -9.50348993e-01 -4.52127525e-04 -1.11647577e+02] [ 1.54755212e-03 3.09877966e-05 9.99998802e-01 -4.72231963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.517628 meters 0.01189546258007595 Centerline is valid? [True, True] Translation: X:197.70, Y:-112.38, Z:0.49 [[-9.68912375e-01 2.47372146e-01 3.97873217e-03 1.97700549e+02] [ 2.47370100e-01 9.68920544e-01 -1.00606325e-03 -1.12376811e+02] [-4.10394736e-03 9.43224363e-06 -9.99991579e-01 4.86517511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.577628 meters 0.011875427063524823 Centerline is valid? [True, True] Translation: X:197.71, Y:-112.35, Z:0.49 [[-9.83941612e-01 1.78425294e-01 4.82892493e-03 1.97706959e+02] [ 1.78423214e-01 9.83953462e-01 -8.61516748e-04 -1.12351653e+02] [-4.90515378e-03 1.39101296e-05 -9.99987970e-01 4.86676866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.637628 meters 0.01215959802388893 Centerline is valid? [True, True] Translation: X:197.85, Y:-111.59, Z:-0.47 [[-9.72028133e-01 -2.34791078e-01 5.87014584e-03 1.97853016e+02] [ 2.34787107e-01 -9.72045857e-01 -1.36644662e-03 -1.11594083e+02] [ 6.02688042e-03 5.00100018e-05 9.99981837e-01 -4.74315515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.697628 meters 0.012553903280286391 Centerline is valid? [True, True] Translation: X:197.66, Y:-112.35, Z:0.49 [[-9.83525806e-01 1.80666203e-01 6.05899424e-03 1.97663555e+02] [ 1.80663125e-01 9.83544468e-01 -1.05611130e-03 -1.12350229e+02] [-6.15009389e-03 5.59241141e-05 -9.99981086e-01 4.87921762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.757628 meters 0.012728373309793378 Centerline is valid? [True, True] Translation: X:197.67, Y:-112.32, Z:0.49 [[-9.93646133e-01 1.12424686e-01 5.29640112e-03 1.97669721e+02] [ 1.12423403e-01 9.93660247e-01 -5.40208121e-04 -1.12323465e+02] [-5.32355597e-03 5.86637266e-05 -9.99985828e-01 4.87049024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.817628 meters 0.01345678800780584 Centerline is valid? [True, True] Translation: X:197.76, Y:-111.55, Z:-0.47 [[-9.88376809e-01 -1.51949675e-01 4.75176586e-03 1.97757097e+02] [ 1.51947514e-01 -9.88388228e-01 -8.14449299e-04 -1.11549966e+02] [ 4.82034474e-03 -8.29637880e-05 9.99988379e-01 -4.73518583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.877628 meters 0.015785456331072773 Centerline is valid? [True, True] Translation: X:197.62, Y:-112.32, Z:0.49 [[-9.93355292e-01 1.14914231e-01 6.32324276e-03 1.97616147e+02] [ 1.14912633e-01 9.93375411e-01 -6.16701484e-04 -1.12321654e+02] [-6.35222165e-03 1.14016791e-04 -9.99979818e-01 4.88000345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.937628 meters 0.013828029827208719 Centerline is valid? [True, True] Translation: X:197.69, Y:-111.54, Z:-0.47 [[-9.89246688e-01 -1.46129694e-01 6.09119219e-03 1.97694406e+02] [ 1.46126162e-01 -9.89265433e-01 -1.02334278e-03 -1.11544424e+02] [ 6.17534665e-03 -1.22255916e-04 9.99980925e-01 -4.74193444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.99762799999996 meters 0.012986265025565805 Centerline is valid? [True, True] Translation: X:197.56, Y:-112.31, Z:0.49 [[-9.94485633e-01 1.04656799e-01 6.72911853e-03 1.97555843e+02] [ 1.04654947e-01 9.94508395e-01 -6.27621490e-04 -1.12309046e+02] [-6.75784972e-03 8.00749917e-05 -9.99977162e-01 4.87844582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.05762799999997 meters 0.012010884385991483 Centerline is valid? [True, True] Translation: X:197.63, Y:-111.55, Z:-0.48 [[-9.88152372e-01 -1.53340092e-01 6.45795590e-03 1.97629294e+02] [ 1.53336207e-01 -9.88173470e-01 -1.09536156e-03 -1.11547797e+02] [ 6.54954353e-03 -9.21456607e-05 9.99978547e-01 -4.75078454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.11762799999997 meters 0.011827152525752302 Centerline is valid? [True, True] Translation: X:197.50, Y:-112.30, Z:0.49 [[-9.95903953e-01 9.01520361e-02 6.92287011e-03 1.97497116e+02] [ 9.01499280e-02 9.95928015e-01 -6.16604114e-04 -1.12297201e+02] [-6.95026840e-03 1.00177670e-05 -9.99975847e-01 4.88129528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.17762799999997 meters 0.014969305242398232 Centerline is valid? [True, True] Translation: X:197.56, Y:-111.55, Z:-0.48 [[-9.87571078e-01 -1.57067064e-01 5.77096539e-03 1.97564903e+02] [ 1.57063896e-01 -9.87587936e-01 -1.00082579e-03 -1.11546481e+02] [ 5.85653257e-03 -8.19762939e-05 9.99982847e-01 -4.77032546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.237628 meters 0.011857174176834486 Centerline is valid? [True, True] Translation: X:197.44, Y:-112.29, Z:0.49 [[-9.96758049e-01 8.04156182e-02 2.59233658e-03 1.97439585e+02] [ 8.04153123e-02 9.96761420e-01 -2.22211718e-04 -1.12291364e+02] [-2.60181039e-03 -1.30277630e-05 -9.99996615e-01 4.85616881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.297628 meters 0.011893717156012042 Centerline is valid? [True, True] Translation: X:197.51, Y:-111.54, Z:-0.47 [[-9.87947584e-01 -1.54768752e-01 2.49084537e-03 1.97511473e+02] [ 1.54768280e-01 -9.87950724e-01 -3.82629529e-04 -1.11538921e+02] [ 2.52005158e-03 7.48593418e-06 9.99996825e-01 -4.72739659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.357628 meters 0.01194654297756947 Centerline is valid? [True, True] Translation: X:197.38, Y:-112.29, Z:0.49 [[-9.97058522e-01 7.65500915e-02 3.79296878e-03 1.97384337e+02] [ 7.65494746e-02 9.97065737e-01 -3.07751348e-04 -1.12293205e+02] [-3.80539761e-03 -1.64963370e-05 -9.99992759e-01 4.86735442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.417628 meters 0.012105416776635548 Centerline is valid? [True, True] Translation: X:197.45, Y:-111.53, Z:-0.48 [[-9.88383144e-01 -1.51775604e-01 7.93262292e-03 1.97450441e+02] [ 1.51773178e-01 -9.88414930e-01 -9.10419431e-04 -1.11531927e+02] [ 7.97890238e-03 3.04116172e-04 9.99968122e-01 -4.79294662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.477628 meters 0.012428770054586041 Centerline is valid? [True, True] Translation: X:197.33, Y:-112.28, Z:0.50 [[-9.97629007e-01 6.82065577e-02 9.17770885e-03 1.97325988e+02] [ 6.82029754e-02 9.97671218e-01 -7.03115150e-04 -1.12281980e+02] [-9.20429303e-03 -7.55010179e-05 -9.99957637e-01 4.95076106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.537628 meters 0.01264600704144259 Centerline is valid? [True, True] Translation: X:197.39, Y:-111.54, Z:-0.48 [[-9.88540204e-01 -1.50648632e-01 9.65685283e-03 1.97389786e+02] [ 1.50642579e-01 -9.88587364e-01 -1.35540829e-03 -1.11538633e+02] [ 9.75083309e-03 1.14857628e-04 9.99952453e-01 -4.82754741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.597628 meters 0.01216571175283512 Centerline is valid? [True, True] Translation: X:197.28, Y:-112.28, Z:0.49 [[-9.97617742e-01 6.84848528e-02 8.28645590e-03 1.97275264e+02] [ 6.84822304e-02 9.97652156e-01 -6.00124118e-04 -1.12276557e+02] [-8.30810000e-03 -3.12194849e-05 -9.99965487e-01 4.92628753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.657628 meters 0.012435834829139512 Centerline is valid? [True, True] Translation: X:197.34, Y:-111.53, Z:-0.48 [[-9.90966433e-01 -1.33884458e-01 7.77693946e-03 1.97338518e+02] [ 1.33880365e-01 -9.90996948e-01 -1.04687867e-03 -1.11527626e+02] [ 7.84708406e-03 3.75787913e-06 9.99969211e-01 -4.79206888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.717628 meters 0.01318586905669754 Centerline is valid? [True, True] Translation: X:197.22, Y:-112.28, Z:0.49 [[-9.96882989e-01 7.85259761e-02 7.61422947e-03 1.97220236e+02] [ 7.85243091e-02 9.96912065e-01 -5.18099465e-04 -1.12283577e+02] [-7.63140148e-03 8.14175650e-05 -9.99970877e-01 4.92961460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.777628 meters 0.017214210502422958 Centerline is valid? [True, True] Translation: X:197.28, Y:-111.51, Z:-0.48 [[-9.93305517e-01 -1.15342250e-01 6.34944653e-03 1.97283170e+02] [ 1.15339010e-01 -9.93325801e-01 -8.75275292e-04 -1.11513744e+02] [ 6.40802528e-03 -1.37076900e-04 9.99979459e-01 -4.81610318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.837628 meters 0.014965713598574595 Centerline is valid? [True, True] Translation: X:197.16, Y:-112.29, Z:0.49 [[-9.96600286e-01 8.21737919e-02 5.94463029e-03 1.97161833e+02] [ 8.21729977e-02 9.96618009e-01 -3.78126454e-04 -1.12287803e+02] [-5.95559769e-03 1.11647160e-04 -9.99982259e-01 4.90250818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.897628 meters 0.01345294548532714 Centerline is valid? [True, True] Translation: X:197.16, Y:-112.25, Z:0.49 [[-9.99981376e-01 4.35726930e-03 4.27334546e-03 1.97161924e+02] [ 4.35744145e-03 9.99990506e-01 3.09743480e-05 -1.12254996e+02] [-4.27316992e-03 4.95946237e-05 -9.99990869e-01 4.88849218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.957628 meters 0.012347764028749398 Centerline is valid? [True, True] Translation: X:197.15, Y:-112.22, Z:0.49 [[-9.96967926e-01 -7.76776333e-02 4.59781940e-03 1.97152292e+02] [-7.76767924e-02 9.96978528e-01 3.61443696e-04 -1.12221931e+02] [-4.61200331e-03 3.20390799e-06 -9.99989365e-01 4.89275433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.017628 meters 0.012404282546668054 Centerline is valid? [True, True] Translation: X:197.14, Y:-112.19, Z:0.49 [[-9.88106973e-01 -1.53633293e-01 6.43595324e-03 1.97142773e+02] [-1.53630219e-01 9.88127932e-01 9.72242653e-04 -1.12191436e+02] [-6.50891401e-03 -2.80771618e-05 -9.99978816e-01 4.90780158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.077628 meters 0.012598953657112222 Centerline is valid? [True, True] Translation: X:197.04, Y:-111.45, Z:-0.48 [[-9.97015576e-01 7.69118252e-02 6.67182575e-03 1.97036333e+02] [-7.69098236e-02 -9.97037898e-01 5.56440966e-04 -1.11454320e+02] [ 6.69486001e-03 4.16513682e-05 9.99977588e-01 -4.78867676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.137628 meters 0.012413417664670582 Centerline is valid? [True, True] Translation: X:197.04, Y:-112.21, Z:0.49 [[-9.87165637e-01 -1.59651255e-01 3.93473036e-03 1.97043069e+02] [-1.59650062e-01 9.87173478e-01 6.17399411e-04 -1.12205444e+02] [-3.98283004e-03 -1.87044636e-05 -9.99992068e-01 4.88390122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.197628 meters 0.012410305486932621 Centerline is valid? [True, True] Translation: X:197.03, Y:-112.18, Z:0.49 [[-9.74293707e-01 -2.25277733e-01 1.30951491e-03 1.97034489e+02] [-2.25277535e-01 9.74294587e-01 2.99185431e-04 -1.12184513e+02] [-1.34325311e-03 -3.50980793e-06 -9.99999098e-01 4.86387611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.257628 meters 0.012872612491853695 Centerline is valid? [True, True] Translation: X:197.02, Y:-112.17, Z:0.49 [[-9.57365708e-01 -2.88877797e-01 -7.21457495e-04 1.97017852e+02] [-2.88877707e-01 9.57365979e-01 -2.28619135e-04 -1.12166236e+02] [ 7.56741854e-04 -1.04591327e-05 -9.99999714e-01 4.86579894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.317628 meters 0.013183275321778744 Centerline is valid? [True, True] Translation: X:196.98, Y:-112.16, Z:0.48 [[-9.34876781e-01 -3.54958434e-01 -3.14861601e-03 1.96977374e+02] [-3.54956277e-01 9.34882083e-01 -1.23814371e-03 -1.12156741e+02] [ 3.38307425e-03 -3.98907908e-05 -9.99994277e-01 4.84195969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.377628 meters 0.01316220247960057 Centerline is valid? [True, True] Translation: X:196.92, Y:-112.16, Z:0.48 [[-9.05909241e-01 -4.23439286e-01 -5.25530887e-03 1.96917047e+02] [-4.23431769e-01 9.05924482e-01 -2.52384074e-03 -1.12156570e+02] [ 5.82960629e-03 -6.11059181e-05 -9.99983006e-01 4.81292514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.437628 meters 0.012894778883228495 Centerline is valid? [True, True] Translation: X:196.85, Y:-112.16, Z:0.48 [[-8.70010733e-01 -4.93014090e-01 -4.29325309e-03 1.96849587e+02] [-4.93007905e-01 8.70021325e-01 -2.46964125e-03 -1.12159849e+02] [ 4.95278967e-03 -3.20066787e-05 -9.99987734e-01 4.81684939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.49762799999996 meters 0.012674918881018307 Centerline is valid? [True, True] Translation: X:196.77, Y:-112.17, Z:0.48 [[-8.28046357e-01 -5.60654016e-01 -2.51099241e-03 1.96770751e+02] [-5.60651416e-01 8.28050164e-01 -1.70737794e-03 -1.12173331e+02] [ 3.03647598e-03 -5.99663511e-06 -9.99995390e-01 4.83952501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.55762799999997 meters 0.012800053322667357 Centerline is valid? [True, True] Translation: X:196.69, Y:-112.20, Z:0.49 [[-7.80922784e-01 -6.24627567e-01 -8.73421704e-05 1.96687595e+02] [-6.24627562e-01 7.80922789e-01 -7.57617455e-05 -1.12195878e+02] [ 1.15530366e-04 -4.60774627e-06 -9.99999993e-01 4.87274331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.61762799999997 meters 0.013034967150559297 Centerline is valid? [True, True] Translation: X:196.60, Y:-112.23, Z:0.49 [[-7.29315741e-01 -6.84173670e-01 2.22237915e-03 1.96599397e+02] [-6.84170612e-01 7.29319127e-01 2.04580443e-03 -1.12226835e+02] [-3.02050915e-03 -2.84491312e-05 -9.99995438e-01 4.91761760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.67762799999997 meters 0.012839317899227312 Centerline is valid? [True, True] Translation: X:196.51, Y:-112.27, Z:0.49 [[-6.76889932e-01 -7.36083478e-01 1.06467222e-03 1.96514436e+02] [-7.36082600e-01 6.76890769e-01 1.13674411e-03 -1.12267129e+02] [-1.55740536e-03 -1.42360488e-05 -9.99998787e-01 4.91561351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.737628 meters 0.012634466674818412 Centerline is valid? [True, True] Translation: X:196.43, Y:-112.32, Z:0.49 [[-6.22423574e-01 -7.82680077e-01 -8.89669654e-04 1.96433285e+02] [-7.82679271e-01 6.22424210e-01 -1.12316319e-03 -1.12322854e+02] [ 1.43282938e-03 -2.75725120e-06 -9.99998973e-01 4.89015703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.797628 meters 0.012780185190306124 Centerline is valid? [True, True] Translation: X:196.36, Y:-112.39, Z:0.49 [[-5.65705697e-01 -8.24605269e-01 -1.79297172e-03 1.96359605e+02] [-8.24601025e-01 5.65708538e-01 -2.64572421e-03 -1.12387691e+02] [ 3.19597753e-03 -1.82149371e-05 -9.99994893e-01 4.86614567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.857628 meters 0.01308787293204977 Centerline is valid? [True, True] Translation: X:196.28, Y:-112.46, Z:0.49 [[-5.04481554e-01 -8.63421000e-01 -1.59358621e-03 1.96283512e+02] [-8.63416495e-01 5.04484070e-01 -2.78911771e-03 -1.12463093e+02] [ 3.21212166e-03 -3.11298143e-05 -9.99994841e-01 4.87978345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.917628 meters 0.014402813588810182 Centerline is valid? [True, True] Translation: X:196.21, Y:-112.55, Z:0.49 [[-4.41739763e-01 -8.97142880e-01 7.96330127e-04 1.96212366e+02] [-8.97141340e-01 4.41740480e-01 1.66236438e-03 -1.12546432e+02] [-1.84314962e-03 1.99117713e-05 -9.99998301e-01 4.93839053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.977628 meters 0.015316879895926215 Centerline is valid? [True, True] Translation: X:196.14, Y:-112.64, Z:0.50 [[-3.70446071e-01 -9.28851122e-01 2.30241674e-03 1.96142295e+02] [-9.28831926e-01 3.70453219e-01 5.97202264e-03 -1.12640826e+02] [-6.40005762e-03 7.37541469e-05 -9.99979517e-01 4.97557842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.037628 meters 0.013193309464616504 Centerline is valid? [True, True] Translation: X:196.07, Y:-112.74, Z:0.50 [[-2.92737442e-01 -9.56191220e-01 1.77247545e-03 1.96073297e+02] [-9.56172930e-01 2.92742806e-01 5.91413292e-03 -1.12740036e+02] [-6.17392141e-03 3.64951011e-05 -9.99980941e-01 4.95367013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.097628 meters 0.012822332970240885 Centerline is valid? [True, True] Translation: X:196.01, Y:-112.85, Z:0.50 [[-2.09887732e-01 -9.77724564e-01 1.34792289e-03 1.96008385e+02] [-9.77704958e-01 2.09892059e-01 6.19181176e-03 -1.12845995e+02] [-6.33680477e-03 -1.82855621e-05 -9.99979922e-01 4.95914544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.157628 meters 0.013773062121784389 Centerline is valid? [True, True] Translation: X:195.96, Y:-112.95, Z:0.50 [[-1.33286720e-01 -9.91077113e-01 8.98420897e-04 1.95963213e+02] [-9.91055788e-01 1.33289745e-01 6.50147584e-03 -1.12954022e+02] [-6.56321419e-03 -2.38248431e-05 -9.99978462e-01 4.96496697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.217628 meters 0.015085582456741162 Centerline is valid? [True, True] Translation: X:195.93, Y:-113.07, Z:0.50 [[-5.96621426e-02 -9.98218540e-01 4.18560382e-04 1.95928706e+02] [-9.98194438e-01 5.96636106e-02 6.93662343e-03 -1.13065793e+02] [-6.94923894e-03 -3.95082950e-06 -9.99975854e-01 4.97899699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.277628 meters 0.01557827746561583 Centerline is valid? [True, True] Translation: X:195.90, Y:-113.19, Z:0.50 [[ 1.38244961e-02 -9.99904433e-01 -9.41819880e-05 1.95904141e+02] [-9.99888548e-01 -1.38248074e-02 5.63624507e-03 -1.13186219e+02] [-5.63700847e-03 1.62532432e-05 -9.99984112e-01 4.97290551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.337628 meters 0.01299894010456145 Centerline is valid? [True, True] Translation: X:195.89, Y:-113.30, Z:0.49 [[ 9.00729145e-02 -9.95935153e-01 -2.01405834e-04 1.95886207e+02] [-9.95932786e-01 -9.00731395e-02 2.17138655e-03 -1.13298467e+02] [-2.18070145e-03 5.00355776e-06 -9.99997622e-01 4.91805728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.397628 meters 0.013030577807172187 Centerline is valid? [True, True] Translation: X:195.88, Y:-113.42, Z:0.49 [[ 1.65995420e-01 -9.86126522e-01 4.68363845e-05 1.95878081e+02] [-9.86126493e-01 -1.65995427e-01 -2.40192374e-04 -1.13421087e+02] [ 2.44634696e-04 -6.31576548e-06 -9.99999970e-01 4.89799194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.457628 meters 0.013208412615382765 Centerline is valid? [True, True] Translation: X:195.88, Y:-113.53, Z:0.49 [[ 2.40240700e-01 -9.70713342e-01 1.13563737e-04 1.95876325e+02] [-9.70713249e-01 -2.40240727e-01 -4.26293820e-04 -1.13534862e+02] [ 4.41091734e-04 -7.82469814e-06 -9.99999903e-01 4.89938205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.517628 meters 0.013529412647352966 Centerline is valid? [True, True] Translation: X:195.89, Y:-113.66, Z:0.49 [[ 3.10862658e-01 -9.50454834e-01 1.29343270e-04 1.95887558e+02] [-9.50454763e-01 -3.10862685e-01 -3.66763621e-04 -1.13658627e+02] [ 3.88800253e-04 -8.92181283e-06 -9.99999924e-01 4.90506236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.577628 meters 0.017161868562353317 Centerline is valid? [True, True] Translation: X:195.90, Y:-113.77, Z:0.49 [[ 3.78997650e-01 -9.25397318e-01 -7.65275913e-04 1.95902424e+02] [-9.25395556e-01 -3.78998422e-01 1.80582061e-03 -1.13768210e+02] [-1.96113992e-03 2.37811603e-05 -9.99998077e-01 4.93995295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.637628 meters 0.015811497092217394 Centerline is valid? [True, True] Translation: X:195.93, Y:-113.88, Z:0.49 [[ 4.42806206e-01 -8.96617309e-01 -2.55561680e-04 1.95927187e+02] [-8.96617169e-01 -4.42806280e-01 5.01099056e-04 -1.13879783e+02] [-5.62458404e-04 7.25121783e-06 -9.99999842e-01 4.91131965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.697628 meters 0.016872350337043263 Centerline is valid? [True, True] Translation: X:195.96, Y:-113.99, Z:0.49 [[ 5.07404077e-01 -8.61707623e-01 -1.03670528e-03 1.95957141e+02] [-8.61706001e-01 -5.07405135e-01 1.67253078e-03 -1.13991491e+02] [-1.96726211e-03 4.46862235e-05 -9.99998064e-01 4.92491631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.757628 meters 0.019035171673833392 Centerline is valid? [True, True] Translation: X:196.00, Y:-114.10, Z:0.49 [[ 5.71702343e-01 -8.20458172e-01 -2.19497685e-03 1.95995048e+02] [-8.20452720e-01 -5.71706550e-01 2.99262512e-03 -1.14103627e+02] [-3.71020638e-03 8.99839283e-05 -9.99993113e-01 4.94886531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.817628 meters 0.015976962387967378 Centerline is valid? [True, True] Translation: X:196.04, Y:-114.21, Z:0.49 [[ 6.34464421e-01 -7.72949406e-01 -2.02806531e-03 1.96035355e+02] [-7.72945796e-01 -6.34467659e-01 2.36345101e-03 -1.14210689e+02] [-3.11356990e-03 6.80589801e-05 -9.99995151e-01 4.94427034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.877628 meters 0.01790724455638698 Centerline is valid? [True, True] Translation: X:196.08, Y:-114.31, Z:0.50 [[ 6.92638938e-01 -7.21275832e-01 -3.53208035e-03 1.96084725e+02] [-7.21267217e-01 -6.92647936e-01 3.52675227e-03 -1.14309498e+02] [-4.99024934e-03 1.04807817e-04 -9.99987543e-01 4.96648023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.937628 meters 0.016966571381127206 Centerline is valid? [True, True] Translation: X:196.10, Y:-114.34, Z:0.50 [[ 7.48963372e-01 -6.62603145e-01 -3.30766894e-03 1.96096598e+02] [-6.62597134e-01 -7.48970672e-01 2.82336097e-03 -1.14344097e+02] [-4.34811489e-03 7.70580079e-05 -9.99990544e-01 4.95136223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.99762799999996 meters 0.015108334896920353 Centerline is valid? [True, True] Translation: X:196.11, Y:-114.37, Z:0.49 [[ 7.99132937e-01 -6.01152412e-01 -1.52513202e-03 1.96114622e+02] [-6.01151385e-01 -7.99134392e-01 1.11158853e-03 -1.14371917e+02] [-1.88701957e-03 2.85282175e-05 -9.99998219e-01 4.92542716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.05762799999997 meters 0.015253555969163054 Centerline is valid? [True, True] Translation: X:196.14, Y:-114.40, Z:0.49 [[ 8.43263658e-01 -5.37498254e-01 1.42503573e-03 1.96135292e+02] [-5.37497558e-01 -8.43264861e-01 -8.65776611e-04 -1.14399563e+02] [ 1.66703597e-03 -3.58752728e-05 -9.99998610e-01 4.90337576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.11762799999997 meters 0.015363260185129457 Centerline is valid? [True, True] Translation: X:196.16, Y:-114.43, Z:0.49 [[ 8.81807863e-01 -4.71606816e-01 1.37955137e-03 1.96158241e+02] [-4.71606303e-01 -8.81808942e-01 -6.96398389e-04 -1.14425572e+02] [ 1.54492696e-03 -3.65155446e-05 -9.99998806e-01 4.90322090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.17762799999997 meters 0.015217244690704996 Centerline is valid? [True, True] Translation: X:196.18, Y:-114.45, Z:0.49 [[ 9.15565328e-01 -4.02168530e-01 7.77226538e-04 1.96181505e+02] [-4.02168406e-01 -9.15565658e-01 -3.16406687e-04 -1.14452768e+02] [ 8.38850738e-04 -2.28849658e-05 -9.99999648e-01 4.91606806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.237628 meters 0.015985997667439425 Centerline is valid? [True, True] Translation: X:196.21, Y:-114.47, Z:0.49 [[ 9.44058215e-01 -3.29778844e-01 -3.60922544e-05 1.96207753e+02] [-3.29778843e-01 -9.44058216e-01 1.68748170e-05 -1.14472755e+02] [-3.96381469e-05 -4.02834768e-06 -9.99999999e-01 4.92361440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.297628 meters 0.016402184885401003 Centerline is valid? [True, True] Translation: X:196.24, Y:-114.49, Z:0.49 [[ 9.66437443e-01 -2.56897017e-01 -1.60952720e-03 1.96237269e+02] [-2.56896720e-01 -9.66438783e-01 3.92009385e-04 -1.14492280e+02] [-1.65621555e-03 3.46297108e-05 -9.99998628e-01 4.94664446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.357628 meters 0.015567953139208852 Centerline is valid? [True, True] Translation: X:196.27, Y:-114.52, Z:0.50 [[ 9.83810583e-01 -1.79179294e-01 -3.39360236e-03 1.96265942e+02] [-1.79178482e-01 -9.83816434e-01 5.44287333e-04 -1.14515070e+02] [-3.43620679e-03 7.25848792e-05 -9.99994094e-01 4.96849494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.417628 meters 0.015226113391139223 Centerline is valid? [True, True] Translation: X:196.29, Y:-114.53, Z:0.50 [[ 9.94971264e-01 -1.00066681e-01 -4.34085751e-03 1.96294622e+02] [-1.00066108e-01 -9.94980729e-01 3.49557341e-04 -1.14530886e+02] [-4.35404862e-03 8.65732079e-05 -9.99990517e-01 4.97942545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.477628 meters 0.0169227414871796 Centerline is valid? [True, True] Translation: X:196.32, Y:-114.55, Z:0.50 [[ 9.99793059e-01 -1.90015636e-02 -7.26493630e-03 1.96324592e+02] [-1.90019837e-02 -9.99819446e-01 1.11900133e-05 -1.14546447e+02] [-7.26383722e-03 1.26860504e-04 -9.99973610e-01 5.00051491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.537628 meters 0.014102166015008931 Centerline is valid? [True, True] Translation: X:196.35, Y:-114.56, Z:0.50 [[ 9.98012790e-01 6.25793797e-02 -7.36835065e-03 1.96354403e+02] [ 6.25768942e-02 -9.98039984e-01 -5.67607218e-04 -1.14558719e+02] [-7.38942907e-03 1.05390764e-04 -9.99972692e-01 5.00386310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.597628 meters 0.013954624630238287 Centerline is valid? [True, True] Translation: X:196.39, Y:-114.56, Z:0.50 [[ 9.89770305e-01 1.42382986e-01 -9.04592214e-03 1.96386789e+02] [ 1.42375982e-01 -9.89811635e-01 -1.41689228e-03 -1.14564522e+02] [-9.15550034e-03 1.14475853e-04 -9.99958081e-01 5.02060568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.657628 meters 0.013176847842507984 Centerline is valid? [True, True] Translation: X:196.42, Y:-114.57, Z:0.50 [[ 9.74822077e-01 2.22815275e-01 -8.67593177e-03 1.96420088e+02] [ 2.22805717e-01 -9.74860681e-01 -2.06531926e-03 -1.14569357e+02] [-8.91800943e-03 8.02716099e-05 -9.99960231e-01 5.01421408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.717628 meters 0.012905429001232305 Centerline is valid? [True, True] Translation: X:196.45, Y:-114.57, Z:0.50 [[ 9.53850233e-01 3.00159097e-01 -8.61683353e-03 1.96452829e+02] [ 3.00146228e-01 -9.53889151e-01 -2.78024259e-03 -1.14569837e+02] [-9.05401913e-03 6.56249539e-05 -9.99959009e-01 5.00892326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.777628 meters 0.01315529431809808 Centerline is valid? [True, True] Translation: X:196.48, Y:-114.56, Z:0.50 [[ 9.27882825e-01 3.72802457e-01 -7.19658435e-03 1.96483554e+02] [ 3.72790701e-01 -9.27910730e-01 -2.96137974e-03 -1.14564346e+02] [-7.78179748e-03 6.49936753e-05 -9.99969719e-01 5.01436764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.837628 meters 0.01308677329027501 Centerline is valid? [True, True] Translation: X:196.51, Y:-114.55, Z:0.50 [[ 8.96317148e-01 4.43356016e-01 -7.14238103e-03 1.96512695e+02] [ 4.43341268e-01 -8.96345601e-01 -3.61707741e-03 -1.14553301e+02] [-8.00569485e-03 7.55362416e-05 -9.99967951e-01 5.00260327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.897628 meters 0.012924144587427565 Centerline is valid? [True, True] Translation: X:196.54, Y:-114.54, Z:0.50 [[ 8.57863010e-01 5.13828556e-01 -7.16035540e-03 1.96542042e+02] [ 5.13810042e-01 -8.57892890e-01 -4.36234053e-03 -1.14543285e+02] [-8.38431313e-03 6.32280743e-05 -9.99964849e-01 5.00773847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.957628 meters 0.01264512298021105 Centerline is valid? [True, True] Translation: X:196.57, Y:-114.53, Z:0.50 [[ 8.13168138e-01 5.81964146e-01 -8.67824515e-03 1.96570148e+02] [ 5.81930374e-01 -8.13214443e-01 -6.26971879e-03 -1.14530975e+02] [-1.07060258e-02 4.82011170e-05 -9.99942688e-01 5.03845107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.017628 meters 0.01539210810710109 Centerline is valid? [True, True] Translation: X:196.60, Y:-114.52, Z:0.51 [[ 7.65487030e-01 6.43370204e-01 -1.02170076e-02 1.96598127e+02] [ 6.43311675e-01 -7.65555208e-01 -8.67828614e-03 -1.14518269e+02] [-1.34050341e-02 7.03952219e-05 -9.99910146e-01 5.06380346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.077628 meters 0.012932085011766415 Centerline is valid? [True, True] Translation: X:196.62, Y:-114.50, Z:0.50 [[ 7.14183814e-01 6.99917744e-01 -7.52538560e-03 1.96617298e+02] [ 6.99877770e-01 -7.14223456e-01 -7.48072258e-03 -1.14496830e+02] [-1.06106974e-02 7.57608881e-05 -9.99943702e-01 5.04362817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.137628 meters 0.017446255653313515 Centerline is valid? [True, True] Translation: X:196.63, Y:-114.48, Z:0.51 [[ 6.59546583e-01 7.51624667e-01 -7.65930635e-03 1.96634105e+02] [ 7.51571842e-01 -6.59591044e-01 -8.91184285e-03 -1.14475121e+02] [-1.17503708e-02 1.21256518e-04 -9.99930955e-01 5.05298968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.197628 meters 0.012772533607939372 Centerline is valid? [True, True] Translation: X:196.65, Y:-114.45, Z:0.50 [[ 5.98000125e-01 8.01483422e-01 -4.49154439e-03 1.96653406e+02] [ 8.01459932e-01 -5.98016989e-01 -6.13666885e-03 -1.14454780e+02] [-7.60445820e-03 6.99358766e-05 -9.99971083e-01 5.00557579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.257628 meters 0.01455430311769383 Centerline is valid? [True, True] Translation: X:196.67, Y:-114.44, Z:0.50 [[ 5.30525832e-01 8.47656838e-01 -4.49731450e-03 1.96671780e+02] [ 8.47625575e-01 -5.30544891e-01 -7.28029964e-03 -1.14435240e+02] [-8.55722301e-03 5.03482390e-05 -9.99963385e-01 5.01376452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.317628 meters 0.012008245390213031 Centerline is valid? [True, True] Translation: X:196.69, Y:-114.42, Z:0.50 [[ 4.58487358e-01 8.88695000e-01 -3.24654803e-03 1.96691045e+02] [ 8.88672585e-01 -4.58498852e-01 -6.31181975e-03 -1.14415420e+02] [-7.09782120e-03 8.77132884e-06 -9.99974810e-01 4.99337709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.377628 meters 0.015410552349806844 Centerline is valid? [True, True] Translation: X:196.72, Y:-114.40, Z:0.50 [[ 3.78818860e-01 9.25462363e-01 -3.96050640e-03 1.96715393e+02] [ 9.25414007e-01 -3.78839554e-01 -9.46087788e-03 -1.14397886e+02] [-1.02560829e-02 -8.11491246e-05 -9.99947402e-01 5.02114236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.437628 meters 0.012806288354054864 Centerline is valid? [True, True] Translation: X:196.74, Y:-114.38, Z:0.50 [[ 3.00917769e-01 9.53645541e-01 -2.94598042e-03 1.96737772e+02] [ 9.53603574e-01 -3.00932166e-01 -8.94737125e-03 -1.14377578e+02] [-9.41916097e-03 -1.16874465e-04 -9.99955632e-01 5.01933205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.49762799999996 meters 0.01273340749990816 Centerline is valid? [True, True] Translation: X:196.76, Y:-114.35, Z:0.50 [[ 2.26004873e-01 9.74123661e-01 -2.21125144e-03 1.96755902e+02] [ 9.74081647e-01 -2.26015664e-01 -9.04792431e-03 -1.14354620e+02] [-9.31357462e-03 -1.09064460e-04 -9.99956622e-01 5.02349020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.55762799999997 meters 0.01205888029843419 Centerline is valid? [True, True] Translation: X:196.76, Y:-114.33, Z:0.50 [[ 1.53945229e-01 9.88078388e-01 -1.40229207e-03 1.96762726e+02] [ 9.88040813e-01 -1.53951604e-01 -8.61719430e-03 -1.14328579e+02] [-8.73034856e-03 -5.89458461e-05 -9.99961888e-01 5.01480474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.61762799999997 meters 0.012141671206495567 Centerline is valid? [True, True] Translation: X:196.76, Y:-114.30, Z:0.50 [[ 8.69584277e-02 9.96211726e-01 -6.54282000e-04 1.96759888e+02] [ 9.96180646e-01 -8.69608830e-02 -7.86930452e-03 -1.14303146e+02] [-7.89639038e-03 3.25192827e-05 -9.99968822e-01 5.01203879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.67762799999997 meters 0.01565193272527551 Centerline is valid? [True, True] Translation: X:196.76, Y:-114.28, Z:0.50 [[ 1.64112585e-02 9.99865325e-01 -3.94792362e-05 1.96757748e+02] [ 9.99826437e-01 -1.64109684e-02 -8.81901837e-03 -1.14277368e+02] [-8.81847857e-03 1.05258806e-04 -9.99961111e-01 5.03775915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.737628 meters 0.014672849447412345 Centerline is valid? [True, True] Translation: X:196.77, Y:-114.25, Z:0.50 [[-5.76906423e-02 9.98334301e-01 6.42073655e-04 1.96766403e+02] [ 9.98296667e-01 5.76940433e-02 -8.66956990e-03 -1.14251893e+02] [-8.69217284e-03 1.40826934e-04 -9.99962212e-01 5.02630486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.797628 meters 0.014156739678936629 Centerline is valid? [True, True] Translation: X:196.77, Y:-114.23, Z:0.50 [[-1.35587842e-01 9.90764194e-01 1.49950758e-03 1.96770949e+02] [ 9.90716110e-01 1.35596037e-01 -9.76236083e-03 -1.14226222e+02] [-9.87552485e-03 1.61928880e-04 -9.99951223e-01 5.03008885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.857628 meters 0.01710988222383384 Centerline is valid? [True, True] Translation: X:196.78, Y:-114.20, Z:0.50 [[-2.13435901e-01 9.76953524e-01 2.63213917e-03 1.96778578e+02] [ 9.76889398e-01 2.13452053e-01 -1.11948578e-02 -1.14198212e+02] [-1.14986912e-02 1.81924299e-04 -9.99933871e-01 5.04904317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.917628 meters 0.01643517617178182 Centerline is valid? [True, True] Translation: X:196.78, Y:-114.17, Z:0.50 [[-2.88946340e-01 9.57340748e-01 2.95029588e-03 1.96776205e+02] [ 9.57296242e-01 2.88961359e-01 -9.23245413e-03 -1.14173031e+02] [-9.69112605e-03 1.56623335e-04 -9.99953028e-01 5.04655155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.977628 meters 0.019206422812254077 Centerline is valid? [True, True] Translation: X:196.76, Y:-114.15, Z:0.51 [[-3.62106988e-01 9.32128174e-01 3.94929300e-03 1.96761792e+02] [ 9.32078044e-01 3.62128479e-01 -9.66879616e-03 -1.14151609e+02] [-1.04427088e-02 1.79910640e-04 -9.99945457e-01 5.06959855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.037628 meters 0.016596979687302393 Centerline is valid? [True, True] Translation: X:196.76, Y:-114.12, Z:0.50 [[-4.33931970e-01 9.00934080e-01 4.56382224e-03 1.96759575e+02] [ 9.00888443e-01 4.33955934e-01 -9.06974099e-03 -1.14124117e+02] [-1.01517365e-02 1.75844143e-04 -9.99948454e-01 5.02963784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.097628 meters 0.01447851366593966 Centerline is valid? [True, True] Translation: X:196.75, Y:-114.10, Z:0.50 [[-5.02384853e-01 8.64635884e-01 3.77451409e-03 1.96751392e+02] [ 8.64613422e-01 5.02399015e-01 -6.23380904e-03 -1.14099781e+02] [-7.28628716e-03 1.31724304e-04 -9.99973446e-01 4.98621178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.157628 meters 0.016237652527655962 Centerline is valid? [True, True] Translation: X:196.74, Y:-114.07, Z:0.50 [[-5.67065911e-01 8.23670626e-01 1.71801874e-03 1.96742654e+02] [ 8.23667142e-01 5.67068511e-01 -2.39635848e-03 -1.14074219e+02] [-2.94804442e-03 5.61823846e-05 -9.99995653e-01 4.97342218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.217628 meters 0.0148525664979177 Centerline is valid? [True, True] Translation: X:196.73, Y:-114.05, Z:0.49 [[-6.29887656e-01 7.76686013e-01 6.14896017e-04 1.96731350e+02] [ 7.76685666e-01 6.29887956e-01 -7.34076464e-04 -1.14050484e+02] [-9.57462518e-04 1.51952193e-05 -9.99999542e-01 4.93498969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.277628 meters 0.017225269093490286 Centerline is valid? [True, True] Translation: X:196.72, Y:-114.03, Z:0.50 [[-6.90145416e-01 7.23670709e-01 1.03917241e-04 1.96720181e+02] [ 7.23670700e-01 6.90145423e-01 -1.11259056e-04 -1.14025295e+02] [-1.52232929e-04 -1.58306480e-06 -9.99999988e-01 4.95052557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.337628 meters 0.016711911413034 Centerline is valid? [True, True] Translation: X:196.71, Y:-114.00, Z:0.50 [[-7.47018352e-01 6.64802790e-01 9.12519183e-04 1.96708070e+02] [ 6.64802317e-01 7.47018909e-01 -7.93487808e-04 -1.14002344e+02] [-1.20918199e-03 1.38949118e-05 -9.99999269e-01 4.96446223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.397628 meters 0.01278224187278162 Centerline is valid? [True, True] Translation: X:197.20, Y:-113.44, Z:-0.48 [[-7.17308869e-01 -6.96753810e-01 1.45421597e-03 1.97202099e+02] [ 6.96752450e-01 -7.17310342e-01 -1.37708481e-03 -1.13435268e+02] [ 2.00261324e-03 2.54333874e-05 9.99997994e-01 -4.83282247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.457628 meters 0.012195463587550028 Centerline is valid? [True, True] Translation: X:196.68, Y:-113.97, Z:0.50 [[-7.56589566e-01 6.53885884e-01 2.34080196e-03 1.96676131e+02] [ 6.53882788e-01 7.56593187e-01 -2.01226532e-03 -1.13966438e+02] [-3.08682670e-03 8.15116295e-06 -9.99995236e-01 4.95723043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.517628 meters 0.012164120700228284 Centerline is valid? [True, True] Translation: X:196.69, Y:-113.94, Z:0.50 [[-8.05130377e-01 5.93083181e-01 4.17327274e-03 1.96693796e+02] [ 5.93075086e-01 8.05141192e-01 -3.09888378e-03 -1.13942920e+02] [-5.19796964e-03 -1.99413794e-05 -9.99986490e-01 4.96800699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.577628 meters 0.01250198262611084 Centerline is valid? [True, True] Translation: X:197.14, Y:-113.35, Z:-0.48 [[-7.56949904e-01 -6.53461589e-01 3.84641982e-03 1.97137541e+02] [ 6.53453230e-01 -7.56959677e-01 -3.30512892e-03 -1.13353806e+02] [ 5.07135950e-03 1.16384410e-05 9.99987141e-01 -4.84925439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.637628 meters 0.012729749900400843 Centerline is valid? [True, True] Translation: X:196.66, Y:-113.92, Z:0.50 [[-8.10647694e-01 5.85526294e-01 3.04535359e-03 1.96655940e+02] [ 5.85521988e-01 8.10653414e-01 -2.24600158e-03 -1.13919866e+02] [-3.78381927e-03 -3.75945139e-05 -9.99992841e-01 4.95690277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.697628 meters 0.01250932101854396 Centerline is valid? [True, True] Translation: X:196.67, Y:-113.90, Z:0.49 [[-8.48960723e-01 5.28453786e-01 1.51225110e-03 1.96673276e+02] [ 5.28452913e-01 8.48962070e-01 -9.60627365e-04 -1.13901636e+02] [-1.79149099e-03 -1.63814049e-05 -9.99998395e-01 4.94652584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.757628 meters 0.012532931801196844 Centerline is valid? [True, True] Translation: X:196.69, Y:-113.88, Z:0.49 [[-8.83672836e-01 4.68103014e-01 1.37379762e-03 1.96692130e+02] [ 4.68102425e-01 8.83673904e-01 -7.42392840e-04 -1.13881106e+02] [-1.56150544e-03 -1.29543872e-05 -9.99998781e-01 4.94221255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.817628 meters 0.012401651628444255 Centerline is valid? [True, True] Translation: X:196.71, Y:-113.86, Z:0.50 [[-9.13684258e-01 4.06401769e-01 4.32181782e-03 1.96706922e+02] [ 4.06397116e-01 9.13694479e-01 -1.94486406e-03 -1.13855753e+02] [-4.73921728e-03 -2.06173754e-05 -9.99988770e-01 4.95772484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.877628 meters 0.012379433803893947 Centerline is valid? [True, True] Translation: X:197.02, Y:-113.18, Z:-0.49 [[-8.82264231e-01 -4.70729145e-01 4.88867597e-03 1.97019847e+02] [ 4.70722343e-01 -8.82277772e-01 -2.53160648e-03 -1.13184925e+02] [ 5.50487110e-03 6.76631588e-05 9.99984846e-01 -4.85283400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.937628 meters 0.012864542269231236 Centerline is valid? [True, True] Translation: X:196.67, Y:-113.84, Z:0.50 [[-9.10556923e-01 4.13337246e-01 6.19765916e-03 1.96673508e+02] [ 4.13328031e-01 9.10578013e-01 -2.76044270e-03 -1.13843805e+02] [-6.78444595e-03 4.81260510e-05 -9.99976984e-01 4.98945756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.99762799999996 meters 0.017726629274185106 Centerline is valid? [True, True] Translation: X:196.69, Y:-113.83, Z:0.50 [[-9.34087871e-01 3.56978450e-01 6.79960297e-03 1.96690981e+02] [ 3.56969946e-01 9.34112611e-01 -2.46708233e-03 -1.13829016e+02] [-7.23229011e-03 1.22782229e-04 -9.99973839e-01 5.02682264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.05762799999997 meters 0.0156803137215875 Centerline is valid? [True, True] Translation: X:196.70, Y:-113.81, Z:0.50 [[-9.55816763e-01 2.93886700e-01 6.70242039e-03 1.96704039e+02] [ 2.93880545e-01 9.55840251e-01 -1.90755731e-03 -1.13806538e+02] [-6.96704891e-03 1.46435701e-04 -9.99975719e-01 4.98311468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.11762799999997 meters 0.015526640278867434 Centerline is valid? [True, True] Translation: X:196.92, Y:-113.08, Z:-0.49 [[-9.48202573e-01 -3.17617239e-01 5.58308972e-03 1.96917297e+02] [ 3.17610557e-01 -9.48218991e-01 -2.06876156e-03 -1.13078975e+02] [ 5.95106603e-03 -1.88356795e-04 9.99982275e-01 -4.86435597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.17762799999997 meters 0.014451774433366843 Centerline is valid? [True, True] Translation: X:196.65, Y:-113.79, Z:0.50 [[-9.58654927e-01 2.84516105e-01 5.59623534e-03 1.96651882e+02] [ 2.84511782e-01 9.58671257e-01 -1.57073700e-03 -1.13786390e+02] [-5.81184994e-03 8.64001252e-05 -9.99983107e-01 4.97663659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.237628 meters 0.013067976052835438 Centerline is valid? [True, True] Translation: X:196.66, Y:-113.76, Z:0.50 [[-9.78000263e-01 2.08514653e-01 6.09308779e-03 1.96661453e+02] [ 2.08510901e-01 9.78019242e-01 -1.25171055e-03 -1.13757050e+02] [-6.22015709e-03 4.63019736e-05 -9.99980654e-01 4.98613192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.297628 meters 0.014636922463043057 Centerline is valid? [True, True] Translation: X:196.81, Y:-113.03, Z:-0.49 [[-9.65255742e-01 -2.61207371e-01 7.21543156e-03 1.96810011e+02] [ 2.61200271e-01 -9.65282709e-01 -1.92613766e-03 -1.13029618e+02] [ 7.46805268e-03 2.54572459e-05 9.99972113e-01 -4.89533061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.357628 meters 0.012343872497473913 Centerline is valid? [True, True] Translation: X:196.61, Y:-113.75, Z:0.50 [[-9.80174092e-01 1.98043201e-01 6.13518862e-03 1.96607636e+02] [ 1.98039345e-01 9.80193292e-01 -1.23586441e-03 -1.13745747e+02] [-6.25842527e-03 3.64645945e-06 -9.99980416e-01 4.95761192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.417628 meters 0.012295879384418278 Centerline is valid? [True, True] Translation: X:196.62, Y:-113.72, Z:0.49 [[-9.91989521e-01 1.26300285e-01 2.24252580e-03 1.96616243e+02] [ 1.26299950e-01 9.91992055e-01 -2.90951764e-04 -1.13718549e+02] [-2.26131507e-03 -5.39020594e-06 -9.99997443e-01 4.91792271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.477628 meters 0.012408259353597111 Centerline is valid? [True, True] Translation: X:196.62, Y:-113.69, Z:0.49 [[-9.98475000e-01 5.51878774e-02 -1.40417622e-03 1.96618637e+02] [ 5.51878271e-02 9.98475988e-01 7.45625265e-05 -1.13691062e+02] [ 1.40615118e-03 -3.04461564e-06 -9.99999011e-01 4.89403546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.537628 meters 0.012499152235383604 Centerline is valid? [True, True] Translation: X:196.66, Y:-112.95, Z:-0.48 [[-9.92620000e-01 -1.21257497e-01 -1.46818324e-03 1.96663122e+02] [ 1.21257366e-01 -9.92621086e-01 1.77856830e-04 -1.12953100e+02] [-1.47891611e-03 -1.48378667e-06 9.99998906e-01 -4.77672844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.597628 meters 0.012629070666180877 Centerline is valid? [True, True] Translation: X:196.56, Y:-113.69, Z:0.49 [[-9.98418800e-01 5.62069581e-02 -8.22812617e-04 1.96558794e+02] [ 5.62069456e-02 9.98419139e-01 3.83135904e-05 -1.13692348e+02] [ 8.23665355e-04 -7.99477509e-06 -9.99999661e-01 4.90245771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.657628 meters 0.01288626853465246 Centerline is valid? [True, True] Translation: X:196.61, Y:-112.95, Z:-0.48 [[-9.93765695e-01 -1.11463811e-01 2.35845815e-03 1.96608446e+02] [ 1.11463948e-01 -9.93768475e-01 -7.36987965e-05 -1.12949408e+02] [ 2.35197611e-03 1.89643721e-04 9.99997216e-01 -4.82012340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.717628 meters 0.013028518467078344 Centerline is valid? [True, True] Translation: X:196.50, Y:-113.69, Z:0.50 [[-9.98470782e-01 5.50306433e-02 5.26561421e-03 1.96502911e+02] [ 5.50300660e-02 9.98484665e-01 -2.54569637e-04 -1.13690270e+02] [-5.27164417e-03 3.55867536e-05 -9.99986104e-01 4.96415857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.777628 meters 0.012975041530717315 Centerline is valid? [True, True] Translation: X:196.54, Y:-112.95, Z:-0.49 [[-9.94158089e-01 -1.07822738e-01 4.89407882e-03 1.96541428e+02] [ 1.07821157e-01 -9.94170133e-01 -5.86498788e-04 -1.12947900e+02] [ 4.92878490e-03 -5.53872751e-05 9.99987852e-01 -4.85364011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.837628 meters 0.015857378741005193 Centerline is valid? [True, True] Translation: X:196.44, Y:-113.68, Z:0.50 [[-9.98917500e-01 4.61776832e-02 5.60797268e-03 1.96437590e+02] [ 4.61770242e-02 9.98933242e-01 -2.47008393e-04 -1.13683360e+02] [-5.61339660e-03 1.22184831e-05 -9.99984245e-01 4.98886455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.897628 meters 0.012555470560314653 Centerline is valid? [True, True] Translation: X:196.44, Y:-113.65, Z:0.49 [[-9.99593986e-01 -2.81183879e-02 4.60654143e-03 1.96441190e+02] [-2.81181156e-02 9.99604600e-01 1.23884267e-04 -1.13654278e+02] [-4.60820343e-03 -5.69329604e-06 -9.99989382e-01 4.94652902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.957628 meters 0.012713340705172504 Centerline is valid? [True, True] Translation: X:196.44, Y:-113.62, Z:0.50 [[-9.94682505e-01 -1.02863206e-01 5.08670632e-03 1.96435180e+02] [-1.02861991e-01 9.94695511e-01 5.00697847e-04 -1.13622673e+02] [-5.11122733e-03 -2.51933500e-05 -9.99986937e-01 4.96666319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.017628 meters 0.012703512782536452 Centerline is valid? [True, True] Translation: X:196.42, Y:-113.60, Z:0.50 [[-9.84568225e-01 -1.74905736e-01 5.77875561e-03 1.96424378e+02] [-1.74902950e-01 9.84585183e-01 9.87852464e-04 -1.13597307e+02] [-5.86245821e-03 -3.81132568e-05 -9.99982815e-01 4.98448484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.077628 meters 0.012608285496636598 Centerline is valid? [True, True] Translation: X:196.42, Y:-113.57, Z:0.50 [[-9.69906967e-01 -2.43415602e-01 5.41472150e-03 1.96415142e+02] [-2.43411976e-01 9.69922081e-01 1.32906676e-03 -1.13574664e+02] [-5.57537354e-03 -2.89369500e-05 -9.99984457e-01 4.98592952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.137628 meters 0.012462003209415455 Centerline is valid? [True, True] Translation: X:196.40, Y:-113.56, Z:0.50 [[-9.50917674e-01 -3.09421604e-01 3.72123894e-03 1.96395201e+02] [-3.09419270e-01 9.50924956e-01 1.20169953e-03 -1.13559263e+02] [-3.91045077e-03 -8.70571676e-06 -9.99992354e-01 4.96444774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.197628 meters 0.012475967400462992 Centerline is valid? [True, True] Translation: X:196.35, Y:-113.55, Z:0.50 [[-9.26289364e-01 -3.76796275e-01 3.54709088e-03 1.96353007e+02] [-3.76793536e-01 9.26296155e-01 1.43688385e-03 -1.13547796e+02] [-3.82706913e-03 -5.55068413e-06 -9.99992677e-01 4.95245682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.257628 meters 0.012405819310639105 Centerline is valid? [True, True] Translation: X:196.30, Y:-113.54, Z:0.50 [[-8.96403161e-01 -4.43212755e-01 4.88129987e-03 1.96296962e+02] [-4.43206193e-01 8.96416451e-01 2.41177975e-03 -1.13543774e+02] [-5.44460905e-03 -1.49533838e-06 -9.99985178e-01 4.97578670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.317628 meters 0.012373059893071177 Centerline is valid? [True, True] Translation: X:196.23, Y:-113.55, Z:0.50 [[-8.61730142e-01 -5.07329244e-01 6.18071522e-03 1.96228459e+02] [-5.07316122e-01 8.61752307e-01 3.64893140e-03 -1.13552831e+02] [-7.17745521e-03 8.81769329e-06 -9.99974242e-01 4.99028129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.377628 meters 0.012755101818115464 Centerline is valid? [True, True] Translation: X:196.15, Y:-113.57, Z:0.50 [[-8.23473252e-01 -5.67309789e-01 7.16981505e-03 1.96154858e+02] [-5.67287826e-01 8.23504464e-01 4.99205537e-03 -1.13574289e+02] [-8.73641657e-03 4.34752732e-05 -9.99961836e-01 5.01080159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.437628 meters 0.01291627291267052 Centerline is valid? [True, True] Translation: X:196.08, Y:-113.60, Z:0.50 [[-7.79387153e-01 -6.26506310e-01 6.74609236e-03 1.96076111e+02] [-6.26482235e-01 7.79416346e-01 5.49260900e-03 -1.13603119e+02] [-8.69916885e-03 5.45618686e-05 -9.99962160e-01 4.99680161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.49762799999996 meters 0.01273950931662664 Centerline is valid? [True, True] Translation: X:195.99, Y:-113.64, Z:0.50 [[-7.29374071e-01 -6.84107298e-01 3.26650588e-03 1.95991056e+02] [-6.84100304e-01 7.29381385e-01 3.09331480e-03 -1.13641234e+02] [-4.49868781e-03 2.15659417e-05 -9.99989881e-01 4.95368389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.55762799999997 meters 0.012706360339262389 Centerline is valid? [True, True] Translation: X:195.91, Y:-113.69, Z:0.49 [[-6.74311347e-01 -7.38446797e-01 7.32162480e-04 1.95905102e+02] [-7.38446362e-01 6.74311744e-01 8.00901119e-04 -1.13687724e+02] [-1.08512862e-03 -6.06008068e-07 -9.99999411e-01 4.90832305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.61762799999997 meters 0.012568710764232443 Centerline is valid? [True, True] Translation: X:195.82, Y:-113.75, Z:0.49 [[-6.14415259e-01 -7.88982467e-01 7.45533048e-04 1.95818249e+02] [-7.88981892e-01 6.14415712e-01 9.52405405e-04 -1.13745489e+02] [-1.20949838e-03 -3.03966086e-06 -9.99999269e-01 4.91170043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.67762799999997 meters 0.012503844183242786 Centerline is valid? [True, True] Translation: X:195.73, Y:-113.81, Z:0.50 [[-5.49826919e-01 -8.35275437e-01 2.30293617e-03 1.95731883e+02] [-8.35268196e-01 5.49831741e-01 3.47794130e-03 -1.13811070e+02] [-4.17126634e-03 -1.13035884e-05 -9.99991300e-01 4.95807106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.737628 meters 0.012592263570026624 Centerline is valid? [True, True] Translation: X:195.65, Y:-113.89, Z:0.50 [[-4.83010041e-01 -8.75610153e-01 2.85665377e-03 1.95651318e+02] [-8.75595128e-01 4.83018488e-01 5.12950030e-03 -1.13886701e+02] [-5.87125913e-03 -2.36719798e-05 -9.99982764e-01 4.98001773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.797628 meters 0.012481317611459852 Centerline is valid? [True, True] Translation: X:195.58, Y:-113.97, Z:0.50 [[-4.14937125e-01 -9.09845626e-01 2.84920931e-03 1.95576504e+02] [-9.09824581e-01 4.14946907e-01 6.18846016e-03 -1.13967284e+02] [-6.81281400e-03 -2.44587921e-05 -9.99976792e-01 5.00475055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.857628 meters 0.01244885028392243 Centerline is valid? [True, True] Translation: X:195.51, Y:-114.06, Z:0.50 [[-3.44659042e-01 -9.38722262e-01 3.26497163e-03 1.95510910e+02] [-9.38680830e-01 3.44674506e-01 8.81957963e-03 -1.14059452e+02] [-9.40448821e-03 -2.50184066e-05 -9.99955777e-01 5.01082607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.917628 meters 0.012358455420089932 Centerline is valid? [True, True] Translation: X:195.45, Y:-114.16, Z:0.50 [[-2.72487425e-01 -9.62156435e-01 2.36598219e-03 1.95453081e+02] [-9.62120676e-01 2.72497696e-01 8.29521604e-03 -1.14157296e+02] [-8.62602019e-03 -1.60183251e-05 -9.99962795e-01 5.00717848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.977628 meters 0.012351425435876862 Centerline is valid? [True, True] Translation: X:195.41, Y:-114.26, Z:0.50 [[-2.02474295e-01 -9.79286792e-01 1.24082599e-03 1.95405047e+02] [-9.79267883e-01 2.02478097e-01 6.08561070e-03 -1.14259029e+02] [-6.21079826e-03 1.70786988e-05 -9.99980713e-01 4.98235093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.037628 meters 0.014477687606434152 Centerline is valid? [True, True] Translation: X:195.36, Y:-114.37, Z:0.50 [[-1.30258667e-01 -9.91479763e-01 7.47458129e-04 1.95362231e+02] [-9.91461659e-01 1.30260806e-01 5.99175428e-03 -1.14369988e+02] [-6.03806761e-03 3.94018490e-05 -9.99981770e-01 4.99987377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.097628 meters 0.013308317356472657 Centerline is valid? [True, True] Translation: X:195.33, Y:-114.48, Z:0.50 [[-5.66141455e-02 -9.98396112e-01 2.05044202e-04 1.95330613e+02] [-9.98386713e-01 5.66145023e-02 4.33240645e-03 -1.14484770e+02] [-4.33706623e-03 4.05620818e-05 -9.99990594e-01 4.97114876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.157628 meters 0.013484159263656205 Centerline is valid? [True, True] Translation: X:195.30, Y:-114.60, Z:0.50 [[ 1.97989875e-02 -9.99803975e-01 -1.06037056e-04 1.95301394e+02] [-9.99797569e-01 -1.97992403e-02 3.57939192e-03 -1.14599842e+02] [-3.58078973e-03 3.51472549e-05 -9.99993588e-01 4.97466874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.217628 meters 0.012757300700000125 Centerline is valid? [True, True] Translation: X:195.28, Y:-114.72, Z:0.50 [[ 9.88064592e-02 -9.95106642e-01 -2.33668349e-04 1.95278886e+02] [-9.95104211e-01 -9.88067343e-02 2.19947371e-03 -1.14720390e+02] [-2.21179890e-03 1.52021490e-05 -9.99997554e-01 4.95597795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.277628 meters 0.012485590256599384 Centerline is valid? [True, True] Translation: X:195.27, Y:-114.84, Z:0.49 [[ 1.76496519e-01 -9.84301237e-01 -2.30529261e-04 1.95268441e+02] [-9.84300432e-01 -1.76496670e-01 1.25873220e-03 -1.14838438e+02] [-1.27965931e-03 4.74819986e-06 -9.99999181e-01 4.94271058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.337628 meters 0.012569088406766831 Centerline is valid? [True, True] Translation: X:195.27, Y:-114.96, Z:0.49 [[ 2.52646489e-01 -9.67558650e-01 -1.02166990e-04 1.95268952e+02] [-9.67558567e-01 -2.52646510e-01 4.00602110e-04 -1.14961603e+02] [-4.13418170e-04 -2.35817050e-06 -9.99999915e-01 4.93225019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.397628 meters 0.012126949618712033 Centerline is valid? [True, True] Translation: X:195.27, Y:-115.08, Z:0.49 [[ 3.29286029e-01 -9.44230184e-01 -2.64118935e-04 1.95273531e+02] [-9.44229876e-01 -3.29286135e-01 7.63767840e-04 -1.15080577e+02] [-8.08143352e-04 -2.10908988e-06 -9.99999673e-01 4.94005069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.457628 meters 0.01192663845391338 Centerline is valid? [True, True] Translation: X:195.29, Y:-115.20, Z:0.50 [[ 4.03402533e-01 -9.15022037e-01 -1.03388439e-03 1.95288525e+02] [-9.15019016e-01 -4.03403857e-01 2.35102950e-03 -1.15198538e+02] [-2.56831675e-03 -2.38737659e-06 -9.99996702e-01 4.96173537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.517628 meters 0.011687863213510992 Centerline is valid? [True, True] Translation: X:195.31, Y:-115.32, Z:0.50 [[ 4.72851318e-01 -8.81141298e-01 -1.28247885e-03 1.95312890e+02] [-8.81138038e-01 -4.72853057e-01 2.39665547e-03 -1.15316495e+02] [-2.71821615e-03 -3.22079716e-06 -9.99996306e-01 4.97388148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.577628 meters 0.011692824739520753 Centerline is valid? [True, True] Translation: X:195.35, Y:-115.43, Z:0.50 [[ 5.39799163e-01 -8.41792278e-01 -1.61973549e-03 1.95346184e+02] [-8.41788457e-01 -5.39801593e-01 2.53643949e-03 -1.15426657e+02] [-3.00949097e-03 -5.69327832e-06 -9.99995471e-01 4.95801155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.637628 meters 0.011615374820119343 Centerline is valid? [True, True] Translation: X:195.39, Y:-115.53, Z:0.49 [[ 6.03182668e-01 -7.97602609e-01 -8.64797619e-04 1.95386662e+02] [-7.97601774e-01 -6.03183288e-01 1.15391187e-03 -1.15532631e+02] [-1.44199459e-03 -6.25552509e-06 -9.99998960e-01 4.93674544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.697628 meters 0.011550742664376671 Centerline is valid? [True, True] Translation: X:195.43, Y:-115.63, Z:0.49 [[ 6.61541691e-01 -7.49908255e-01 -4.47662887e-04 1.95432084e+02] [-7.49908079e-01 -6.61541842e-01 5.14738197e-04 -1.15634601e+02] [-6.82154154e-04 -4.81476112e-06 -9.99999767e-01 4.93211451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.757628 meters 0.011505996862072597 Centerline is valid? [True, True] Translation: X:195.49, Y:-115.73, Z:0.49 [[ 7.16433840e-01 -6.97653804e-01 -1.31240228e-03 1.95489406e+02] [-6.97652625e-01 -7.16435042e-01 1.28270521e-03 -1.15734223e+02] [-1.83513515e-03 -3.37252336e-06 -9.99998316e-01 4.94404264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.817628 meters 0.011875000398510225 Centerline is valid? [True, True] Translation: X:195.51, Y:-115.76, Z:0.50 [[ 7.66661468e-01 -6.42036326e-01 -4.42152021e-03 1.95509463e+02] [-6.42025793e-01 -7.66674217e-01 3.67767775e-03 -1.15757871e+02] [-5.75106826e-03 1.91962018e-05 -9.99983462e-01 4.97754431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.877628 meters 0.01229722083620908 Centerline is valid? [True, True] Translation: X:195.53, Y:-115.78, Z:0.50 [[ 8.12068263e-01 -5.83528306e-01 -6.31285297e-03 1.95533060e+02] [-5.83511248e-01 -8.12092798e-01 4.46220012e-03 -1.15779916e+02] [-7.73044251e-03 6.00096137e-05 -9.99970118e-01 4.98883147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.937628 meters 0.016539380724168294 Centerline is valid? [True, True] Translation: X:195.56, Y:-115.80, Z:0.50 [[ 8.51595824e-01 -5.24145006e-01 -7.52101150e-03 1.95558818e+02] [-5.24125897e-01 -8.51629025e-01 4.47743168e-03 -1.15797795e+02] [-8.75193515e-03 1.28994778e-04 -9.99961693e-01 4.99593978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.99762799999996 meters 0.017144988450258133 Centerline is valid? [True, True] Translation: X:195.58, Y:-115.82, Z:0.50 [[ 8.87994087e-01 -4.59811400e-01 -6.32280745e-03 1.95583254e+02] [-4.59800809e-01 -8.88016587e-01 3.12369712e-03 -1.15819014e+02] [-7.05106944e-03 1.33407415e-04 -9.99975132e-01 4.96756879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.05762799999997 meters 0.016153469577067543 Centerline is valid? [True, True] Translation: X:195.61, Y:-115.84, Z:0.49 [[ 9.18375561e-01 -3.95704340e-01 -2.09851297e-03 1.95609982e+02] [-3.95703445e-01 -9.18377957e-01 8.43388009e-04 -1.15835562e+02] [-2.26096035e-03 5.58418737e-05 -9.99997442e-01 4.92621616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.11762799999997 meters 0.016776882886303104 Centerline is valid? [True, True] Translation: X:195.64, Y:-115.85, Z:0.49 [[ 9.45538026e-01 -3.25504955e-01 -2.08960582e-03 1.95636840e+02] [-3.25504300e-01 -9.45540333e-01 6.55449922e-04 -1.15853061e+02] [-2.18915878e-03 6.04228553e-05 -9.99997602e-01 4.92099955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.17762799999997 meters 0.019485055567387555 Centerline is valid? [True, True] Translation: X:195.66, Y:-115.86, Z:0.49 [[ 9.66772497e-01 -2.55623692e-01 -2.73256558e-03 1.95664287e+02] [-2.55622943e-01 -9.66776354e-01 6.26029941e-04 -1.15864769e+02] [-2.80180787e-03 9.32779245e-05 -9.99996071e-01 4.93503996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.237628 meters 0.019856216109252846 Centerline is valid? [True, True] Translation: X:195.69, Y:-115.88, Z:0.50 [[ 9.83920550e-01 -1.78551092e-01 -4.45626263e-03 1.95688618e+02] [-1.78549950e-01 -9.83930630e-01 6.55948468e-04 -1.15884811e+02] [-4.50177361e-03 1.50264292e-04 -9.99989856e-01 4.97039083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.297628 meters 0.015375902767186676 Centerline is valid? [True, True] Translation: X:195.71, Y:-115.91, Z:0.50 [[ 9.95681271e-01 -9.26700941e-02 -5.57311057e-03 1.95714562e+02] [-9.26694344e-02 -9.95696858e-01 3.77036207e-04 -1.15908941e+02] [-5.58406867e-03 1.41049114e-04 -9.99984399e-01 4.97287326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.357628 meters 0.017688075881762137 Centerline is valid? [True, True] Translation: X:195.74, Y:-115.92, Z:0.50 [[ 9.99931194e-01 -8.91606697e-03 -7.62307546e-03 1.95743182e+02] [-8.91696980e-03 -9.99960239e-01 -8.44536514e-05 -1.15924618e+02] [-7.62201937e-03 1.52422574e-04 -9.99970940e-01 5.00835681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.417628 meters 0.014173958872532547 Centerline is valid? [True, True] Translation: X:195.77, Y:-115.94, Z:0.50 [[ 9.96859761e-01 7.90066053e-02 -5.34541822e-03 1.95773324e+02] [ 7.90051784e-02 -9.96874091e-01 -4.77912433e-04 -1.15938445e+02] [-5.36646717e-03 5.40959536e-05 -9.99985599e-01 4.97050896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.477628 meters 0.011184361952633387 Centerline is valid? [True, True] Translation: X:195.81, Y:-115.95, Z:0.50 [[ 9.86057767e-01 1.66346665e-01 -4.34371147e-03 1.95805614e+02] [ 1.66345047e-01 -9.86067334e-01 -7.33675897e-04 -1.15953795e+02] [-4.40523653e-03 8.91925867e-07 -9.99990297e-01 4.95907951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.537628 meters 0.012992227991518107 Centerline is valid? [True, True] Translation: X:195.84, Y:-115.96, Z:0.50 [[ 9.68572210e-01 2.48685686e-01 -4.82742512e-03 1.95838797e+02] [ 2.48682738e-01 -9.68584239e-01 -1.21108510e-03 -1.15962339e+02] [-4.97694742e-03 -2.74739246e-05 -9.99987615e-01 4.99196818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.597628 meters 0.012069482825849302 Centerline is valid? [True, True] Translation: X:195.87, Y:-115.96, Z:0.50 [[ 9.44110589e-01 3.29600460e-01 -4.32823377e-03 1.95871198e+02] [ 3.29597258e-01 -9.44120508e-01 -1.45372340e-03 -1.15964119e+02] [-4.56552217e-03 -5.40983253e-05 -9.99989576e-01 4.98212388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.657628 meters 0.012383633233024294 Centerline is valid? [True, True] Translation: X:195.90, Y:-115.96, Z:0.50 [[ 9.14976923e-01 4.03481527e-01 -4.45951989e-03 1.95901751e+02] [ 4.03477065e-01 -9.14987789e-01 -1.89840391e-03 -1.15958509e+02] [-4.84637715e-03 -6.23182272e-05 -9.99988254e-01 4.98284714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.717628 meters 0.011993768609526407 Centerline is valid? [True, True] Translation: X:195.93, Y:-115.94, Z:0.50 [[ 8.82042520e-01 4.71153253e-01 -3.95039490e-03 1.95928725e+02] [ 4.71148750e-01 -8.82051365e-01 -2.06033838e-03 -1.15944026e+02] [-4.45518634e-03 -4.39175652e-05 -9.99990075e-01 4.96505044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.777628 meters 0.011428285097395298 Centerline is valid? [True, True] Translation: X:195.95, Y:-115.93, Z:0.50 [[ 8.46865040e-01 5.31796357e-01 -3.49833284e-03 1.95952448e+02] [ 5.31791853e-01 -8.46872266e-01 -2.18871725e-03 -1.15925286e+02] [-4.12659292e-03 -6.83678309e-06 -9.99991486e-01 4.95979484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.837628 meters 0.011872527292516394 Centerline is valid? [True, True] Translation: X:195.98, Y:-115.91, Z:0.50 [[ 8.06964305e-01 5.90585637e-01 -4.14912296e-03 1.95978190e+02] [ 5.90577638e-01 -8.06974971e-01 -3.07402845e-03 -1.15910900e+02] [-5.16371544e-03 3.02519982e-05 -9.99986667e-01 4.97184637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.897628 meters 0.013103250705078832 Centerline is valid? [True, True] Translation: X:196.00, Y:-115.89, Z:0.50 [[ 7.62692857e-01 6.46739708e-01 -5.23024390e-03 1.95998931e+02] [ 6.46723689e-01 -7.62710785e-01 -4.55284871e-03 -1.15893263e+02] [-6.93367148e-03 8.99025604e-05 -9.99975958e-01 4.97845927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.957628 meters 0.015412424608421519 Centerline is valid? [True, True] Translation: X:196.02, Y:-115.87, Z:0.50 [[ 7.16510194e-01 6.97554602e-01 -5.54253290e-03 1.96019138e+02] [ 6.97531767e-01 -7.16531608e-01 -5.64702280e-03 -1.15874262e+02] [-7.91050675e-03 1.80056634e-04 -9.99968695e-01 4.98554448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.017628 meters 0.018140200646045507 Centerline is valid? [True, True] Translation: X:196.04, Y:-115.86, Z:0.50 [[ 6.67188086e-01 7.44871624e-01 -5.13042633e-03 1.96039092e+02] [ 7.44846526e-01 -6.67207760e-01 -6.12024338e-03 -1.15855570e+02] [-7.98185588e-03 2.61973239e-04 -9.99968110e-01 4.99484246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.077628 meters 0.019401745993945164 Centerline is valid? [True, True] Translation: X:196.06, Y:-115.84, Z:0.50 [[ 6.10018378e-01 7.92374098e-01 -4.56810549e-03 1.96057958e+02] [ 7.92348236e-01 -6.10035413e-01 -6.40834390e-03 -1.15837005e+02] [-7.86451183e-03 2.89677220e-04 -9.99969032e-01 4.98528654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.137628 meters 0.021182564941763137 Centerline is valid? [True, True] Translation: X:196.08, Y:-115.82, Z:0.50 [[ 5.45970517e-01 8.37786668e-01 -5.44909058e-03 1.96080440e+02] [ 8.37737609e-01 -5.45997570e-01 -9.07481177e-03 -1.15820474e+02] [-1.05779465e-02 3.89671561e-04 -9.99943976e-01 5.02428275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.197628 meters 0.021623670567409974 Centerline is valid? [True, True] Translation: X:196.10, Y:-115.80, Z:0.51 [[ 4.76442604e-01 8.79190132e-01 -5.21133772e-03 1.96102253e+02] [ 8.79128026e-01 -4.76470935e-01 -1.04576054e-02 -1.15802752e+02] [-1.16772744e-02 4.01015678e-04 -9.99931738e-01 5.05864546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.257628 meters 0.01998814437186065 Centerline is valid? [True, True] Translation: X:196.12, Y:-115.78, Z:0.51 [[ 3.97769778e-01 9.17473661e-01 -4.61365295e-03 1.96120636e+02] [ 9.17402609e-01 -3.97796412e-01 -1.14222528e-02 -1.15782931e+02] [-1.23149107e-02 3.10849714e-04 -9.99924120e-01 5.06023557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.317628 meters 0.014693402686755048 Centerline is valid? [True, True] Translation: X:196.14, Y:-115.76, Z:0.50 [[ 3.16202650e-01 9.48685140e-01 -3.51973146e-03 1.96138856e+02] [ 9.48619523e-01 -3.16222182e-01 -1.11594043e-02 -1.15761151e+02] [-1.16997782e-02 1.89747225e-04 -9.99931537e-01 5.03654397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.377628 meters 0.011834810030588717 Centerline is valid? [True, True] Translation: X:196.16, Y:-115.74, Z:0.50 [[ 2.26555690e-01 9.73995432e-01 -2.32780506e-03 1.96161044e+02] [ 9.73943387e-01 -2.26567648e-01 -1.00687461e-02 -1.15738771e+02] [-1.03343180e-02 1.39813804e-05 -9.99946599e-01 5.01474153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.437628 meters 0.0125891485239133 Centerline is valid? [True, True] Translation: X:196.18, Y:-115.71, Z:0.50 [[ 1.38220457e-01 9.90400945e-01 -1.03615596e-03 1.96177768e+02] [ 9.90376902e-01 -1.38224322e-01 -6.90139574e-03 -1.15714965e+02] [-6.97837082e-03 -7.22708578e-05 -9.99975648e-01 4.99549592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.49762799999996 meters 0.012953254937379498 Centerline is valid? [True, True] Translation: X:196.18, Y:-115.69, Z:0.50 [[ 5.66884107e-02 9.98391859e-01 -3.46625336e-04 1.96184001e+02] [ 9.98379918e-01 -5.66894282e-02 -4.88336659e-03 -1.15687216e+02] [-4.89516344e-03 -6.92334835e-05 -9.99988016e-01 4.95299763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.55762799999997 meters 0.012493259970953085 Centerline is valid? [True, True] Translation: X:196.19, Y:-115.66, Z:0.49 [[-1.96150198e-02 9.99807607e-01 9.80036038e-06 1.96187174e+02] [ 9.99806162e-01 1.96150082e-02 -1.69983793e-03 -1.15659348e+02] [-1.69970313e-03 -2.35438941e-05 -9.99998555e-01 4.92335258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.61762799999997 meters 0.011950634069424532 Centerline is valid? [True, True] Translation: X:196.19, Y:-115.63, Z:0.49 [[-9.41378289e-02 9.95559173e-01 5.24248436e-05 1.96191765e+02] [ 9.95558957e-01 9.41378431e-02 -6.55607930e-04 -1.15631957e+02] [-6.57631650e-04 -9.52548461e-06 -9.99999784e-01 4.93044219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.67762799999997 meters 0.011644702026753974 Centerline is valid? [True, True] Translation: X:196.19, Y:-115.61, Z:0.50 [[-1.65947369e-01 9.86134445e-01 5.71508570e-04 1.96189216e+02] [ 9.86128401e-01 1.65948353e-01 -3.45259734e-03 -1.15605298e+02] [-3.49956607e-03 -9.36861302e-06 -9.99993876e-01 4.96599535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.737628 meters 0.012930076043705488 Centerline is valid? [True, True] Translation: X:196.18, Y:-115.58, Z:0.50 [[-2.38349543e-01 9.71177522e-01 1.92788955e-03 1.96182965e+02] [ 9.71146443e-01 2.38357339e-01 -7.76948451e-03 -1.15580427e+02] [-8.00507534e-03 2.04099969e-05 -9.99967959e-01 5.01407713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.797628 meters 0.014464006546546268 Centerline is valid? [True, True] Translation: X:196.18, Y:-115.55, Z:0.50 [[-3.12708017e-01 9.49843502e-01 3.31916341e-03 1.96183136e+02] [ 9.49791324e-01 3.12725630e-01 -9.95600909e-03 -1.15552794e+02] [-1.04946380e-02 3.91887465e-05 -9.99944929e-01 5.01786910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.857628 meters 0.011991014868355005 Centerline is valid? [True, True] Translation: X:196.19, Y:-115.52, Z:0.50 [[-3.88800305e-01 9.21311107e-01 4.49072774e-03 1.96187898e+02] [ 9.21249979e-01 3.88826238e-01 -1.06128442e-02 -1.15524490e+02] [-1.15238440e-02 1.08057885e-05 -9.99933598e-01 5.02389025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.917628 meters 0.011857968570511164 Centerline is valid? [True, True] Translation: X:196.19, Y:-115.49, Z:0.50 [[-4.62740124e-01 8.86480285e-01 4.92773285e-03 1.96190088e+02] [ 8.86429427e-01 4.62766360e-01 -9.49561812e-03 -1.15493604e+02] [-1.06980673e-02 -2.59160976e-05 -9.99942774e-01 5.02020838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.977628 meters 0.015624436966866363 Centerline is valid? [True, True] Translation: X:196.19, Y:-115.46, Z:0.51 [[-5.31108034e-01 8.47281667e-01 6.16712257e-03 1.96186597e+02] [ 8.47223838e-01 5.31143838e-01 -9.89906905e-03 -1.15464697e+02] [-1.16629289e-02 -3.25418507e-05 -9.99931985e-01 5.05037710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.037628 meters 0.012965489242087243 Centerline is valid? [True, True] Translation: X:196.18, Y:-115.44, Z:0.50 [[-5.94901137e-01 8.03772371e-01 6.52778224e-03 1.96176855e+02] [ 8.03723653e-01 5.94936950e-01 -8.84955751e-03 -1.15439069e+02] [-1.09966487e-02 -1.80788413e-05 -9.99939535e-01 5.03834910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.097628 meters 0.014516039590181338 Centerline is valid? [True, True] Translation: X:196.16, Y:-115.42, Z:0.51 [[-6.51887964e-01 7.58271528e-01 8.14693059e-03 1.96161239e+02] [ 7.58213232e-01 6.51938868e-01 -9.40246296e-03 -1.15417325e+02] [-1.24409207e-02 4.77581339e-05 -9.99922608e-01 5.06081773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.157628 meters 0.015085434459776474 Centerline is valid? [True, True] Translation: X:196.15, Y:-115.39, Z:0.51 [[-7.08462162e-01 7.05685150e-01 9.47806382e-03 1.96146958e+02] [ 7.05623253e-01 7.08525556e-01 -9.34669767e-03 -1.15394207e+02] [-1.33112762e-02 6.61605868e-05 -9.99911399e-01 5.06539659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.217628 meters 0.012236140889025688 Centerline is valid? [True, True] Translation: X:196.17, Y:-115.37, Z:0.51 [[-7.59598034e-01 6.50296232e-01 1.12087840e-02 1.96166651e+02] [ 6.50225563e-01 7.59680729e-01 -9.58679029e-03 -1.15368721e+02] [-1.47493508e-02 6.13084745e-06 -9.99891222e-01 5.06055608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.277628 meters 0.012158593610043318 Centerline is valid? [True, True] Translation: X:196.19, Y:-115.35, Z:0.51 [[-8.03968257e-01 5.94545788e-01 1.22616664e-02 1.96191737e+02] [ 5.94476618e-01 8.04061755e-01 -9.06889397e-03 -1.15348962e+02] [-1.52510097e-02 -1.82893556e-06 -9.99883697e-01 5.06825161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.337628 meters 0.0166413900656673 Centerline is valid? [True, True] Translation: X:196.21, Y:-115.33, Z:0.51 [[-8.41069752e-01 5.40773446e-01 1.28744893e-02 1.96205125e+02] [ 5.40711572e-01 8.41168279e-01 -8.18056723e-03 -1.15331917e+02] [-1.52534455e-02 8.09576794e-05 -9.99883656e-01 5.08320332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.397628 meters 0.014822218762480712 Centerline is valid? [True, True] Translation: X:196.23, Y:-115.33, Z:0.50 [[-8.72008687e-01 4.89352479e-01 1.16189921e-02 1.96227211e+02] [ 4.89312264e-01 8.72086066e-01 -6.27710596e-03 -1.15325451e+02] [-1.32044785e-02 2.11624386e-04 -9.99912795e-01 5.02937114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.457628 meters 0.016085329449928524 Centerline is valid? [True, True] Translation: X:196.24, Y:-115.31, Z:0.50 [[-9.00837764e-01 4.33999925e-01 1.16356395e-02 1.96241525e+02] [ 4.33968176e-01 9.00912852e-01 -5.25875530e-03 -1.15305396e+02] [-1.27649966e-02 3.12211908e-04 -9.99918475e-01 5.02528448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.517628 meters 0.01830170392658868 Centerline is valid? [True, True] Translation: X:196.26, Y:-115.28, Z:0.50 [[-9.28429287e-01 3.71302246e-01 1.23976568e-02 1.96259015e+02] [ 3.71274220e-01 9.28511991e-01 -4.57571581e-03 -1.15283791e+02] [-1.32103466e-02 3.54701804e-04 -9.99912677e-01 5.04406924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.577628 meters 0.01889271529874013 Centerline is valid? [True, True] Translation: X:196.27, Y:-115.26, Z:0.50 [[-9.52915175e-01 3.02927790e-01 1.36902609e-02 1.96268679e+02] [ 3.02901915e-01 9.53013445e-01 -3.97542872e-03 -1.15256863e+02] [-1.42512705e-02 3.58559885e-04 -9.99898381e-01 5.04862218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.637628 meters 0.015860674229961198 Centerline is valid? [True, True] Translation: X:196.27, Y:-115.22, Z:0.50 [[-9.73866031e-01 2.26784849e-01 1.23929695e-02 1.96272274e+02] [ 2.26769312e-01 9.73944858e-01 -2.66339560e-03 -1.15224249e+02] [-1.26740867e-02 2.16554666e-04 -9.99919657e-01 5.01575967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.697628 meters 0.01563640931511498 Centerline is valid? [True, True] Translation: X:196.27, Y:-115.19, Z:0.50 [[-9.89091717e-01 1.46828416e-01 1.17894585e-02 1.96274718e+02] [ 1.46818943e-01 9.89161974e-01 -1.66970815e-03 -1.15190030e+02] [-1.19068446e-02 7.94213385e-05 -9.99929108e-01 4.99774978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.757628 meters 0.011687242926585984 Centerline is valid? [True, True] Translation: X:196.38, Y:-114.46, Z:-0.49 [[-9.78540417e-01 -2.05786348e-01 1.05181412e-02 1.96378383e+02] [ 2.05772808e-01 -9.78596933e-01 -2.36532717e-03 -1.14462722e+02] [ 1.07797728e-02 -1.50220768e-04 9.99941885e-01 -4.86209133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.817628 meters 0.011656863687048949 Centerline is valid? [True, True] Translation: X:196.22, Y:-115.18, Z:0.50 [[-9.91218454e-01 1.31941723e-01 8.79534056e-03 1.96218663e+02] [ 1.31936168e-01 9.91257474e-01 -1.21136116e-03 -1.15178261e+02] [-8.87827614e-03 -4.03000075e-05 -9.99960587e-01 4.95741780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.877628 meters 0.011720291260282675 Centerline is valid? [True, True] Translation: X:196.32, Y:-114.46, Z:-0.48 [[-9.78185041e-01 -2.07590295e-01 7.76494787e-03 1.96321754e+02] [ 2.07583561e-01 -9.78215860e-01 -1.67222995e-03 -1.14455571e+02] [ 7.94293387e-03 -2.38747917e-05 9.99968454e-01 -4.83961730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.937628 meters 0.014664511272967574 Centerline is valid? [True, True] Translation: X:196.17, Y:-115.18, Z:0.50 [[-9.91622994e-01 1.28920767e-01 7.95454121e-03 1.96169372e+02] [ 1.28916388e-01 9.91654897e-01 -1.06295512e-03 -1.15177934e+02] [-8.02519674e-03 -2.85800235e-05 -9.99967797e-01 4.96967560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.99762799999996 meters 0.011601026322885946 Centerline is valid? [True, True] Translation: X:196.17, Y:-115.16, Z:0.49 [[-9.98197495e-01 5.97785972e-02 5.31798721e-03 1.96172332e+02] [ 5.97776853e-02 9.98211661e-01 -3.30409149e-04 -1.15156364e+02] [-5.32822824e-03 -1.19166198e-05 -9.99985805e-01 4.91898185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.05762799999997 meters 0.01167763937517651 Centerline is valid? [True, True] Translation: X:196.17, Y:-115.13, Z:0.49 [[-9.99936350e-01 -1.00143030e-02 5.19711051e-03 1.96172211e+02] [-1.00141954e-02 9.99949856e-01 4.67115344e-05 -1.15131937e+02] [-5.19731768e-03 -5.33631908e-06 -9.99986494e-01 4.91239655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.11762799999997 meters 0.011841022170830353 Centerline is valid? [True, True] Translation: X:196.17, Y:-115.11, Z:0.49 [[-9.97060772e-01 -7.63583497e-02 6.26257295e-03 1.96170781e+02] [-7.63566926e-02 9.97080439e-01 5.03611208e-04 -1.15109188e+02] [-6.28274391e-03 2.39416217e-05 -9.99980263e-01 4.90950657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.17762799999997 meters 0.012227665747012461 Centerline is valid? [True, True] Translation: X:196.12, Y:-114.35, Z:-0.48 [[-9.99763333e-01 2.02336152e-02 7.99247640e-03 1.96115913e+02] [-2.02323493e-02 -9.99795276e-01 2.39215951e-04 -1.14346953e+02] [ 7.99568035e-03 7.74527615e-05 9.99968031e-01 -4.82161925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.237628 meters 0.014530120487774358 Centerline is valid? [True, True] Translation: X:196.08, Y:-115.12, Z:0.50 [[-9.97035243e-01 -7.62758868e-02 1.01347172e-02 1.96076489e+02] [-7.62708930e-02 9.97086746e-01 8.78897329e-04 -1.15117613e+02] [-1.01722309e-02 1.03307682e-04 -9.99948256e-01 4.96163221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.297628 meters 0.013069356817166132 Centerline is valid? [True, True] Translation: X:196.02, Y:-114.36, Z:-0.48 [[-9.99451348e-01 3.24071696e-02 6.83949112e-03 1.96018747e+02] [-3.24083348e-02 -9.99474710e-01 -5.95792761e-05 -1.14356909e+02] [ 6.83396761e-03 -2.81203106e-04 9.99976609e-01 -4.81289769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.357628 meters 0.013156060348553666 Centerline is valid? [True, True] Translation: X:195.99, Y:-115.12, Z:0.49 [[-9.96855193e-01 -7.89662899e-02 6.63695174e-03 1.95985701e+02] [-7.89639398e-02 9.96877283e-01 6.15796061e-04 -1.15118724e+02] [-6.66485355e-03 8.97796431e-05 -9.99977786e-01 4.92832975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.417628 meters 0.013093824127095957 Centerline is valid? [True, True] Translation: X:195.92, Y:-114.37, Z:-0.48 [[-9.99191243e-01 3.98221050e-02 5.57308478e-03 1.95918477e+02] [-3.98223027e-02 -9.99206775e-01 7.55428975e-05 -1.14368977e+02] [ 5.57167234e-03 -1.46451267e-04 9.99984467e-01 -4.80643258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.477628 meters 0.013266076557956955 Centerline is valid? [True, True] Translation: X:195.89, Y:-115.12, Z:0.49 [[-9.96375054e-01 -8.47472885e-02 7.39245236e-03 1.95887916e+02] [-8.47441932e-02 9.96402472e-01 7.31515027e-04 -1.15123377e+02] [-7.42785173e-03 1.02395913e-04 -9.99972408e-01 4.93983699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.537628 meters 0.01305864806902171 Centerline is valid? [True, True] Translation: X:195.82, Y:-114.38, Z:-0.48 [[-9.98957435e-01 4.48129414e-02 8.70877710e-03 1.95820844e+02] [-4.48115350e-02 -9.98995395e-01 3.56659916e-04 -1.14384570e+02] [ 8.71601120e-03 -3.39655951e-05 9.99962014e-01 -4.84385388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.597628 meters 0.012349630997980442 Centerline is valid? [True, True] Translation: X:195.80, Y:-115.13, Z:0.49 [[-9.95327064e-01 -9.62188327e-02 8.12234723e-03 1.95795489e+02] [-9.62150948e-02 9.95360202e-01 8.50605644e-04 -1.15126065e+02] [-8.16650546e-03 6.51384085e-05 -9.99966651e-01 4.94170808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.657628 meters 0.013952527436615837 Centerline is valid? [True, True] Translation: X:195.78, Y:-115.10, Z:0.49 [[-9.85343226e-01 -1.70433829e-01 7.14404183e-03 1.95784555e+02] [-1.70429120e-01 9.85369123e-01 1.26735345e-03 -1.15098885e+02] [-7.25551814e-03 3.12253711e-05 -9.99973678e-01 4.94625679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.717628 meters 0.01166522507755166 Centerline is valid? [True, True] Translation: X:195.77, Y:-115.07, Z:0.49 [[-9.69780265e-01 -2.43933346e-01 4.77074012e-03 1.95771112e+02] [-2.43930385e-01 9.69792000e-01 1.20193442e-03 -1.15073517e+02] [-4.91981748e-03 1.88380328e-06 -9.99987898e-01 4.90297362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.777628 meters 0.011642645921449975 Centerline is valid? [True, True] Translation: X:195.74, Y:-115.05, Z:0.49 [[-9.49529977e-01 -3.13656102e-01 3.55984974e-03 1.95744923e+02] [-3.13653904e-01 9.49536650e-01 1.17429617e-03 -1.15051841e+02] [-3.74853296e-03 -1.53135306e-06 -9.99992974e-01 4.90278503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.837628 meters 0.011633286071027888 Centerline is valid? [True, True] Translation: X:195.70, Y:-115.04, Z:0.49 [[-9.25007607e-01 -3.79945456e-01 1.54210746e-03 1.95703123e+02] [-3.79944926e-01 9.25008892e-01 6.34543214e-04 -1.15041514e+02] [-1.66755492e-03 1.04139501e-06 -9.99998610e-01 4.87879271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.897628 meters 0.012089048478484686 Centerline is valid? [True, True] Translation: X:195.64, Y:-115.04, Z:0.49 [[-8.96577414e-01 -4.42883038e-01 1.88573806e-03 1.95644531e+02] [-4.42882031e-01 8.96579397e-01 9.44539586e-04 -1.15043997e+02] [-2.10903445e-03 1.16933569e-05 -9.99997776e-01 4.87364557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.957628 meters 0.015936295892106666 Centerline is valid? [True, True] Translation: X:195.58, Y:-115.05, Z:0.49 [[-8.64341016e-01 -5.02895601e-01 3.25928808e-03 1.95579187e+02] [-5.02891818e-01 8.64347159e-01 1.95117790e-03 -1.15051842e+02] [-3.79839517e-03 4.74137757e-05 -9.99992785e-01 4.91823454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.017628 meters 0.017500657243597628 Centerline is valid? [True, True] Translation: X:195.50, Y:-115.07, Z:0.49 [[-8.28065216e-01 -5.60612425e-01 4.65897335e-03 1.95502350e+02] [-5.60602794e-01 8.28078315e-01 3.28796007e-03 -1.15071819e+02] [-5.70126607e-03 1.10811890e-04 -9.99983742e-01 4.94967928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.077628 meters 0.016780802961413984 Centerline is valid? [True, True] Translation: X:195.42, Y:-115.10, Z:0.49 [[-7.84784165e-01 -6.19755601e-01 4.09990335e-03 1.95418361e+02] [-6.19746385e-01 7.84794866e-01 3.38175165e-03 -1.15103267e+02] [-5.31344262e-03 1.13044871e-04 -9.99985877e-01 4.93381481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.137628 meters 0.014422297316373126 Centerline is valid? [True, True] Translation: X:195.34, Y:-115.14, Z:0.49 [[-7.35602331e-01 -6.77412536e-01 1.21107383e-03 1.95336564e+02] [-6.77411543e-01 7.35603327e-01 1.16054401e-03 -1.15140565e+02] [-1.67703700e-03 3.33034890e-05 -9.99998593e-01 4.86684815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.197628 meters 0.013911736077900179 Centerline is valid? [True, True] Translation: X:195.25, Y:-115.19, Z:0.48 [[-6.80225339e-01 -7.33002319e-01 -1.04345157e-03 1.95248183e+02] [-7.33001383e-01 6.80226138e-01 -1.17217220e-03 -1.15188599e+02] [ 1.56898797e-03 -3.24897852e-05 -9.99998769e-01 4.84395922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.257628 meters 0.012966757327408892 Centerline is valid? [True, True] Translation: X:195.16, Y:-115.24, Z:0.48 [[-6.18115894e-01 -7.86083097e-01 -2.47127575e-03 1.95159942e+02] [-7.86076449e-01 6.18120831e-01 -3.23326011e-03 -1.15243359e+02] [ 4.06915814e-03 -5.59177957e-05 -9.99991719e-01 4.82343316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.317628 meters 0.01228210042179414 Centerline is valid? [True, True] Translation: X:195.07, Y:-115.31, Z:0.48 [[-5.51789771e-01 -8.33980037e-01 -2.31223720e-03 1.95072496e+02] [-8.33972457e-01 5.51794615e-01 -3.55571300e-03 -1.15314297e+02] [ 4.24127370e-03 -3.36639196e-05 -9.99991005e-01 4.81620661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.377628 meters 0.012073658212132726 Centerline is valid? [True, True] Translation: X:194.99, Y:-115.39, Z:0.48 [[-4.84830695e-01 -8.74607001e-01 -1.33859796e-03 1.94991152e+02] [-8.74603567e-01 4.84832543e-01 -2.45086534e-03 -1.15389466e+02] [ 2.79253983e-03 -1.75121967e-05 -9.99996101e-01 4.84303753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.437628 meters 0.0121437286036605 Centerline is valid? [True, True] Translation: X:194.92, Y:-115.47, Z:0.49 [[-4.16790516e-01 -9.09002430e-01 -4.98849063e-04 1.94918508e+02] [-9.09001751e-01 4.16790814e-01 -1.11077880e-03 -1.15469767e+02] [ 1.21761633e-03 -9.50739648e-06 -9.99999259e-01 4.86374352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.49762799999996 meters 0.012272919175357062 Centerline is valid? [True, True] Translation: X:194.85, Y:-115.56, Z:0.49 [[-3.47907344e-01 -9.37528754e-01 5.61151875e-04 1.94851347e+02] [-9.37527492e-01 3.47907796e-01 1.53873599e-03 -1.15560062e+02] [-1.63783835e-03 9.24224185e-06 -9.99998659e-01 4.88848025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.55762799999997 meters 0.012538576114411632 Centerline is valid? [True, True] Translation: X:194.79, Y:-115.66, Z:0.49 [[-2.77074108e-01 -9.60848318e-01 6.69131874e-04 1.94793623e+02] [-9.60845331e-01 2.77074915e-01 2.39598792e-03 -1.15656828e+02] [-2.48758062e-03 2.09339771e-05 -9.99996906e-01 4.88358537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.61762799999997 meters 0.012994255658953742 Centerline is valid? [True, True] Translation: X:194.74, Y:-115.76, Z:0.49 [[-2.05716877e-01 -9.78611467e-01 4.04637160e-04 1.94741515e+02] [-9.78609338e-01 2.05717273e-01 2.04127816e-03 -1.15761157e+02] [-2.08085907e-03 2.39436641e-05 -9.99997835e-01 4.88439128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.67762799999997 meters 0.017287221420251485 Centerline is valid? [True, True] Translation: X:194.70, Y:-115.87, Z:0.49 [[-1.30240824e-01 -9.91482340e-01 3.11182863e-04 1.94699630e+02] [-9.91478893e-01 1.30241192e-01 2.61482892e-03 -1.15871542e+02] [-2.63308552e-03 3.20262339e-05 -9.99996533e-01 4.91012455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.737628 meters 0.012358555710828233 Centerline is valid? [True, True] Translation: X:194.66, Y:-115.99, Z:0.49 [[-4.87865649e-02 -9.98809222e-01 9.94417521e-05 1.94660087e+02] [-9.98806373e-01 4.87866632e-02 2.38537756e-03 -1.15992657e+02] [-2.38738853e-03 1.70513212e-05 -9.99997150e-01 4.87374706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.797628 meters 0.011808222249959328 Centerline is valid? [True, True] Translation: X:194.63, Y:-116.11, Z:0.49 [[ 3.33195387e-02 -9.99444727e-01 -2.14879279e-04 1.94627733e+02] [-9.99426925e-01 -3.33202277e-02 5.96520781e-03 -1.16106881e+02] [-5.96905531e-03 1.59981654e-05 -9.99982185e-01 4.92527601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.857628 meters 0.011720593062646265 Centerline is valid? [True, True] Translation: X:193.92, Y:-116.24, Z:-0.48 [[-2.89809515e-02 9.99579955e-01 1.31558874e-04 1.93924432e+02] [-9.99551538e-01 -2.89811196e-02 7.53771782e-03 -1.16242444e+02] [ 7.53836436e-03 8.69503599e-05 9.99971582e-01 -4.84703950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.917628 meters 0.011929363771509643 Centerline is valid? [True, True] Translation: X:194.64, Y:-116.39, Z:0.49 [[ 4.21184789e-02 -9.99112566e-01 -3.39383013e-04 1.94643357e+02] [-9.99085037e-01 -4.21198378e-02 7.41670449e-03 -1.16389976e+02] [-7.42441741e-03 2.66921790e-05 -9.99972438e-01 4.93934049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.977628 meters 0.012026695408827011 Centerline is valid? [True, True] Translation: X:194.63, Y:-116.50, Z:0.49 [[ 1.14420899e-01 -9.93431907e-01 -9.50580180e-04 1.94626344e+02] [-9.93400462e-01 -1.14424841e-01 7.90423990e-03 -1.16499375e+02] [-7.96109410e-03 3.98965515e-05 -9.99968309e-01 4.94359913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.037628 meters 0.01190658663487385 Centerline is valid? [True, True] Translation: X:194.62, Y:-116.62, Z:0.49 [[ 1.91407719e-01 -9.81509532e-01 -1.45749470e-03 1.94622227e+02] [-9.81482278e-01 -1.91413265e-01 7.31435452e-03 -1.16620252e+02] [-7.45809250e-03 3.04813100e-05 -9.99972188e-01 4.93408791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.097628 meters 0.01188886063072755 Centerline is valid? [True, True] Translation: X:194.62, Y:-116.74, Z:0.49 [[ 2.67905010e-01 -9.63443007e-01 -2.11592289e-03 1.94623108e+02] [-9.63413533e-01 -2.67913365e-01 7.53612768e-03 -1.16738354e+02] [-7.82751354e-03 1.95423819e-05 -9.99969364e-01 4.94596241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.157628 meters 0.011815326215284453 Centerline is valid? [True, True] Translation: X:194.63, Y:-116.86, Z:0.50 [[ 3.44019811e-01 -9.38956293e-01 -3.38360450e-03 1.94632580e+02] [-9.38910779e-01 -3.44036451e-01 9.24499466e-03 -1.16858385e+02] [-9.84472920e-03 -3.55858350e-06 -9.99951539e-01 4.98528094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.217628 meters 0.011917922651350154 Centerline is valid? [True, True] Translation: X:194.65, Y:-116.98, Z:0.50 [[ 4.15199215e-01 -9.09720580e-01 -4.25191047e-03 1.94651200e+02] [-9.09672787e-01 -4.15220985e-01 9.32491155e-03 -1.16975821e+02] [-1.02485464e-02 -3.84870562e-06 -9.99947482e-01 5.00268276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.277628 meters 0.011834472487729975 Centerline is valid? [True, True] Translation: X:194.68, Y:-117.09, Z:0.50 [[ 4.82743574e-01 -8.75749369e-01 -4.65666906e-03 1.94680658e+02] [-8.75708799e-01 -4.82766034e-01 8.42943856e-03 -1.17090597e+02] [-9.63015716e-03 8.62877316e-06 -9.99953629e-01 4.98380303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.337628 meters 0.011951468324111363 Centerline is valid? [True, True] Translation: X:194.72, Y:-117.20, Z:0.50 [[ 5.49077285e-01 -8.35751643e-01 -5.77286335e-03 1.94717596e+02] [-8.35705506e-01 -5.49107631e-01 8.78156708e-03 -1.17196804e+02] [-1.05091324e-02 2.65468350e-06 -9.99944778e-01 4.95975317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.397628 meters 0.012038938422371913 Centerline is valid? [True, True] Translation: X:194.76, Y:-117.31, Z:0.50 [[ 6.14397375e-01 -7.88957938e-01 -7.82545290e-03 1.94755548e+02] [-7.88893046e-01 -6.14447207e-01 1.01188640e-02 -1.17306855e+02] [-1.27916857e-02 -4.35580847e-05 -9.99918182e-01 4.98943319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.457628 meters 0.01591311935393518 Centerline is valid? [True, True] Translation: X:194.80, Y:-117.41, Z:0.50 [[ 6.73736043e-01 -7.38898547e-01 -1.04250113e-02 1.94803617e+02] [-7.38808483e-01 -6.73816690e-01 1.15366234e-02 -1.17407797e+02] [-1.55489409e-02 -7.05521702e-05 -9.99879105e-01 5.03237151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.517628 meters 0.0152123645281267 Centerline is valid? [True, True] Translation: X:194.86, Y:-117.50, Z:0.50 [[ 7.28614781e-01 -6.84840104e-01 -1.07019874e-02 1.94858411e+02] [-6.84764673e-01 -7.28693369e-01 1.01645367e-02 -1.17500435e+02] [-1.47595496e-02 -7.76888331e-05 -9.99891069e-01 5.01731114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.577628 meters 0.014558823706068525 Centerline is valid? [True, True] Translation: X:194.88, Y:-117.53, Z:0.50 [[ 7.78975024e-01 -6.26956900e-01 -1.10886508e-02 1.94877408e+02] [-6.26892392e-01 -7.79053941e-01 8.99368545e-03 -1.17527787e+02] [-1.42773103e-02 -5.44655036e-05 -9.99898073e-01 5.02037376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.637628 meters 0.011961277170046894 Centerline is valid? [True, True] Translation: X:194.90, Y:-117.55, Z:0.50 [[ 8.24604791e-01 -5.65623299e-01 -9.86014030e-03 1.94899117e+02] [-5.65582507e-01 -8.24663739e-01 6.79297438e-03 -1.17552588e+02] [-1.19735648e-02 -2.47963414e-05 -9.99928314e-01 4.97781968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.697628 meters 0.011965764905346527 Centerline is valid? [True, True] Translation: X:194.92, Y:-117.57, Z:0.50 [[ 8.64860068e-01 -5.01932082e-01 -9.01374725e-03 1.94922601e+02] [-5.01904922e-01 -8.64907038e-01 5.22155980e-03 -1.17572419e+02] [-1.04169218e-02 8.12554723e-06 -9.99945742e-01 4.96226336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.757628 meters 0.01203666855198523 Centerline is valid? [True, True] Translation: X:194.95, Y:-117.59, Z:0.50 [[ 9.01326292e-01 -4.33017431e-01 -1.03353867e-02 1.94946780e+02] [-4.32989117e-01 -9.01385547e-01 4.95177274e-03 -1.17593964e+02] [-1.14603721e-02 1.19469972e-05 -9.99934328e-01 4.97079072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.817628 meters 0.012122983632376854 Centerline is valid? [True, True] Translation: X:194.97, Y:-117.61, Z:0.50 [[ 9.32710927e-01 -3.60432145e-01 -1.17896033e-02 1.94972408e+02] [-3.60403385e-01 -9.32785435e-01 4.55317874e-03 -1.17612000e+02] [-1.26382822e-02 2.21337804e-06 -9.99920134e-01 4.99777368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.877628 meters 0.012038209498000768 Centerline is valid? [True, True] Translation: X:195.00, Y:-117.63, Z:0.50 [[ 9.58083480e-01 -2.86243185e-01 -1.18694685e-02 1.94999652e+02] [-2.86221223e-01 -9.58157001e-01 3.54572095e-03 -1.17630273e+02] [-1.23877528e-02 1.97116412e-07 -9.99923269e-01 4.99523918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.937628 meters 0.01223767193050681 Centerline is valid? [True, True] Translation: X:195.03, Y:-117.64, Z:0.50 [[ 9.76997749e-01 -2.12908972e-01 -1.20485304e-02 1.95027004e+02] [-2.12893172e-01 -9.77072039e-01 2.59396238e-03 -1.17644661e+02] [-1.23245600e-02 3.07544342e-05 -9.99924049e-01 5.00520681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.99762799999996 meters 0.015186920001124407 Centerline is valid? [True, True] Translation: X:195.05, Y:-117.66, Z:0.50 [[ 9.90188354e-01 -1.39201399e-01 -1.22472350e-02 1.95053187e+02] [-1.39191671e-01 -9.90264089e-01 1.64728114e-03 -1.17657573e+02] [-1.23573009e-02 7.35945088e-05 -9.99923643e-01 5.01976188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.05762799999997 meters 0.012948723221846219 Centerline is valid? [True, True] Translation: X:195.08, Y:-117.67, Z:0.50 [[ 9.97760051e-01 -6.61875176e-02 -9.70012519e-03 1.95080702e+02] [-6.61854144e-02 -9.97807197e-01 5.38026427e-04 -1.17667658e+02] [-9.71446535e-03 1.05185530e-04 -9.99952808e-01 4.98537621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.11762799999997 meters 0.01609291822848683 Centerline is valid? [True, True] Translation: X:195.11, Y:-117.68, Z:0.50 [[ 9.99924967e-01 8.38886257e-03 -8.92680334e-03 1.95108187e+02] [ 8.38737111e-03 -9.99964804e-01 -2.04502202e-04 -1.17676630e+02] [-8.92820470e-03 1.29614445e-04 -9.99960134e-01 5.00416811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.17762799999997 meters 0.016192552238065958 Centerline is valid? [True, True] Translation: X:195.14, Y:-117.68, Z:0.50 [[ 9.96348094e-01 8.50070408e-02 -8.01745386e-03 1.95135378e+02] [ 8.50032372e-02 -9.96380342e-01 -8.14601638e-04 -1.17681796e+02] [-8.05768030e-03 1.30117257e-04 -9.99967528e-01 5.00033284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.237628 meters 0.013416117542873475 Centerline is valid? [True, True] Translation: X:195.16, Y:-117.69, Z:0.50 [[ 9.86219879e-01 1.65246480e-01 -7.99696811e-03 1.95164084e+02] [ 1.65240136e-01 -9.86252295e-01 -1.45219910e-03 -1.17688582e+02] [-8.12699894e-03 1.10767525e-04 -9.99966969e-01 4.98526848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.297628 meters 0.012992604185005146 Centerline is valid? [True, True] Translation: X:195.19, Y:-117.69, Z:0.50 [[ 9.69792436e-01 2.43798996e-01 -8.04238543e-03 1.95193350e+02] [ 2.43789779e-01 -9.69825778e-01 -2.12213679e-03 -1.17692190e+02] [-8.31708753e-03 9.73808429e-05 -9.99965408e-01 4.98415165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.357628 meters 0.012809402860408667 Centerline is valid? [True, True] Translation: X:195.22, Y:-117.69, Z:0.50 [[ 9.47440541e-01 3.19861447e-01 -6.71391653e-03 1.95221259e+02] [ 3.19852848e-01 -9.47464326e-01 -2.34661709e-03 -1.17689303e+02] [-7.11178873e-03 7.58148466e-05 -9.99974708e-01 4.95827374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.417628 meters 0.01652075609303131 Centerline is valid? [True, True] Translation: X:195.25, Y:-117.69, Z:0.50 [[ 9.20074762e-01 3.91712552e-01 -4.86923653e-03 1.95249261e+02] [ 3.91706699e-01 -9.20087644e-01 -2.14231082e-03 -1.17685683e+02] [-5.31929440e-03 6.37735509e-05 -9.99985850e-01 4.98225993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.477628 meters 0.016385544883775343 Centerline is valid? [True, True] Translation: X:195.28, Y:-117.68, Z:0.50 [[ 8.87450446e-01 4.60889400e-01 -3.55907129e-03 1.95276539e+02] [ 4.60885444e-01 -8.87457581e-01 -1.91048833e-03 -1.17677595e+02] [-4.03904862e-03 5.51395730e-05 -9.99991841e-01 4.96533601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.537628 meters 0.014084177764265206 Centerline is valid? [True, True] Translation: X:195.30, Y:-117.67, Z:0.49 [[ 8.49318901e-01 5.27879814e-01 -5.52485582e-04 1.95301504e+02] [ 5.27879697e-01 -8.49319081e-01 -3.51708025e-04 -1.17667648e+02] [-6.54896114e-04 7.06635134e-06 -9.99999786e-01 4.92374012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.597628 meters 0.01319864733146288 Centerline is valid? [True, True] Translation: X:195.33, Y:-117.66, Z:0.49 [[ 8.04256165e-01 5.94282670e-01 3.60124427e-04 1.95329159e+02] [ 5.94282605e-01 -8.04256246e-01 2.77856099e-04 -1.17658951e+02] [ 4.54757384e-04 -9.45179807e-06 -9.99999897e-01 4.90204090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.657628 meters 0.012857030217786341 Centerline is valid? [True, True] Translation: X:195.36, Y:-117.65, Z:0.49 [[ 7.53808797e-01 6.57093449e-01 7.05564004e-04 1.95355641e+02] [ 6.57093143e-01 -7.53809127e-01 6.33828247e-04 -1.17648199e+02] [ 9.48344974e-04 -1.41640393e-05 -9.99999550e-01 4.89863997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.717628 meters 0.012232719464001654 Centerline is valid? [True, True] Translation: X:195.39, Y:-117.64, Z:0.49 [[ 6.98099258e-01 7.16000841e-01 4.71714268e-04 1.95385415e+02] [ 7.16000668e-01 -6.98099417e-01 4.97018592e-04 -1.17638987e+02] [ 6.85169186e-04 -9.22057910e-06 -9.99999765e-01 4.91313488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.777628 meters 0.012297712941399485 Centerline is valid? [True, True] Translation: X:195.41, Y:-117.62, Z:0.49 [[ 6.39313314e-01 7.68946331e-01 1.60203718e-04 1.95408126e+02] [ 7.68946305e-01 -6.39313334e-01 2.00888399e-04 -1.17623599e+02] [ 2.56892771e-04 -5.24257108e-06 -9.99999967e-01 4.91966339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.837628 meters 0.015386517837983468 Centerline is valid? [True, True] Translation: X:195.42, Y:-117.60, Z:0.49 [[ 5.78474070e-01 8.15699856e-01 -1.22278913e-03 1.95424292e+02] [ 8.15697969e-01 -5.78475362e-01 -1.75475840e-03 -1.17601253e+02] [-2.13870956e-03 1.76556270e-05 -9.99997713e-01 4.94229193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.897628 meters 0.012440796079525808 Centerline is valid? [True, True] Translation: X:195.45, Y:-117.58, Z:0.49 [[ 5.13614629e-01 8.58020956e-01 -2.26328358e-04 1.95448541e+02] [ 8.58020871e-01 -5.13614679e-01 -3.81189908e-04 -1.17584061e+02] [-4.43314497e-04 1.59025874e-06 -9.99999902e-01 4.91737941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.957628 meters 0.012562332042449815 Centerline is valid? [True, True] Translation: X:195.47, Y:-117.56, Z:0.49 [[ 4.46075509e-01 8.94995249e-01 3.79922275e-04 1.95469705e+02] [ 8.94994898e-01 -4.46075671e-01 7.93066257e-04 -1.17563967e+02] [ 8.79264616e-04 -1.37389371e-05 -9.99999613e-01 4.90834864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.017628 meters 0.012422864198652633 Centerline is valid? [True, True] Translation: X:195.49, Y:-117.54, Z:0.49 [[ 3.73492038e-01 9.27633349e-01 2.61015104e-04 1.95490193e+02] [ 9.27633101e-01 -3.73492129e-01 6.77833889e-04 -1.17542764e+02] [ 7.26268407e-04 -1.10393103e-05 -9.99999736e-01 4.91023602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.077628 meters 0.012123282113193504 Centerline is valid? [True, True] Translation: X:195.51, Y:-117.52, Z:0.49 [[ 2.97635938e-01 9.54679446e-01 6.45648879e-05 1.95511179e+02] [ 9.54679420e-01 -2.97635945e-01 2.24442576e-04 -1.17521412e+02] [ 2.33487545e-04 -5.16340670e-06 -9.99999973e-01 4.91815404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.137628 meters 0.012065791327700536 Centerline is valid? [True, True] Translation: X:195.53, Y:-117.50, Z:0.49 [[ 2.21605497e-01 9.75136403e-01 1.73653699e-05 1.95525864e+02] [ 9.75136398e-01 -2.21605497e-01 9.40645180e-05 -1.17498084e+02] [ 9.55739971e-05 -3.91160998e-06 -9.99999995e-01 4.92522453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.197628 meters 0.012196642746775415 Centerline is valid? [True, True] Translation: X:195.54, Y:-117.47, Z:0.49 [[ 1.45030756e-01 9.89427118e-01 -2.41603017e-04 1.95536804e+02] [ 9.89425597e-01 -1.45030957e-01 -1.73456735e-03 -1.17472297e+02] [-1.75126789e-03 1.25174049e-05 -9.99998466e-01 4.94109296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.257628 meters 0.015061504108971694 Centerline is valid? [True, True] Translation: X:195.54, Y:-117.45, Z:0.50 [[ 6.68685245e-02 9.97761749e-01 -3.03878972e-04 1.95543000e+02] [ 9.97748403e-01 -6.68692018e-02 -5.16076491e-03 -1.17447425e+02] [-5.16953397e-03 4.18979750e-05 -9.99986637e-01 4.97968077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.317628 meters 0.011885905033064447 Centerline is valid? [True, True] Translation: X:195.55, Y:-117.42, Z:0.50 [[-1.54063340e-02 9.99881308e-01 1.22720741e-04 1.95550734e+02] [ 9.99861947e-01 1.54067994e-02 -6.22233680e-03 -1.17421135e+02] [-6.22348899e-03 2.68404003e-05 -9.99980634e-01 4.98890664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.377628 meters 0.01506672913203578 Centerline is valid? [True, True] Translation: X:195.56, Y:-117.39, Z:0.50 [[-9.57069937e-02 9.95409189e-01 8.47794625e-04 1.95559165e+02] [ 9.95372059e-01 9.57107463e-02 -8.59754458e-03 -1.17393612e+02] [-8.63921793e-03 2.10259373e-05 -9.99962681e-01 5.03149253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.437628 meters 0.01161638418127529 Centerline is valid? [True, True] Translation: X:195.57, Y:-117.37, Z:0.50 [[-1.77194187e-01 9.84174840e-01 1.45086220e-03 1.95565773e+02] [ 9.84141310e-01 1.77200126e-01 -8.12389507e-03 -1.17365800e+02] [-8.25242609e-03 -1.16535601e-05 -9.99965948e-01 5.00326580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.49762799999996 meters 0.011614017174491282 Centerline is valid? [True, True] Translation: X:195.57, Y:-117.34, Z:0.50 [[-2.54143110e-01 9.67165013e-01 1.76582064e-03 1.95568561e+02] [ 9.67141306e-01 2.54149244e-01 -6.77168437e-03 -1.17337830e+02] [-6.99811818e-03 -1.31788438e-05 -9.99975513e-01 4.97937345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.55762799999997 meters 0.015034839584264189 Centerline is valid? [True, True] Translation: X:195.57, Y:-117.31, Z:0.50 [[-3.27223137e-01 9.44943504e-01 2.60628025e-03 1.95565627e+02] [ 9.44913568e-01 3.27233517e-01 -7.52158444e-03 -1.17310633e+02] [-7.96033461e-03 1.47311237e-06 -9.99968316e-01 4.99678514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.61762799999997 meters 0.011701640161796869 Centerline is valid? [True, True] Translation: X:195.56, Y:-117.29, Z:0.50 [[-3.98140158e-01 9.17322266e-01 2.06741539e-03 1.95558677e+02] [ 9.17310051e-01 3.98145526e-01 -4.73404881e-03 -1.17286552e+02] [-5.16578057e-03 1.16459801e-05 -9.99986657e-01 4.95518793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.67762799999997 meters 0.015857949483126233 Centerline is valid? [True, True] Translation: X:195.55, Y:-117.26, Z:0.50 [[-4.66473534e-01 8.84529157e-01 3.25758230e-03 1.95554135e+02] [ 8.84508103e-01 4.66484907e-01 -6.10309029e-03 -1.17259803e+02] [-6.91797429e-03 3.44278479e-05 -9.99976070e-01 4.99824811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.737628 meters 0.011947074831675302 Centerline is valid? [True, True] Translation: X:195.55, Y:-117.23, Z:0.50 [[-5.33727523e-01 8.45650991e-01 3.05490075e-03 1.95547772e+02] [ 8.45637478e-01 5.33736265e-01 -4.78070532e-03 -1.17233757e+02] [-5.67331951e-03 3.17445591e-05 -9.99983906e-01 4.96860885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.797628 meters 0.01238694157453701 Centerline is valid? [True, True] Translation: X:195.54, Y:-117.21, Z:0.50 [[-5.95539332e-01 8.03318953e-01 3.40058811e-03 1.95536862e+02] [ 8.03306343e-01 5.95549038e-01 -4.50134488e-03 -1.17209267e+02] [-5.64123264e-03 5.09860777e-05 -9.99984087e-01 4.96178960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.857628 meters 0.012827402278004316 Centerline is valid? [True, True] Translation: X:195.52, Y:-117.19, Z:0.49 [[-6.53999220e-01 7.56489793e-01 2.86598035e-03 1.95523374e+02] [ 7.56482884e-01 6.54005498e-01 -3.23334313e-03 -1.17187128e+02] [-4.32035798e-03 5.34611943e-05 -9.99990666e-01 4.93384992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.917628 meters 0.014248010671060459 Centerline is valid? [True, True] Translation: X:195.51, Y:-117.16, Z:0.50 [[-7.09702790e-01 7.04493610e-01 3.27148826e-03 1.95510400e+02] [ 7.04486553e-01 7.09710327e-01 -3.15412558e-03 -1.17164022e+02] [-4.54387032e-03 6.62277654e-05 -9.99989674e-01 4.96164339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.977628 meters 0.01547182881302599 Centerline is valid? [True, True] Translation: X:195.53, Y:-117.15, Z:0.50 [[-7.57032568e-01 6.53363721e-01 4.18801814e-03 1.95532771e+02] [ 6.53354352e-01 7.57044147e-01 -3.50010543e-03 -1.17145386e+02] [-5.45735653e-03 8.65660760e-05 -9.99985105e-01 4.97171607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.037628 meters 0.014555466303066974 Centerline is valid? [True, True] Translation: X:195.55, Y:-117.13, Z:0.50 [[-8.02090634e-01 5.97178624e-01 5.32021854e-03 1.95552242e+02] [ 5.97166276e-01 8.02108273e-01 -3.84147371e-03 -1.17126955e+02] [-6.56143729e-03 9.58450100e-05 -9.99978469e-01 4.95854055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.097628 meters 0.016724608299447455 Centerline is valid? [True, True] Translation: X:195.57, Y:-117.10, Z:0.50 [[-8.43419529e-01 5.37222605e-01 5.94725322e-03 1.95569753e+02] [ 5.37209983e-01 8.43440493e-01 -3.68363721e-03 -1.17103966e+02] [-6.99508737e-03 8.80722486e-05 -9.99975530e-01 4.97485735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.157628 meters 0.015619758607695648 Centerline is valid? [True, True] Translation: X:195.59, Y:-117.08, Z:0.49 [[-8.81135089e-01 4.72855239e-01 2.97962344e-03 1.95586114e+02] [ 4.72852642e-01 8.81140126e-01 -1.56740887e-03 -1.17078419e+02] [-3.36662327e-03 2.78238580e-05 -9.99994333e-01 4.94794294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.217628 meters 0.011762597466694063 Centerline is valid? [True, True] Translation: X:195.59, Y:-117.05, Z:0.49 [[-9.13894992e-01 4.05950320e-01 -5.31053493e-04 1.95593975e+02] [ 4.05950255e-01 9.13895146e-01 2.29578642e-04 -1.17053415e+02] [ 5.78524733e-04 -5.77052907e-06 -9.99999833e-01 4.88885507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.277628 meters 0.011626524238276573 Centerline is valid? [True, True] Translation: X:195.90, Y:-116.37, Z:-0.48 [[-8.88304701e-01 -4.59253921e-01 -7.71084307e-04 1.95904052e+02] [ 4.59253758e-01 -8.88305036e-01 3.86676322e-04 -1.16372900e+02] [-8.62540690e-04 -1.06369715e-05 9.99999628e-01 -4.76818660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.337628 meters 0.011654764846693068 Centerline is valid? [True, True] Translation: X:195.89, Y:-116.40, Z:-0.48 [[-8.53004285e-01 -5.21903907e-01 2.69805519e-05 1.95893615e+02] [ 5.21903907e-01 -8.53004286e-01 -1.91646556e-05 -1.16403146e+02] [ 3.30166350e-05 -2.26627790e-06 9.99999999e-01 -4.78289703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.397628 meters 0.011652909252920875 Centerline is valid? [True, True] Translation: X:195.50, Y:-117.04, Z:0.49 [[-8.90362423e-01 4.55249817e-01 1.53653950e-03 1.95499864e+02] [ 4.55249121e-01 8.90363748e-01 -7.96007329e-04 -1.17037443e+02] [-1.73046126e-03 -9.22675702e-06 -9.99998503e-01 4.90631313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.457628 meters 0.011583036205947228 Centerline is valid? [True, True] Translation: X:195.52, Y:-117.02, Z:0.49 [[-9.19336814e-01 3.93459224e-01 3.10839737e-03 1.95518719e+02] [ 3.93456950e-01 9.19342069e-01 -1.33773288e-03 -1.17019470e+02] [-3.38402380e-03 -6.80653328e-06 -9.99994274e-01 4.91877941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.517628 meters 0.01254417960972697 Centerline is valid? [True, True] Translation: X:195.53, Y:-117.00, Z:0.49 [[-9.43487031e-01 3.31369499e-01 5.14567007e-03 1.95529630e+02] [ 3.31364649e-01 9.43501063e-01 -1.79289235e-03 -1.16995967e+02] [-5.44905502e-03 1.35224752e-05 -9.99985154e-01 4.94611071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.577628 meters 0.0139198240915662 Centerline is valid? [True, True] Translation: X:195.55, Y:-116.97, Z:0.50 [[-9.62788075e-01 2.70199281e-01 5.60994294e-03 1.95546497e+02] [ 2.70195021e-01 9.62804417e-01 -1.51831825e-03 -1.16973492e+02] [-5.81152634e-03 5.39599487e-05 -9.99983111e-01 4.95793365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.637628 meters 0.012765888668363303 Centerline is valid? [True, True] Translation: X:195.56, Y:-116.95, Z:0.49 [[-9.78609752e-01 2.05694340e-01 3.57667005e-03 1.95557867e+02] [ 2.05693150e-01 9.78616286e-01 -7.01365986e-04 -1.16947771e+02] [-3.64445457e-03 4.93329356e-05 -9.99993358e-01 4.93599536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.697628 meters 0.01402423238925262 Centerline is valid? [True, True] Translation: X:195.71, Y:-116.21, Z:-0.48 [[-9.70965211e-01 -2.39186240e-01 4.06218289e-03 1.95708596e+02] [ 2.39184038e-01 -9.70973708e-01 -1.02663244e-03 -1.16211625e+02] [ 4.18982914e-03 -2.52150784e-05 9.99991222e-01 -4.84607312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.757628 meters 0.013558749721906382 Centerline is valid? [True, True] Translation: X:195.51, Y:-116.94, Z:0.50 [[-9.78137634e-01 2.07915437e-01 4.23550105e-03 1.95507487e+02] [ 2.07913863e-01 9.78146801e-01 -8.13575944e-04 -1.16939426e+02] [-4.31209680e-03 8.48301357e-05 -9.99990699e-01 4.95338788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.817628 meters 0.016624254101591157 Centerline is valid? [True, True] Translation: X:195.52, Y:-116.91, Z:0.50 [[-9.90402487e-01 1.38118313e-01 5.12294426e-03 1.95518262e+02] [ 1.38117001e-01 9.90415731e-01 -6.10789258e-04 -1.16910235e+02] [-5.15820577e-03 1.02638495e-04 -9.99986691e-01 4.98921929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.877628 meters 0.014081561347897497 Centerline is valid? [True, True] Translation: X:195.52, Y:-116.88, Z:0.50 [[-9.97934385e-01 6.41762678e-02 2.89315488e-03 1.95519633e+02] [ 6.41761342e-02 9.97938578e-01 -1.39093881e-04 -1.16881069e+02] [-2.89611739e-03 4.68649297e-05 -9.99995805e-01 4.96881131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.937628 meters 0.015454222444224003 Centerline is valid? [True, True] Translation: X:195.52, Y:-116.85, Z:0.50 [[-9.99912986e-01 -1.26966699e-02 3.57976028e-03 1.95515439e+02] [-1.26964536e-02 9.99919393e-01 8.31454996e-05 -1.16852841e+02] [-3.58052740e-03 3.76880045e-05 -9.99993589e-01 4.97600904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.99762799999996 meters 0.011480276356196667 Centerline is valid? [True, True] Translation: X:195.51, Y:-116.82, Z:0.50 [[-9.96012252e-01 -8.92147362e-02 5.70060278e-04 1.95507594e+02] [-8.92147212e-02 9.96012415e-01 5.15706380e-05 -1.16822293e+02] [-5.72387976e-04 5.07218411e-07 -9.99999836e-01 4.95239038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.05762799999997 meters 0.011265731682964056 Centerline is valid? [True, True] Translation: X:195.49, Y:-116.80, Z:0.50 [[-9.86667209e-01 -1.62750142e-01 4.58611368e-04 1.95494058e+02] [-1.62750125e-01 9.86667315e-01 7.41485176e-05 -1.16795231e+02] [-4.64564529e-04 -1.47914674e-06 -9.99999892e-01 4.97258664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.11762799999997 meters 0.011268535226374485 Centerline is valid? [True, True] Translation: X:195.49, Y:-116.77, Z:0.50 [[-9.72302059e-01 -2.33726579e-01 7.69333903e-04 1.95486846e+02] [-2.33726507e-01 9.72302364e-01 1.83595361e-04 -1.16774183e+02] [-7.90936288e-04 -1.30357826e-06 -9.99999687e-01 4.97327870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.17762799999997 meters 0.014165633566102825 Centerline is valid? [True, True] Translation: X:195.46, Y:-116.75, Z:0.50 [[-9.52736012e-01 -3.03796209e-01 1.39790651e-03 1.95462072e+02] [-3.03795884e-01 9.52737038e-01 4.44384981e-04 -1.16754986e+02] [-1.46683978e-03 -1.29666932e-06 -9.99998924e-01 4.98818433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.237628 meters 0.011256486292836805 Centerline is valid? [True, True] Translation: X:195.42, Y:-116.73, Z:0.50 [[-9.27342981e-01 -3.74212148e-01 5.13303676e-04 1.95422348e+02] [-3.74212093e-01 9.27343123e-01 2.03206762e-04 -1.16733792e+02] [-5.52051073e-04 -3.64207800e-06 -9.99999848e-01 4.97773637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.297628 meters 0.011385461501736744 Centerline is valid? [True, True] Translation: X:195.37, Y:-116.72, Z:0.50 [[-9.00166078e-01 -4.35533546e-01 3.40029117e-03 1.95373940e+02] [-4.35530380e-01 9.00172500e-01 1.66057597e-03 -1.16720380e+02] [-3.78408515e-03 1.38640533e-05 -9.99992840e-01 5.02187273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.357628 meters 0.014423222146546412 Centerline is valid? [True, True] Translation: X:195.31, Y:-116.73, Z:0.50 [[-8.68011335e-01 -4.96535558e-01 2.96015447e-03 1.95309615e+02] [-4.96532553e-01 8.68016382e-01 1.72771471e-03 -1.16728954e+02] [-3.42733436e-03 2.98628946e-05 -9.99994126e-01 5.02693624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.417628 meters 0.01226351902572924 Centerline is valid? [True, True] Translation: X:195.23, Y:-116.75, Z:0.50 [[-8.29755809e-01 -5.58124656e-01 1.47202786e-03 1.95234547e+02] [-5.58123739e-01 8.29757114e-01 1.01160474e-03 -1.16749910e+02] [-1.78602714e-03 1.78112143e-05 -9.99998405e-01 4.98427677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.477628 meters 0.014630970808574797 Centerline is valid? [True, True] Translation: X:195.16, Y:-116.77, Z:0.50 [[-7.85429053e-01 -6.18944911e-01 2.89816237e-03 1.95155305e+02] [-6.18940512e-01 7.85434399e-01 2.33388964e-03 -1.16771723e+02] [-3.72086554e-03 3.93146262e-05 -9.99993077e-01 5.04833218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.537628 meters 0.01524178746545451 Centerline is valid? [True, True] Translation: X:195.07, Y:-116.81, Z:0.51 [[-7.35303931e-01 -6.77726340e-01 3.89073904e-03 1.95065174e+02] [-6.77716516e-01 7.35314223e-01 3.64927330e-03 -1.16811020e+02] [-5.33412439e-03 4.65068969e-05 -9.99985772e-01 5.06031880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.597628 meters 0.011684613282485877 Centerline is valid? [True, True] Translation: X:194.98, Y:-116.85, Z:0.50 [[-6.79116848e-01 -7.34020924e-01 3.68640561e-03 1.94982989e+02] [-7.34009898e-01 6.79126853e-01 4.02323754e-03 -1.16854485e+02] [-5.45667758e-03 2.63901930e-05 -9.99985112e-01 5.01381938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.657628 meters 0.015316264190457523 Centerline is valid? [True, True] Translation: X:194.90, Y:-116.91, Z:0.50 [[-6.20790825e-01 -7.83968054e-01 3.58361555e-03 1.94899069e+02] [-7.83954776e-01 6.20801168e-01 4.56269344e-03 -1.16910435e+02] [-5.80171862e-03 2.30856986e-05 -9.99983170e-01 5.02961039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.717628 meters 0.011380496498948126 Centerline is valid? [True, True] Translation: X:194.81, Y:-116.97, Z:0.50 [[-5.56299150e-01 -8.30979082e-01 2.24084101e-03 1.94814139e+02] [-8.30972343e-01 5.56303664e-01 3.34657179e-03 -1.16973655e+02] [-4.02751922e-03 -3.81861187e-07 -9.99991890e-01 5.01287427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.777628 meters 0.011387266239870167 Centerline is valid? [True, True] Translation: X:194.73, Y:-117.05, Z:0.50 [[-4.90760751e-01 -8.71290802e-01 2.49486419e-03 1.94734729e+02] [-8.71279578e-01 4.90767092e-01 4.42236287e-03 -1.17047203e+02] [-5.07756134e-03 -3.40209475e-06 -9.99987109e-01 5.04209967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.837628 meters 0.014461675629608678 Centerline is valid? [True, True] Translation: X:194.67, Y:-117.13, Z:0.51 [[-4.25684414e-01 -9.04865500e-01 3.34772238e-03 1.94668095e+02] [-9.04837105e-01 4.25697577e-01 7.16842286e-03 -1.17131986e+02] [-7.91157584e-03 2.23424561e-05 -9.99968703e-01 5.07348494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.897628 meters 0.01540657462157432 Centerline is valid? [True, True] Translation: X:194.60, Y:-117.22, Z:0.51 [[-3.55444630e-01 -9.34693035e-01 2.83658697e-03 1.94598316e+02] [-9.34662743e-01 3.55455947e-01 7.52510383e-03 -1.17223940e+02] [-8.04194384e-03 2.35055880e-05 -9.99967663e-01 5.07852121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.957628 meters 0.01172608875393999 Centerline is valid? [True, True] Translation: X:194.54, Y:-117.32, Z:0.51 [[-2.84407865e-01 -9.58700946e-01 2.15909632e-03 1.94538104e+02] [-9.58672348e-01 2.84416058e-01 7.40510113e-03 -1.17316392e+02] [-7.71335913e-03 3.62030714e-05 -9.99970251e-01 5.06636743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.017628 meters 0.01301733841120941 Centerline is valid? [True, True] Translation: X:194.49, Y:-117.42, Z:0.51 [[-2.12701720e-01 -9.77116074e-01 1.46837428e-03 1.94487915e+02] [-9.77091046e-01 2.12706782e-01 6.99373807e-03 -1.17419193e+02] [-7.14602706e-03 5.28447608e-05 -9.99974465e-01 5.05582352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.077628 meters 0.015296342493200747 Centerline is valid? [True, True] Translation: X:194.45, Y:-117.53, Z:0.51 [[-1.40877747e-01 -9.90026430e-01 1.06251891e-03 1.94446276e+02] [-9.89993051e-01 1.40881723e-01 8.13014524e-03 -1.17526252e+02] [-8.19874816e-03 9.34702008e-05 -9.99966385e-01 5.07221256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.137628 meters 0.01604868192232955 Centerline is valid? [True, True] Translation: X:194.41, Y:-117.64, Z:0.51 [[-6.33218697e-02 -9.97992955e-01 6.34593262e-04 1.94406566e+02] [-9.97920989e-01 6.33249248e-02 1.19855978e-02 -1.17640082e+02] [-1.20017278e-02 1.25676529e-04 -9.99927969e-01 5.11336092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.197628 meters 0.015714441190632547 Centerline is valid? [True, True] Translation: X:193.68, Y:-117.72, Z:-0.50 [[-1.12526107e-01 9.93647663e-01 1.48228274e-03 1.93682030e+02] [-9.93574721e-01 -1.12535808e-01 1.20401596e-02 -1.17715010e+02] [ 1.21304863e-02 -1.17926372e-04 9.99926416e-01 -5.01100148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.257628 meters 0.012182877854474226 Centerline is valid? [True, True] Translation: X:194.39, Y:-117.92, Z:0.51 [[-5.09641113e-02 -9.98700417e-01 3.70053847e-04 1.94387411e+02] [-9.98663781e-01 5.09654115e-02 8.55453300e-03 -1.17924735e+02] [-8.56227562e-03 6.64147988e-05 -9.99963341e-01 5.06260946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.317628 meters 0.012185474485767301 Centerline is valid? [True, True] Translation: X:194.36, Y:-118.04, Z:0.50 [[ 2.45453404e-02 -9.99698696e-01 -2.06209250e-04 1.94360754e+02] [-9.99679903e-01 -2.45461434e-02 6.13010315e-03 -1.18040457e+02] [-6.13331777e-03 5.56777745e-05 -9.99981189e-01 5.03596774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.377628 meters 0.014721068809439016 Centerline is valid? [True, True] Translation: X:194.34, Y:-118.16, Z:0.51 [[ 1.00512565e-01 -9.94935515e-01 -7.37792830e-04 1.94342304e+02] [-9.94913382e-01 -1.00515251e-01 6.63676951e-03 -1.18160383e+02] [-6.67731713e-03 6.69612303e-05 -9.99977704e-01 5.06082098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.437628 meters 0.012468987503181825 Centerline is valid? [True, True] Translation: X:194.33, Y:-118.28, Z:0.51 [[ 1.76964948e-01 -9.84216168e-01 -1.39328041e-03 1.94333890e+02] [-9.84188866e-01 -1.76970417e-01 7.33133729e-03 -1.18278768e+02] [-7.46219011e-03 7.38613502e-05 -9.99972155e-01 5.07256890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.49762799999996 meters 0.012118140615559414 Centerline is valid? [True, True] Translation: X:193.65, Y:-118.53, Z:-0.50 [[ 1.27073993e-01 9.91892608e-01 -1.12032080e-03 1.93645488e+02] [-9.91854460e-01 1.27078931e-01 8.69920974e-03 -1.18525481e+02] [ 8.77105100e-03 5.75186330e-06 9.99961534e-01 -4.98843359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.55762799999997 meters 0.011557975013648266 Centerline is valid? [True, True] Translation: X:194.38, Y:-118.56, Z:0.51 [[ 1.92791133e-01 -9.81238348e-01 -1.69786669e-03 1.94379824e+02] [-9.81201642e-01 -1.92798607e-01 8.48729095e-03 -1.18559371e+02] [-8.65540169e-03 2.96751480e-05 -9.99962541e-01 5.06816245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.61762799999997 meters 0.01527808969706496 Centerline is valid? [True, True] Translation: X:194.38, Y:-118.68, Z:0.51 [[ 2.67922112e-01 -9.63438250e-01 -2.11653320e-03 1.94376318e+02] [-9.63408906e-01 -2.67930471e-01 7.51946812e-03 -1.18680470e+02] [-7.81162694e-03 2.44551549e-05 -9.99969488e-01 5.08421611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.67762799999997 meters 0.01157174803263364 Centerline is valid? [True, True] Translation: X:194.39, Y:-118.80, Z:0.51 [[ 3.39220596e-01 -9.40704211e-01 -2.23039576e-03 1.94386267e+02] [-9.40684509e-01 -3.39227927e-01 6.08828086e-03 -1.18797903e+02] [-6.48388397e-03 3.28284766e-05 -9.99978979e-01 5.06376473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.737628 meters 0.012529228779383297 Centerline is valid? [True, True] Translation: X:194.41, Y:-118.91, Z:0.50 [[ 4.05837491e-01 -9.13942758e-01 -2.13699112e-03 1.94411432e+02] [-9.13930755e-01 -4.05843114e-01 4.68424186e-03 -1.18906776e+02] [-5.14841205e-03 5.20209432e-05 -9.99986745e-01 5.04250959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.797628 meters 0.01651803307212501 Centerline is valid? [True, True] Translation: X:194.44, Y:-119.02, Z:0.51 [[ 4.72671433e-01 -8.81234769e-01 -2.64534372e-03 1.94440302e+02] [-8.81221772e-01 -4.72678831e-01 4.78658132e-03 -1.19018884e+02] [-5.46849986e-03 6.86542304e-05 -9.99985045e-01 5.08244728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.857628 meters 0.012172092374175252 Centerline is valid? [True, True] Translation: X:194.47, Y:-119.13, Z:0.51 [[ 5.41683058e-01 -8.40576740e-01 -3.19514168e-03 1.94474053e+02] [-8.40562694e-01 -5.41692479e-01 4.85962020e-03 -1.19130653e+02] [-5.81566793e-03 5.33429690e-05 -9.99983087e-01 5.05288340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.917628 meters 0.014335437281752756 Centerline is valid? [True, True] Translation: X:194.51, Y:-119.24, Z:0.51 [[ 6.09113930e-01 -7.93070515e-01 -4.40210362e-03 1.94512979e+02] [-7.93050086e-01 -6.09129837e-01 5.69241264e-03 -1.19241776e+02] [-7.19593728e-03 2.37608215e-05 -9.99974109e-01 5.07268633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.977628 meters 0.011322826802738975 Centerline is valid? [True, True] Translation: X:194.56, Y:-119.34, Z:0.50 [[ 6.68491828e-01 -7.43710368e-01 -3.68305065e-03 1.94560429e+02] [-7.43699186e-01 -6.68501974e-01 4.07815812e-03 -1.19341261e+02] [-5.49509510e-03 1.28663978e-05 -9.99984902e-01 5.04208004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.037628 meters 0.011593361437628295 Centerline is valid? [True, True] Translation: X:194.61, Y:-119.43, Z:0.50 [[ 7.19949609e-01 -6.94019339e-01 -3.11719458e-03 1.94612834e+02] [-6.94013013e-01 -7.19956357e-01 2.96354484e-03 -1.19432243e+02] [-4.30100149e-03 2.97706535e-05 -9.99990750e-01 5.03401367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.097628 meters 0.012983434806690383 Centerline is valid? [True, True] Translation: X:194.64, Y:-119.45, Z:0.50 [[ 7.67703310e-01 -6.40798063e-01 -3.07745530e-03 1.94639154e+02] [-6.40793193e-01 -7.67709476e-01 2.49876520e-03 -1.19451449e+02] [-3.96379549e-03 5.37020952e-05 -9.99992143e-01 5.02006635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.157628 meters 0.013056151623099166 Centerline is valid? [True, True] Translation: X:194.66, Y:-119.48, Z:0.50 [[ 8.14086202e-01 -5.80735278e-01 -3.19258138e-03 1.94658672e+02] [-5.80731107e-01 -8.14092460e-01 2.20187697e-03 -1.19478312e+02] [-3.87776406e-03 6.15136592e-05 -9.99992480e-01 5.02548710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.217628 meters 0.012589690970033332 Centerline is valid? [True, True] Translation: X:194.68, Y:-119.51, Z:0.50 [[ 8.57693488e-01 -5.14153437e-01 -2.85015902e-03 1.94678160e+02] [-5.14150781e-01 -8.57698222e-01 1.65343130e-03 -1.19507679e+02] [-3.29469371e-03 4.72742312e-05 -9.99994571e-01 5.02889536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.277628 meters 0.015775061557796077 Centerline is valid? [True, True] Translation: X:194.70, Y:-119.54, Z:0.50 [[ 8.95759041e-01 -4.44525185e-01 -3.61952244e-03 1.94700850e+02] [-4.44521798e-01 -8.95766352e-01 1.73607932e-03 -1.19535784e+02] [-4.01397739e-03 5.38478750e-05 -9.99991943e-01 5.04895115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.337628 meters 0.015101146289705594 Centerline is valid? [True, True] Translation: X:194.73, Y:-119.55, Z:0.50 [[ 9.28054400e-01 -3.72432351e-01 -3.02893487e-03 1.94727542e+02] [-3.72430510e-01 -9.28059342e-01 1.17177800e-03 -1.19552568e+02] [-3.24743934e-03 4.05940341e-05 -9.99994726e-01 5.02194379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.397628 meters 0.012281966447995974 Centerline is valid? [True, True] Translation: X:194.76, Y:-119.57, Z:0.50 [[ 9.54622983e-01 -2.97776717e-01 -4.89767445e-03 1.94755006e+02] [-2.97773122e-01 -9.54635545e-01 1.46446249e-03 -1.19571939e+02] [-5.11157695e-03 6.03862551e-05 -9.99986934e-01 5.03444458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.457628 meters 0.014541884979679672 Centerline is valid? [True, True] Translation: X:194.78, Y:-119.59, Z:0.51 [[ 9.75260303e-01 -2.20949946e-01 -6.96145453e-03 1.94784387e+02] [-2.20944872e-01 -9.75285146e-01 1.49934128e-03 -1.19587853e+02] [-7.12068257e-03 7.58496497e-05 -9.99974645e-01 5.07156531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.517628 meters 0.011653275718919434 Centerline is valid? [True, True] Translation: X:194.81, Y:-119.60, Z:0.50 [[ 9.89845972e-01 -1.42058848e-01 -4.92289850e-03 1.94811748e+02] [-1.42057306e-01 -9.89858213e-01 6.63251459e-04 -1.19602108e+02] [-4.96719225e-03 4.28169132e-05 -9.99987663e-01 5.04008763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.577628 meters 0.011309167125983956 Centerline is valid? [True, True] Translation: X:194.84, Y:-119.61, Z:0.50 [[ 9.98067025e-01 -6.21065862e-02 -2.23288264e-03 1.94840270e+02] [-6.21064600e-02 -9.98069523e-01 1.25864605e-04 -1.19613131e+02] [-2.23638913e-03 1.30551241e-05 -9.99997499e-01 5.00871723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.637628 meters 0.0109109919404473 Centerline is valid? [True, True] Translation: X:194.87, Y:-119.62, Z:0.50 [[ 9.99781241e-01 2.09096110e-02 -5.08226596e-04 1.94868923e+02] [ 2.09096092e-02 -9.99781370e-01 -8.91703409e-06 -1.19621325e+02] [-5.08301934e-04 -1.71173609e-06 -9.99999871e-01 4.98713829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.697628 meters 0.010838674434359805 Centerline is valid? [True, True] Translation: X:194.90, Y:-119.62, Z:0.50 [[ 9.94821865e-01 1.01633586e-01 -2.67469008e-04 1.94899098e+02] [ 1.01633583e-01 -9.94821901e-01 -2.43416484e-05 -1.19624111e+02] [-2.68557956e-04 -2.96822949e-06 -9.99999964e-01 4.99766461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.757628 meters 0.01091148171420743 Centerline is valid? [True, True] Translation: X:194.93, Y:-119.63, Z:0.50 [[ 9.83475294e-01 1.81038168e-01 -1.23635758e-03 1.94928874e+02] [ 1.81038031e-01 -9.83476071e-01 -2.22164130e-04 -1.19625424e+02] [-1.25614828e-03 -5.33480901e-06 -9.99999211e-01 5.01334692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.817628 meters 0.011140402485017907 Centerline is valid? [True, True] Translation: X:194.96, Y:-119.63, Z:0.50 [[ 9.65558302e-01 2.60185864e-01 -6.93515994e-04 1.94959405e+02] [ 2.60185802e-01 -9.65558551e-01 -1.80361864e-04 -1.19626606e+02] [-7.16557906e-04 -6.29311961e-06 -9.99999743e-01 5.02149579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.877628 meters 0.011366351460239425 Centerline is valid? [True, True] Translation: X:194.99, Y:-119.62, Z:0.50 [[ 9.41820411e-01 3.36107862e-01 -2.41211567e-03 1.94988230e+02] [ 3.36106808e-01 -9.41823500e-01 -8.41649892e-04 -1.19623981e+02] [-2.55467237e-03 -1.80454521e-05 -9.99996737e-01 5.03343705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.937628 meters 0.011316609618487026 Centerline is valid? [True, True] Translation: X:195.02, Y:-119.62, Z:0.51 [[ 9.13287749e-01 4.07300538e-01 -3.42921416e-03 1.95016472e+02] [ 4.07297745e-01 -9.13294187e-01 -1.50856367e-03 -1.19615657e+02] [-3.74632016e-03 -1.89584771e-05 -9.99992982e-01 5.05898269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.99762799999996 meters 0.011103545186388921 Centerline is valid? [True, True] Translation: X:195.04, Y:-119.60, Z:0.51 [[ 8.80022986e-01 4.74911833e-01 -4.27730746e-03 1.95043385e+02] [ 4.74906274e-01 -8.80033381e-01 -2.29782761e-03 -1.19604031e+02] [-4.85543886e-03 -9.17902999e-06 -9.99988212e-01 5.07333708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.05762799999997 meters 0.012897957031814572 Centerline is valid? [True, True] Translation: X:195.07, Y:-119.59, Z:0.51 [[ 8.40667800e-01 5.41523143e-01 -5.50774990e-03 1.95072565e+02] [ 5.41511559e-01 -8.40685842e-01 -3.54202162e-03 -1.19594197e+02] [-6.54837404e-03 -4.84671716e-06 -9.99978559e-01 5.10545248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.11762799999997 meters 0.01137910022760642 Centerline is valid? [True, True] Translation: X:195.10, Y:-119.59, Z:0.51 [[ 7.95280408e-01 6.06218502e-01 -5.31029054e-03 1.95102182e+02] [ 6.06205067e-01 -7.95298137e-01 -4.03608294e-03 -1.19585352e+02] [-6.67001234e-03 -9.30734007e-06 -9.99977755e-01 5.10369481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.17762799999997 meters 0.011420164478850425 Centerline is valid? [True, True] Translation: X:195.13, Y:-119.58, Z:0.51 [[ 7.44584180e-01 6.67515102e-01 -4.24120128e-03 1.95131658e+02] [ 6.67504389e-01 -7.44596259e-01 -3.78183681e-03 -1.19575092e+02] [-5.68241579e-03 -1.51246054e-05 -9.99983855e-01 5.10466602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.237628 meters 0.011441550783113794 Centerline is valid? [True, True] Translation: X:195.16, Y:-119.56, Z:0.51 [[ 6.89324996e-01 7.24443941e-01 -3.46782119e-03 1.95161360e+02] [ 7.24434910e-01 -6.89333719e-01 -3.61733232e-03 -1.19563110e+02] [-5.01104056e-03 -1.86931499e-05 -9.99987444e-01 5.09106665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.297628 meters 0.011586054114937903 Centerline is valid? [True, True] Translation: X:195.19, Y:-119.55, Z:0.51 [[ 6.30746925e-01 7.75978212e-01 -4.01644199e-03 1.95190492e+02] [ 7.75962688e-01 -6.30759712e-01 -4.90842464e-03 -1.19548554e+02] [-6.34224037e-03 -2.06353776e-05 -9.99979888e-01 5.11918230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.357628 meters 0.011829427053334295 Centerline is valid? [True, True] Translation: X:195.21, Y:-119.53, Z:0.51 [[ 5.67613913e-01 8.23286980e-01 -3.60485227e-03 1.95211089e+02] [ 8.23270645e-01 -5.67625359e-01 -5.18617503e-03 -1.19527356e+02] [-6.31591595e-03 -2.40239532e-05 -9.99980054e-01 5.13755754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.417628 meters 0.012119120740479553 Centerline is valid? [True, True] Translation: X:195.24, Y:-119.51, Z:0.51 [[ 4.97989031e-01 8.67181616e-01 -1.72330606e-03 1.95235314e+02] [ 8.67176615e-01 -4.97992012e-01 -2.94523842e-03 -1.19507231e+02] [-3.41224926e-03 -2.77142902e-05 -9.99994178e-01 5.11861271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.477628 meters 0.012538467679297248 Centerline is valid? [True, True] Translation: X:195.26, Y:-119.49, Z:0.51 [[ 4.26017407e-01 9.04714063e-01 -1.27830011e-03 1.95259883e+02] [ 9.04710215e-01 -4.26019323e-01 -2.63882814e-03 -1.19487294e+02] [-2.93196547e-03 -3.23044413e-05 -9.99995701e-01 5.11306893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.537628 meters 0.016285409259439065 Centerline is valid? [True, True] Translation: X:195.28, Y:-119.46, Z:0.52 [[ 3.52611220e-01 9.35767979e-01 -1.90188934e-03 1.95281127e+02] [ 9.35755305e-01 -3.52616344e-01 -4.87071282e-03 -1.19463794e+02] [-5.22849435e-03 -6.22350498e-05 -9.99986329e-01 5.15538155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.597628 meters 0.012773452672457088 Centerline is valid? [True, True] Translation: X:195.30, Y:-119.44, Z:0.52 [[ 2.80744354e-01 9.59780637e-01 -1.93291712e-03 1.95295467e+02] [ 9.59759370e-01 -2.80751001e-01 -6.38965933e-03 -1.19437849e+02] [-6.67533972e-03 -6.12745356e-05 -9.99977718e-01 5.15374497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.657628 meters 0.014631199395004069 Centerline is valid? [True, True] Translation: X:195.31, Y:-119.41, Z:0.52 [[ 2.07627914e-01 9.78206992e-01 -1.31569827e-03 1.95306610e+02] [ 9.78188503e-01 -2.07632079e-01 -6.01442167e-03 -1.19410633e+02] [-6.15653049e-03 -3.82391009e-05 -9.99981048e-01 5.17145129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.717628 meters 0.012623786107480852 Centerline is valid? [True, True] Translation: X:195.32, Y:-119.38, Z:0.51 [[ 1.34070371e-01 9.90971711e-01 -4.50432671e-04 1.95321118e+02] [ 9.90966357e-01 -1.34071127e-01 -3.25767020e-03 -1.19384097e+02] [-3.28864903e-03 -9.60657156e-06 -9.99994592e-01 5.13338616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.777628 meters 0.012785689130012472 Centerline is valid? [True, True] Translation: X:195.34, Y:-119.36, Z:0.51 [[ 5.81125503e-02 9.98310035e-01 -7.70523641e-05 1.95336661e+02] [ 9.98309220e-01 -5.81126013e-02 -1.27526569e-03 -1.19356468e+02] [-1.27758825e-03 -2.81314366e-06 -9.99999184e-01 5.11984933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.837628 meters 0.012998573969396576 Centerline is valid? [True, True] Translation: X:195.34, Y:-119.33, Z:0.51 [[-1.79303943e-02 9.99839236e-01 -4.84383395e-05 1.95341789e+02] [ 9.99836691e-01 1.79304579e-02 2.25601681e-03 -1.19329314e+02] [ 2.25652264e-03 -7.97915825e-06 -9.99997454e-01 5.07830070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.897628 meters 0.013127412165848788 Centerline is valid? [True, True] Translation: X:195.34, Y:-119.30, Z:0.51 [[-9.52416260e-02 9.95454153e-01 -2.48780033e-04 1.95340194e+02] [ 9.95451048e-01 9.52419503e-02 2.48628156e-03 -1.19301612e+02] [ 2.49867360e-03 -1.08508462e-05 -9.99996878e-01 5.06826608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.957628 meters 0.013236009804300982 Centerline is valid? [True, True] Translation: X:195.35, Y:-119.27, Z:0.51 [[-1.77858866e-01 9.84055934e-01 -3.78622488e-04 1.95347032e+02] [ 9.84053692e-01 1.77859269e-01 2.10033460e-03 -1.19271941e+02] [ 2.13418824e-03 9.78272543e-07 -9.99997723e-01 5.09602760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.017628 meters 0.013779277043574316 Centerline is valid? [True, True] Translation: X:195.36, Y:-119.24, Z:0.51 [[-2.61016806e-01 9.65334256e-01 2.01599006e-05 1.95357061e+02] [ 9.65334252e-01 2.61016807e-01 -8.81206462e-05 -1.19240587e+02] [-9.03279514e-05 -3.53992703e-06 -9.99999996e-01 5.12448424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.077628 meters 0.014108744606120223 Centerline is valid? [True, True] Translation: X:195.36, Y:-119.21, Z:0.51 [[-3.37735668e-01 9.41240766e-01 6.62442234e-04 1.95360584e+02] [ 9.41238812e-01 3.37736317e-01 -1.91824116e-03 -1.19210869e+02] [-2.02925758e-03 -2.43421187e-05 -9.99997941e-01 5.13790500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.137628 meters 0.014206720546304431 Centerline is valid? [True, True] Translation: X:195.36, Y:-119.18, Z:0.51 [[-4.10973940e-01 9.11646105e-01 1.34150975e-03 1.95358365e+02] [ 9.11640923e-01 4.10976128e-01 -3.07400282e-03 -1.19180286e+02] [-3.35373118e-03 -4.03598600e-05 -9.99994375e-01 5.14705063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.197628 meters 0.0145017726929837 Centerline is valid? [True, True] Translation: X:195.35, Y:-119.15, Z:0.51 [[-4.81590772e-01 8.76395009e-01 1.45470523e-03 1.95351398e+02] [ 8.76390764e-01 4.81592967e-01 -2.72828255e-03 -1.19152662e+02] [-3.09162902e-03 -3.90254731e-05 -9.99995220e-01 5.14726701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.257628 meters 0.014705275448632291 Centerline is valid? [True, True] Translation: X:195.34, Y:-119.13, Z:0.52 [[-5.48699576e-01 8.36017003e-01 2.08468663e-03 1.95340065e+02] [ 8.36010634e-01 5.48703534e-01 -3.26372500e-03 -1.19127315e+02] [-3.87240452e-03 -4.79843339e-05 -9.99992501e-01 5.16281042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.317628 meters 0.014182170006480792 Centerline is valid? [True, True] Translation: X:195.33, Y:-119.10, Z:0.52 [[-6.11683408e-01 7.91097670e-01 2.80801223e-03 1.95329773e+02] [ 7.91088939e-01 6.11689851e-01 -3.71719571e-03 -1.19099034e+02] [-4.65829745e-03 -5.23595311e-05 -9.99989149e-01 5.16738354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.377628 meters 0.014078369390887052 Centerline is valid? [True, True] Translation: X:195.32, Y:-119.07, Z:0.52 [[-6.70769825e-01 7.41658379e-01 3.26972247e-03 1.95320110e+02] [ 7.41649211e-01 6.70777792e-01 -3.68790732e-03 -1.19069727e+02] [-4.92842458e-03 -4.87498516e-05 -9.99987854e-01 5.17358266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.437628 meters 0.013852312146475672 Centerline is valid? [True, True] Translation: X:195.31, Y:-119.04, Z:0.52 [[-7.25945433e-01 6.87747826e-01 2.48111954e-03 1.95305685e+02] [ 6.87743665e-01 7.25949672e-01 -2.39279604e-03 -1.19041906e+02] [-3.44680819e-03 -3.06651099e-05 -9.99994059e-01 5.17400968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.49762799999996 meters 0.013740201979045066 Centerline is valid? [True, True] Translation: X:195.32, Y:-119.02, Z:0.52 [[-7.72200782e-01 6.35374836e-01 2.18390135e-03 1.95320872e+02] [ 6.35372211e-01 7.72203870e-01 -1.82669845e-03 -1.19021705e+02] [-2.84705530e-03 -2.29877474e-05 -9.99995947e-01 5.17126382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.55762799999997 meters 0.01370037634204027 Centerline is valid? [True, True] Translation: X:195.34, Y:-119.01, Z:0.51 [[-8.14676226e-01 5.79914528e-01 1.33680086e-03 1.95338018e+02] [ 5.79913722e-01 8.14677323e-01 -9.67247678e-04 -1.19011291e+02] [-1.64998233e-03 -1.27645233e-05 -9.99998639e-01 5.14267835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.61762799999997 meters 0.014264522909001822 Centerline is valid? [True, True] Translation: X:195.35, Y:-118.98, Z:0.52 [[-8.56513806e-01 5.16111501e-01 3.60824142e-03 1.95352695e+02] [ 5.16106663e-01 8.56521404e-01 -2.23534812e-03 -1.18982104e+02] [-4.24422488e-03 -5.23690837e-05 -9.99990992e-01 5.18190211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.67762799999997 meters 0.014782679941622237 Centerline is valid? [True, True] Translation: X:195.71, Y:-118.41, Z:-0.51 [[-8.05142133e-01 -5.93045879e-01 6.53691130e-03 1.95707009e+02] [ 5.93029506e-01 -8.05168606e-01 -4.41831501e-03 -1.18414801e+02] [ 7.88357927e-03 3.19209707e-04 9.99968873e-01 -5.12683928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.737628 meters 0.014854050767170916 Centerline is valid? [True, True] Translation: X:195.32, Y:-118.95, Z:0.52 [[-8.59793240e-01 5.10601673e-01 6.44328240e-03 1.95316340e+02] [ 5.10586337e-01 8.59817375e-01 -3.95910006e-03 -1.18952953e+02] [-7.56156928e-03 -1.14155506e-04 -9.99971404e-01 5.23023130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.797628 meters 0.015398978579019389 Centerline is valid? [True, True] Translation: X:195.33, Y:-118.93, Z:0.52 [[-8.94578377e-01 4.46858191e-01 6.87642698e-03 1.95330677e+02] [ 4.46843859e-01 8.94604795e-01 -3.58127050e-03 -1.18930732e+02] [-7.75200461e-03 -1.31037981e-04 -9.99969944e-01 5.21720761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.857628 meters 0.016759343916454342 Centerline is valid? [True, True] Translation: X:195.34, Y:-118.90, Z:0.52 [[-9.25513302e-01 3.78638894e-01 7.59709921e-03 1.95341606e+02] [ 3.78624595e-01 9.25544466e-01 -3.29514360e-03 -1.18901078e+02] [-8.27912266e-03 -1.73250628e-04 -9.99965712e-01 5.24869556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.917628 meters 0.017571606156578913 Centerline is valid? [True, True] Translation: X:195.35, Y:-118.87, Z:0.53 [[-9.50424287e-01 3.10795077e-01 1.00047884e-02 1.95349133e+02] [ 3.10775236e-01 9.50476914e-01 -3.51970707e-03 -1.18874029e+02] [-1.06032281e-02 -2.35974594e-04 -9.99943756e-01 5.28327814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.977628 meters 0.017644260370949415 Centerline is valid? [True, True] Translation: X:195.36, Y:-118.85, Z:0.53 [[-9.69959711e-01 2.43020028e-01 1.09281624e-02 1.95356761e+02] [ 2.43001720e-01 9.70021239e-01 -2.99319306e-03 -1.18846760e+02] [-1.13279555e-02 -2.47714416e-04 -9.99935806e-01 5.29364828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.037628 meters 0.016919557318280574 Centerline is valid? [True, True] Translation: X:195.36, Y:-118.82, Z:0.53 [[-9.84954487e-01 1.72094701e-01 1.57503305e-02 1.95358070e+02] [ 1.72066602e-01 9.85080339e-01 -3.13225408e-03 -1.18815257e+02] [-1.60543852e-02 -3.75021859e-04 -9.99871050e-01 5.33345391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.097628 meters 0.01733955270710639 Centerline is valid? [True, True] Translation: X:195.36, Y:-118.79, Z:0.54 [[-9.94588290e-01 1.02068955e-01 1.93922986e-02 1.95363176e+02] [ 1.02040716e-01 9.94777224e-01 -2.44273420e-03 -1.18791434e+02] [-1.95403443e-02 -4.50710791e-04 -9.99808968e-01 5.35969041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.157628 meters 0.020502593256049292 Centerline is valid? [True, True] Translation: X:195.44, Y:-118.16, Z:-0.53 [[-9.76317715e-01 -2.15370679e-01 2.04741099e-02 1.95440905e+02] [ 2.15335443e-01 -9.76532207e-01 -3.93649308e-03 -1.18155011e+02] [ 2.08414329e-02 5.65533598e-04 9.99782634e-01 -5.27229259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.217628 meters 0.02205816047271051 Centerline is valid? [True, True] Translation: X:195.31, Y:-118.78, Z:0.54 [[-9.95117310e-01 9.57142024e-02 2.40900604e-02 1.95306897e+02] [ 9.56711145e-02 9.95408664e-01 -2.93748647e-03 -1.18781351e+02] [-2.42606141e-02 -6.18420703e-04 -9.99705477e-01 5.41397667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.277628 meters 0.01886168520934459 Centerline is valid? [True, True] Translation: X:195.39, Y:-118.16, Z:-0.53 [[-9.77548286e-01 -2.09387573e-01 2.35837320e-02 1.95392477e+02] [ 2.09341303e-01 -9.77832547e-01 -4.44170186e-03 -1.18157053e+02] [ 2.39909779e-02 5.95071134e-04 9.99711998e-01 -5.28912094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.337628 meters 0.016865859776641318 Centerline is valid? [True, True] Translation: X:195.26, Y:-118.78, Z:0.53 [[-9.94882986e-01 9.83251789e-02 2.32379826e-02 1.95260504e+02] [ 9.82879587e-02 9.95154241e-01 -2.74124304e-03 -1.18779466e+02] [-2.33949101e-02 -4.43202186e-04 -9.99726203e-01 5.34336895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.397628 meters 0.018694613142170025 Centerline is valid? [True, True] Translation: X:195.26, Y:-118.76, Z:0.53 [[-9.99177850e-01 3.16727722e-02 2.53072840e-02 1.95263120e+02] [ 3.16531824e-02 9.99498223e-01 -1.17439736e-03 -1.18761728e+02] [-2.53317818e-02 -3.72375754e-04 -9.99679030e-01 5.34817404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.457628 meters 0.01650500176101598 Centerline is valid? [True, True] Translation: X:195.30, Y:-118.11, Z:-0.52 [[-9.91228854e-01 -1.30064488e-01 2.34219524e-02 1.95296417e+02] [ 1.30033683e-01 -9.91505510e-01 -2.83998090e-03 -1.18111625e+02] [ 2.35923755e-02 2.30571736e-04 9.99721635e-01 -5.22396813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.517628 meters 0.016654020212845858 Centerline is valid? [True, True] Translation: X:195.21, Y:-118.75, Z:0.53 [[-9.99344450e-01 2.63921977e-02 2.47815069e-02 1.95210486e+02] [ 2.63743970e-02 9.99651589e-01 -1.04493503e-03 -1.18754124e+02] [-2.48004509e-02 -3.90652717e-04 -9.99692345e-01 5.33498422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.577628 meters 0.015638482465612273 Centerline is valid? [True, True] Translation: X:195.21, Y:-118.73, Z:0.53 [[-9.98937029e-01 -3.97787128e-02 2.32909089e-02 1.95211063e+02] [-3.97738069e-02 9.99208482e-01 6.74032003e-04 -1.18733482e+02] [-2.32992858e-02 -2.53052585e-04 -9.99728503e-01 5.29253792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.637628 meters 0.014772599999916652 Centerline is valid? [True, True] Translation: X:195.20, Y:-118.07, Z:-0.51 [[-9.98967269e-01 -4.03490877e-02 2.08889107e-02 1.95199292e+02] [ 4.03421661e-02 -9.99185640e-01 -7.52817075e-04 -1.18069569e+02] [ 2.09022751e-02 9.06642883e-05 9.99781519e-01 -5.13452365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.697628 meters 0.014649474885417667 Centerline is valid? [True, True] Translation: X:195.15, Y:-118.75, Z:0.52 [[-9.99375743e-01 -2.97423645e-02 1.90660921e-02 1.95149754e+02] [-2.97354921e-02 9.99557595e-01 6.43907632e-04 -1.18746649e+02] [-1.90768085e-02 7.65660370e-05 -9.99818018e-01 5.21641740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.757628 meters 0.015369284033376673 Centerline is valid? [True, True] Translation: X:195.14, Y:-118.06, Z:-0.50 [[-9.99730758e-01 -1.93138239e-02 1.28602946e-02 1.95139608e+02] [ 1.93071088e-02 -9.99813392e-01 -6.46114194e-04 -1.18059214e+02] [ 1.28703737e-02 -3.97645125e-04 9.99917094e-01 -5.04421820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.817628 meters 0.015928431922447896 Centerline is valid? [True, True] Translation: X:195.09, Y:-118.76, Z:0.51 [[-9.99707355e-01 -2.17334947e-02 1.06235050e-02 1.95087319e+02] [-2.17303540e-02 9.99763784e-01 4.10992356e-04 -1.18762684e+02] [-1.06299279e-02 1.80019557e-04 -9.99943485e-01 5.11888233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.877628 meters 0.018586903257333438 Centerline is valid? [True, True] Translation: X:195.06, Y:-118.05, Z:-0.50 [[-9.99930063e-01 -7.30371305e-03 9.30182692e-03 1.95064965e+02] [ 7.30117285e-03 -9.99973299e-01 -3.07015755e-04 -1.18052953e+02] [ 9.30382090e-03 -2.39080037e-04 9.99956690e-01 -5.02155157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.937628 meters 0.016814049129136113 Centerline is valid? [True, True] Translation: X:195.01, Y:-118.77, Z:0.51 [[-9.99731573e-01 -2.20934422e-02 6.97573396e-03 1.95013358e+02] [-2.20918450e-02 9.99755899e-01 3.05952616e-04 -1.18774915e+02] [-6.98079072e-03 1.51763657e-04 -9.99975622e-01 5.06080979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.99762799999996 meters 0.019683319698200294 Centerline is valid? [True, True] Translation: X:194.99, Y:-118.05, Z:-0.50 [[-9.99983828e-01 1.16000569e-03 5.56756404e-03 1.94986320e+02] [-1.16115774e-03 -9.99999305e-01 -2.03692433e-04 -1.18049393e+02] [ 5.56732388e-03 -2.10153959e-04 9.99984480e-01 -4.98295524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.05762799999997 meters 0.01809931391337126 Centerline is valid? [True, True] Translation: X:194.93, Y:-118.78, Z:0.50 [[-9.99683467e-01 -2.45248758e-02 5.61208849e-03 1.94932729e+02] [-2.45237079e-02 9.99699210e-01 2.76837871e-04 -1.18784771e+02] [-5.61718985e-03 1.39121024e-04 -9.99984214e-01 5.04118821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.11762799999997 meters 0.0195069431190114 Centerline is valid? [True, True] Translation: X:194.90, Y:-118.04, Z:-0.49 [[-9.99946144e-01 1.03426870e-02 8.59066303e-04 1.94900715e+02] [-1.03429559e-02 -9.99946462e-01 -3.09225026e-04 -1.18042927e+02] [ 8.55822093e-04 -3.18093658e-04 9.99999583e-01 -4.88182786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.17762799999997 meters 0.018747432465029152 Centerline is valid? [True, True] Translation: X:194.85, Y:-118.79, Z:0.50 [[-9.99687010e-01 -2.50066586e-02 -7.41197206e-04 1.94849793e+02] [-2.50066349e-02 9.99687284e-01 -4.12603489e-05 -1.18792585e+02] [ 7.41997205e-04 -2.27125869e-05 -9.99999724e-01 4.97209155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.237628 meters 0.021230405813380294 Centerline is valid? [True, True] Translation: X:194.81, Y:-118.05, Z:-0.49 [[-9.99824627e-01 1.84901224e-02 -2.97175684e-03 1.94812803e+02] [-1.84898761e-02 -9.99829042e-01 -1.10334107e-04 -1.18047872e+02] [-2.97328889e-03 -5.53673418e-05 9.99995578e-01 -4.88508474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.297628 meters 0.018420639130992615 Centerline is valid? [True, True] Translation: X:194.77, Y:-118.80, Z:0.50 [[-9.99450421e-01 -3.30155177e-02 -2.97188129e-03 1.94766002e+02] [-3.30151302e-02 9.99454836e-01 -1.79370228e-04 -1.18795785e+02] [ 2.97618313e-03 -8.11546027e-05 -9.99995568e-01 4.96474394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.357628 meters 0.019549731835799576 Centerline is valid? [True, True] Translation: X:194.73, Y:-118.06, Z:-0.49 [[-9.99782802e-01 2.06124606e-02 -3.07813246e-03 1.94726255e+02] [-2.06126009e-02 -9.99787538e-01 1.38499174e-05 -1.18055981e+02] [-3.07719299e-03 7.72952251e-05 9.99995262e-01 -4.88175479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.417628 meters 0.020013960224937333 Centerline is valid? [True, True] Translation: X:194.68, Y:-118.80, Z:0.50 [[-9.99346135e-01 -3.60827986e-02 -2.30953313e-03 1.94680263e+02] [-3.60825432e-02 9.99348801e-01 -1.52149779e-04 -1.18800023e+02] [ 2.31351916e-03 -6.87164645e-05 -9.99997321e-01 5.01403485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.477628 meters 0.02096906889938903 Centerline is valid? [True, True] Translation: X:194.68, Y:-118.78, Z:0.50 [[-9.94978943e-01 -1.00056880e-01 2.35022040e-03 1.94679654e+02] [-1.00056391e-01 9.94981715e-01 3.24952606e-04 -1.18779865e+02] [-2.37094007e-03 8.81664285e-05 -9.99997185e-01 5.03751490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.537628 meters 0.023041701559820816 Centerline is valid? [True, True] Translation: X:194.67, Y:-118.76, Z:0.51 [[-9.86009435e-01 -1.66649634e-01 3.64604250e-03 1.94668915e+02] [-1.66647913e-01 9.86016164e-01 7.72819405e-04 -1.18755036e+02] [-3.72384691e-03 1.54401851e-04 -9.99993055e-01 5.05551704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.597628 meters 0.02595967836137439 Centerline is valid? [True, True] Translation: X:194.64, Y:-118.74, Z:0.51 [[-9.72763249e-01 -2.31740442e-01 5.29430151e-03 1.94642785e+02] [-2.31735551e-01 9.72777621e-01 1.52788719e-03 -1.18737692e+02] [-5.50425128e-03 2.59394624e-04 -9.99984818e-01 5.06690771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.657628 meters 0.03211562063717884 Centerline is valid? [True, True] Translation: X:194.59, Y:-118.73, Z:0.51 [[-9.55901734e-01 -2.93648182e-01 4.75605805e-03 1.94593523e+02] [-2.93643050e-01 9.55913523e-01 1.75935648e-03 -1.18732400e+02] [-5.06301204e-03 2.85188519e-04 -9.99987142e-01 5.08057250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.717628 meters 0.03462608984532798 Centerline is valid? [True, True] Translation: X:194.53, Y:-118.73, Z:0.51 [[-9.32822032e-01 -3.60320627e-01 3.47891865e-03 1.94529819e+02] [-3.60317199e-01 9.32828491e-01 1.58815075e-03 -1.18728602e+02] [-3.81747791e-03 2.27947788e-04 -9.99992687e-01 5.07873752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.777628 meters 0.03503559184542652 Centerline is valid? [True, True] Translation: X:194.46, Y:-118.73, Z:0.50 [[-9.03630534e-01 -4.28308378e-01 1.94710531e-03 1.94456603e+02] [-4.28307061e-01 9.03632622e-01 1.07046378e-03 -1.18734914e+02] [-2.21795648e-03 1.33344798e-04 -9.99997531e-01 5.04393947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.837628 meters 0.02798564702601284 Centerline is valid? [True, True] Translation: X:194.37, Y:-118.74, Z:0.50 [[-8.69508142e-01 -4.93917233e-01 -1.16488891e-03 1.94373421e+02] [-4.93916659e-01 8.69508919e-01 -7.57962770e-04 -1.18742041e+02] [ 1.38725217e-03 -8.36967612e-05 -9.99999034e-01 5.00210952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.897628 meters 0.027790779014965166 Centerline is valid? [True, True] Translation: X:194.29, Y:-118.77, Z:0.50 [[-8.29632001e-01 -5.58308233e-01 -1.63062060e-03 1.94289134e+02] [-5.58306859e-01 8.29633595e-01 -1.24500005e-03 -1.18765874e+02] [ 2.04791141e-03 -1.22505219e-04 -9.99997896e-01 5.00674588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.957628 meters 0.027826443622904484 Centerline is valid? [True, True] Translation: X:194.20, Y:-118.81, Z:0.50 [[-7.82267715e-01 -6.22937661e-01 -2.42738878e-03 1.94200242e+02] [-6.22933936e-01 7.82271461e-01 -2.16161815e-03 -1.18808603e+02] [ 3.24543033e-03 -1.78861245e-04 -9.99994718e-01 4.99256547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.017628 meters 0.026730855833915712 Centerline is valid? [True, True] Translation: X:194.11, Y:-118.86, Z:0.50 [[-7.29568921e-01 -6.83906253e-01 -1.19402506e-03 1.94111965e+02] [-6.83905140e-01 7.29569893e-01 -1.23726892e-03 -1.18856619e+02] [ 1.71730068e-03 -8.60730735e-05 -9.99998522e-01 5.00266833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.077628 meters 0.02437852137449913 Centerline is valid? [True, True] Translation: X:194.02, Y:-118.92, Z:0.50 [[-6.69085489e-01 -7.43184806e-01 -9.75961908e-04 1.94021876e+02] [-7.43183875e-01 6.69086198e-01 -1.17828221e-03 -1.18917148e+02] [ 1.52868408e-03 -6.30523776e-05 -9.99998830e-01 5.02235975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.137628 meters 0.021378781532434915 Centerline is valid? [True, True] Translation: X:193.93, Y:-118.98, Z:0.50 [[-6.05460117e-01 -7.95870149e-01 -2.95854970e-03 1.93933476e+02] [-7.95859167e-01 6.05467319e-01 -4.18465335e-03 -1.18984507e+02] [ 5.12174584e-03 -1.79051804e-04 -9.99986868e-01 4.99506263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.197628 meters 0.01751408832547464 Centerline is valid? [True, True] Translation: X:193.85, Y:-119.06, Z:0.50 [[-5.36676068e-01 -8.43776015e-01 -4.56448399e-03 1.93848590e+02] [-8.43741541e-01 5.36695422e-01 -7.63125407e-03 -1.19060258e+02] [ 8.88880681e-03 -2.44266667e-04 -9.99960464e-01 4.96450683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.257628 meters 0.018786974452922205 Centerline is valid? [True, True] Translation: X:193.77, Y:-119.14, Z:0.50 [[-4.68750229e-01 -8.83321045e-01 -4.14182770e-03 1.93771332e+02] [-8.83282002e-01 4.68768467e-01 -8.30835128e-03 -1.19143265e+02] [ 9.28049975e-03 -2.36139702e-04 -9.99956907e-01 4.99703354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.317628 meters 0.0163325578911004 Centerline is valid? [True, True] Translation: X:193.70, Y:-119.23, Z:0.50 [[-3.96811240e-01 -9.17889469e-01 -4.44552817e-03 1.93695125e+02] [-9.17824250e-01 3.96836054e-01 -1.09449855e-02 -1.19231467e+02] [ 1.18104327e-02 -2.62879683e-04 -9.99930220e-01 4.97726040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.377628 meters 0.016511294393900304 Centerline is valid? [True, True] Translation: X:193.63, Y:-119.33, Z:0.50 [[-3.25192113e-01 -9.45642957e-01 -3.08017216e-03 1.93627469e+02] [-9.45593783e-01 3.25206622e-01 -9.64628330e-03 -1.19331832e+02] [ 1.01236323e-02 -2.24303600e-04 -9.99948730e-01 5.00142765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.437628 meters 0.017028610133891984 Centerline is valid? [True, True] Translation: X:193.57, Y:-119.43, Z:0.50 [[-2.52372050e-01 -9.67628968e-01 -1.59026290e-03 1.93569753e+02] [-9.67605605e-01 2.52377010e-01 -6.72592245e-03 -1.19431932e+02] [ 6.90954320e-03 -1.58687540e-04 -9.99976116e-01 5.04130731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.49762799999996 meters 0.01752708233239731 Centerline is valid? [True, True] Translation: X:193.52, Y:-119.54, Z:0.50 [[-1.77716450e-01 -9.84081230e-01 -9.98378989e-04 1.93520861e+02] [-9.84060549e-01 1.77719190e-01 -6.38164199e-03 -1.19540112e+02] [ 6.45748521e-03 -1.51657384e-04 -9.99979139e-01 5.04613943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.55762799999997 meters 0.018691228902954722 Centerline is valid? [True, True] Translation: X:193.48, Y:-119.65, Z:0.51 [[-1.05175693e-01 -9.94453611e-01 -2.99825127e-04 1.93479162e+02] [-9.94446251e-01 1.05176068e-01 -3.82735465e-03 -1.19650567e+02] [ 3.83766108e-03 -1.04384704e-04 -9.99992631e-01 5.08249474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.61762799999997 meters 0.019229516486474852 Centerline is valid? [True, True] Translation: X:193.45, Y:-119.77, Z:0.51 [[-3.19538481e-02 -9.99489345e-01 -2.31209810e-06 1.93445794e+02] [-9.99487551e-01 3.19537951e-02 -1.89487505e-03 -1.19766229e+02] [ 1.89398131e-03 -5.82376364e-05 -9.99998205e-01 5.10377330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.67762799999997 meters 0.020338504802967703 Centerline is valid? [True, True] Translation: X:193.42, Y:-119.89, Z:0.51 [[ 4.34090074e-02 -9.99057383e-01 -5.88290742e-05 1.93422868e+02] [-9.99057089e-01 -4.34090398e-02 7.66798133e-04 -1.19886518e+02] [-7.68629049e-04 2.54876578e-05 -9.99999704e-01 5.13432132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.737628 meters 0.020329800079843027 Centerline is valid? [True, True] Translation: X:193.41, Y:-120.01, Z:0.52 [[ 1.22717816e-01 -9.92441523e-01 -4.01683574e-04 1.93410186e+02] [-9.92438118e-01 -1.22718448e-01 2.60069191e-03 -1.20007891e+02] [-2.63032863e-03 7.94948580e-05 -9.99996538e-01 5.15058862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.797628 meters 0.01945773617405862 Centerline is valid? [True, True] Translation: X:193.41, Y:-120.13, Z:0.51 [[ 2.00239650e-01 -9.79746785e-01 -5.65020481e-04 1.93406280e+02] [-9.79743825e-01 -2.00240434e-01 2.40972171e-03 -1.20130225e+02] [-2.47405705e-03 7.10534958e-05 -9.99996937e-01 5.14958305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.857628 meters 0.016424602640014135 Centerline is valid? [True, True] Translation: X:193.41, Y:-120.25, Z:0.51 [[ 2.77968574e-01 -9.60590166e-01 -7.12103035e-05 1.93408698e+02] [-9.60590140e-01 -2.77968583e-01 2.23214988e-04 -1.20253681e+02] [-2.34212350e-04 6.35716341e-06 -9.99999973e-01 5.12002213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.917628 meters 0.015863250567582983 Centerline is valid? [True, True] Translation: X:193.42, Y:-120.37, Z:0.51 [[ 3.53702307e-01 -9.35357742e-01 7.56979355e-04 1.93422939e+02] [-9.35355865e-01 -3.53703114e-01 -1.87418715e-03 -1.20373895e+02] [ 2.02078141e-03 -4.51407613e-05 -9.99997957e-01 5.08963037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.977628 meters 0.015251937573342356 Centerline is valid? [True, True] Translation: X:193.44, Y:-120.49, Z:0.51 [[ 4.26809367e-01 -9.04341099e-01 9.69718454e-04 1.93444983e+02] [-9.04338990e-01 -4.26810467e-01 -1.95379319e-03 -1.20491778e+02] [ 2.18078147e-03 -4.30569709e-05 -9.99997621e-01 5.07499115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.037628 meters 0.014763744446914638 Centerline is valid? [True, True] Translation: X:193.48, Y:-120.61, Z:0.51 [[ 4.97158535e-01 -8.67658327e-01 1.55527631e-03 1.93476527e+02] [-8.67654406e-01 -4.97160965e-01 -2.60892758e-03 -1.20608659e+02] [ 3.03688041e-03 -5.23917291e-05 -9.99995387e-01 5.06759435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.097628 meters 0.014195276606639483 Centerline is valid? [True, True] Translation: X:193.51, Y:-120.72, Z:0.51 [[ 5.63650810e-01 -8.26011284e-01 1.76749749e-03 1.93511781e+02] [-8.26007483e-01 -5.63653579e-01 -2.50614869e-03 -1.20718338e+02] [ 3.06636339e-03 -4.73734153e-05 -9.99995298e-01 5.08343940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.157628 meters 0.014300502569133329 Centerline is valid? [True, True] Translation: X:193.56, Y:-120.82, Z:0.51 [[ 6.26635933e-01 -7.79310549e-01 1.57312445e-03 1.93558886e+02] [-7.79308226e-01 -6.26637907e-01 -1.90321009e-03 -1.20823956e+02] [ 2.46897112e-03 -3.33289893e-05 -9.99996952e-01 5.08697388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.217628 meters 0.01369646043787758 Centerline is valid? [True, True] Translation: X:193.61, Y:-120.92, Z:0.51 [[ 6.87354509e-01 -7.26320680e-01 -1.43119368e-03 1.93606624e+02] [-7.26319166e-01 -6.87355999e-01 1.48339961e-03 -1.20923480e+02] [-2.06116338e-03 1.98819934e-05 -9.99997876e-01 5.11659175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.277628 meters 0.013407100194618932 Centerline is valid? [True, True] Translation: X:193.66, Y:-121.02, Z:0.51 [[ 7.41788131e-01 -6.70630947e-01 -2.12174873e-03 1.93662479e+02] [-6.70628289e-01 -7.41791165e-01 1.88810876e-03 -1.21016600e+02] [-2.84011863e-03 2.23280544e-05 -9.99995967e-01 5.12237969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.337628 meters 0.013241398023941125 Centerline is valid? [True, True] Translation: X:193.68, Y:-121.05, Z:0.51 [[ 7.92865597e-01 -6.09388215e-01 -3.18579182e-03 1.93681727e+02] [-6.09383423e-01 -7.92871997e-01 2.41681077e-03 -1.21045033e+02] [-3.99870112e-03 2.51626126e-05 -9.99992005e-01 5.12448445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.397628 meters 0.014919976856178824 Centerline is valid? [True, True] Translation: X:193.70, Y:-121.07, Z:0.51 [[ 8.36517601e-01 -5.47934297e-01 -2.51187333e-03 1.93704255e+02] [-5.47931925e-01 -8.36521372e-01 1.61259153e-03 -1.21070274e+02] [-2.98482993e-03 2.73743959e-05 -9.99995545e-01 5.13354999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.457628 meters 0.013867935947971203 Centerline is valid? [True, True] Translation: X:193.73, Y:-121.09, Z:0.51 [[ 8.75640454e-01 -4.82951984e-01 -3.34319599e-03 1.93727879e+02] [-4.82948655e-01 -8.75646835e-01 1.79384960e-03 -1.21091160e+02] [-3.79380220e-03 4.38247296e-05 -9.99992803e-01 5.13508747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.517628 meters 0.013479806994898981 Centerline is valid? [True, True] Translation: X:193.75, Y:-121.11, Z:0.51 [[ 9.11647307e-01 -4.10952774e-01 -4.12374430e-03 1.93752375e+02] [-4.10948776e-01 -9.11656633e-01 1.81321690e-03 -1.21113629e+02] [-4.50458535e-03 4.16333701e-05 -9.99989853e-01 5.12593939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.577628 meters 0.014544341947947062 Centerline is valid? [True, True] Translation: X:193.78, Y:-121.14, Z:0.51 [[ 9.42856524e-01 -3.33164966e-01 -4.76249938e-03 1.93778464e+02] [-3.33160815e-01 -9.42868551e-01 1.66320279e-03 -1.21136894e+02] [-5.04453179e-03 1.85165715e-05 -9.99987276e-01 5.14355979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.637628 meters 0.013039529096380034 Centerline is valid? [True, True] Translation: X:193.81, Y:-121.15, Z:0.51 [[ 9.66035984e-01 -2.58383814e-01 -3.50472128e-03 1.93807196e+02] [-2.58382163e-01 -9.66042341e-01 9.23644196e-04 -1.21154733e+02] [-3.62436386e-03 1.32839357e-05 -9.99993432e-01 5.10739206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.697628 meters 0.01590990059543471 Centerline is valid? [True, True] Translation: X:193.84, Y:-121.17, Z:0.51 [[ 9.82436423e-01 -1.86596999e-01 4.85000627e-04 1.93836763e+02] [-1.86596978e-01 -9.82436542e-01 -8.84060263e-05 -1.21166680e+02] [ 4.92978638e-04 -3.64635100e-06 -9.99999878e-01 5.10593343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.757628 meters 0.013218349561814278 Centerline is valid? [True, True] Translation: X:193.86, Y:-121.18, Z:0.51 [[ 9.94084353e-01 -1.08587438e-01 2.25100873e-03 1.93864058e+02] [-1.08587199e-01 -9.94086902e-01 -2.28737232e-04 -1.21178337e+02] [ 2.26253629e-03 -1.70466292e-05 -9.99997440e-01 5.05908718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.817628 meters 0.012911945598583191 Centerline is valid? [True, True] Translation: X:193.89, Y:-121.19, Z:0.51 [[ 9.99609062e-01 -2.78562660e-02 2.39823403e-03 1.93891867e+02] [-2.78562146e-02 -9.99611939e-01 -5.48129073e-05 -1.21192697e+02] [ 2.39883025e-03 -1.20142430e-05 -9.99997123e-01 5.06037727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.877628 meters 0.013003631647228665 Centerline is valid? [True, True] Translation: X:193.92, Y:-121.20, Z:0.51 [[ 9.98693122e-01 5.10760634e-02 1.81209911e-03 1.93920225e+02] [ 5.10759650e-02 -9.98694766e-01 1.00592088e-04 -1.21202891e+02] [ 1.81487175e-03 -7.90591599e-06 -9.99998353e-01 5.06587452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.937628 meters 0.013056071779006535 Centerline is valid? [True, True] Translation: X:193.95, Y:-121.21, Z:0.51 [[ 9.91850637e-01 1.27405766e-01 2.89709243e-04 1.93950307e+02] [ 1.27405760e-01 -9.91850680e-01 3.86763255e-05 -1.21210823e+02] [ 2.92275897e-04 -1.45051164e-06 -9.99999957e-01 5.09291978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.99762799999996 meters 0.013061319648290807 Centerline is valid? [True, True] Translation: X:193.98, Y:-121.21, Z:0.51 [[ 9.78726583e-01 2.05165998e-01 -1.09081308e-03 1.93979534e+02] [ 2.05165863e-01 -9.78727190e-01 -2.35661206e-04 -1.21213018e+02] [-1.11595809e-03 6.85027921e-06 -9.99999377e-01 5.08444426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.05762799999997 meters 0.013021266981429028 Centerline is valid? [True, True] Translation: X:194.01, Y:-121.21, Z:0.51 [[ 9.58966167e-01 2.83519212e-01 -8.64825278e-04 1.94008859e+02] [ 2.83519093e-01 -9.58966557e-01 -2.59242172e-04 -1.21212989e+02] [-9.02838655e-04 3.40999344e-06 -9.99999592e-01 5.07563365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.11762799999997 meters 0.013108416727992794 Centerline is valid? [True, True] Translation: X:194.04, Y:-121.22, Z:0.51 [[ 9.33255650e-01 3.59210275e-01 -1.36752225e-03 1.94040662e+02] [ 3.59209885e-01 -9.33256652e-01 -5.29498127e-04 -1.21215157e+02] [-1.46645040e-03 2.92960984e-06 -9.99998925e-01 5.09296112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.17762799999997 meters 0.0158799316323727 Centerline is valid? [True, True] Translation: X:194.07, Y:-121.21, Z:0.51 [[ 9.02602913e-01 4.30473192e-01 -9.01685513e-04 1.94070623e+02] [ 4.30472974e-01 -9.02603363e-01 -4.33232457e-04 -1.21212215e+02] [-1.00035934e-03 2.88563260e-06 -9.99999500e-01 5.12203919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.237628 meters 0.0158553544867153 Centerline is valid? [True, True] Translation: X:194.10, Y:-121.20, Z:0.51 [[ 8.66288805e-01 4.99542402e-01 1.04620008e-03 1.94099558e+02] [ 4.99542033e-01 -8.66289437e-01 6.06738013e-04 -1.21204891e+02] [ 1.20940344e-03 -2.98943289e-06 -9.99999269e-01 5.09000502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.297628 meters 0.01635966041448836 Centerline is valid? [True, True] Translation: X:194.13, Y:-121.20, Z:0.51 [[ 8.25488076e-01 5.64409629e-01 3.34770213e-03 1.94128640e+02] [ 5.64404900e-01 -8.25494864e-01 2.31066753e-03 -1.21196373e+02] [ 4.06767392e-03 -1.79690089e-05 -9.99991727e-01 5.07629303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.357628 meters 0.013819287440466302 Centerline is valid? [True, True] Translation: X:194.15, Y:-121.19, Z:0.50 [[ 7.78737241e-01 6.27334769e-01 4.40413934e-03 1.94154400e+02] [ 6.27324555e-01 -7.78749695e-01 3.57988216e-03 -1.21185373e+02] [ 5.67550671e-03 -2.49628064e-05 -9.99983894e-01 5.01909974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.417628 meters 0.01384212987786084 Centerline is valid? [True, True] Translation: X:194.18, Y:-121.17, Z:0.50 [[ 7.26309832e-01 6.87350457e-01 4.83502665e-03 1.94180669e+02] [ 6.87335040e-01 -7.26325925e-01 4.60366226e-03 -1.21172461e+02] [ 6.67613456e-03 -2.04019258e-05 -9.99977714e-01 5.02204092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.477628 meters 0.016650352822870473 Centerline is valid? [True, True] Translation: X:194.20, Y:-121.16, Z:0.51 [[ 6.68516562e-01 7.43685554e-01 4.17159708e-03 1.94203562e+02] [ 7.43671034e-01 -6.68529578e-01 4.64723792e-03 -1.21156488e+02] [ 6.24491974e-03 -4.45960831e-06 -9.99980500e-01 5.05975721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.537628 meters 0.014097921600527768 Centerline is valid? [True, True] Translation: X:194.23, Y:-121.14, Z:0.50 [[ 6.05822571e-01 7.95595379e-01 2.64685982e-03 1.94226142e+02] [ 7.95587860e-01 -6.05828353e-01 3.45886980e-03 -1.21139902e+02] [ 4.35540355e-03 1.03481458e-05 -9.99990515e-01 5.04600857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.597628 meters 0.01722050522598958 Centerline is valid? [True, True] Translation: X:194.25, Y:-121.12, Z:0.51 [[ 5.40974386e-01 8.41038820e-01 6.45432956e-04 1.94251486e+02] [ 8.41038231e-01 -5.40974771e-01 9.95981004e-04 -1.21123004e+02] [ 1.18682163e-03 4.03357958e-06 -9.99999296e-01 5.12749074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.657628 meters 0.014048300048420656 Centerline is valid? [True, True] Translation: X:194.27, Y:-121.10, Z:0.51 [[ 4.74379815e-01 8.80320245e-01 -2.40053600e-04 1.94273773e+02] [ 8.80320133e-01 -4.74379876e-01 -4.44106888e-04 -1.21104662e+02] [-5.04832881e-04 -6.48673708e-07 -9.99999873e-01 5.10847276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.717628 meters 0.014128658528216782 Centerline is valid? [True, True] Translation: X:194.29, Y:-121.08, Z:0.51 [[ 4.03255799e-01 9.15087166e-01 -4.89193236e-04 1.94292873e+02] [ 9.15086502e-01 -4.03256095e-01 -1.10254542e-03 -1.21082360e+02] [-1.20619532e-03 -3.04629280e-06 -9.99999273e-01 5.11256845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.777628 meters 0.01474289601055393 Centerline is valid? [True, True] Translation: X:194.31, Y:-121.06, Z:0.51 [[ 3.25576337e-01 9.45515488e-01 -7.14657972e-04 1.94312987e+02] [ 9.45513320e-01 -3.25577121e-01 -2.02476733e-03 -1.21060275e+02] [-2.14712516e-03 -1.65022998e-05 -9.99997695e-01 5.11915549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.837628 meters 0.01763294677236472 Centerline is valid? [True, True] Translation: X:194.33, Y:-121.04, Z:0.52 [[ 2.46025557e-01 9.69262936e-01 -8.86331346e-04 1.94332758e+02] [ 9.69257256e-01 -2.46027150e-01 -3.31871884e-03 -1.21036373e+02] [-3.43477274e-03 -4.25934384e-05 -9.99994100e-01 5.16265545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.897628 meters 0.019077779067600362 Centerline is valid? [True, True] Translation: X:194.35, Y:-121.01, Z:0.52 [[ 1.69465603e-01 9.85535842e-01 -7.16744647e-04 1.94349972e+02] [ 9.85528201e-01 -1.69467112e-01 -3.88102785e-03 -1.21012073e+02] [-3.94635669e-03 -4.86713378e-05 -9.99992212e-01 5.19040281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.957628 meters 0.015301985903194003 Centerline is valid? [True, True] Translation: X:194.36, Y:-120.98, Z:0.51 [[ 9.55043385e-02 9.95428968e-01 -3.01420695e-04 1.94360626e+02] [ 9.95424793e-01 -9.55048110e-02 -2.88307137e-03 -1.20984829e+02] [-2.89867988e-03 -2.46958095e-05 -9.99995799e-01 5.11958043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.017628 meters 0.015128276603944061 Centerline is valid? [True, True] Translation: X:194.37, Y:-120.96, Z:0.51 [[ 2.35679405e-02 9.99722236e-01 -6.33961962e-05 1.94369226e+02] [ 9.99719212e-01 -2.35680252e-02 -2.45853252e-03 -1.20956557e+02] [-2.45934375e-03 -5.43584725e-06 -9.99996976e-01 5.09951809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.077628 meters 0.01537745702053516 Centerline is valid? [True, True] Translation: X:194.38, Y:-120.93, Z:0.51 [[-5.27461878e-02 9.98607929e-01 2.08448370e-04 1.94378412e+02] [ 9.98600074e-01 5.27465997e-02 -3.96087969e-03 -1.20928814e+02] [-3.96636081e-03 -7.64746159e-07 -9.99992134e-01 5.11727840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.137628 meters 0.01793016453701383 Centerline is valid? [True, True] Translation: X:194.38, Y:-120.90, Z:0.52 [[-1.31445928e-01 9.91323169e-01 5.85262168e-04 1.94383122e+02] [ 9.91313220e-01 1.31447231e-01 -4.44130926e-03 -1.20900353e+02] [-4.47970386e-03 -3.61389263e-06 -9.99989966e-01 5.16643897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.197628 meters 0.016159433780111292 Centerline is valid? [True, True] Translation: X:194.39, Y:-120.87, Z:0.51 [[-2.13402941e-01 9.76963532e-01 1.20055535e-03 1.94392069e+02] [ 9.76947205e-01 2.13406316e-01 -5.64820064e-03 -1.20870186e+02] [-5.77429214e-03 -3.24634366e-05 -9.99983328e-01 5.14041655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.257628 meters 0.01730153477960185 Centerline is valid? [True, True] Translation: X:194.40, Y:-120.84, Z:0.52 [[-2.94618764e-01 9.55612812e-01 1.98449694e-03 1.94395091e+02] [ 9.55589308e-01 2.94625437e-01 -6.70273477e-03 -1.20839018e+02] [-6.98990250e-03 -7.83873829e-05 -9.99975567e-01 5.15138190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.317628 meters 0.017468304285222787 Centerline is valid? [True, True] Translation: X:194.39, Y:-120.81, Z:0.51 [[-3.68810923e-01 9.29499346e-01 3.07704698e-03 1.94390320e+02] [ 9.29464737e-01 3.68823746e-01 -8.02169946e-03 -1.20809307e+02] [-8.59105240e-03 -9.84837216e-05 -9.99963091e-01 5.14345257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.377628 meters 0.01794804052410603 Centerline is valid? [True, True] Translation: X:194.39, Y:-120.78, Z:0.51 [[-4.41378965e-01 8.97314602e-01 3.33379105e-03 1.94385367e+02] [ 8.97287335e-01 4.41391545e-01 -6.99590357e-03 -1.20779571e+02] [-7.74903361e-03 -9.64761911e-05 -9.99969971e-01 5.12092516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.437628 meters 0.020564795722449198 Centerline is valid? [True, True] Translation: X:194.38, Y:-120.75, Z:0.51 [[-5.08553746e-01 8.61025152e-01 2.96205671e-03 1.94375625e+02] [ 8.61009833e-01 5.08562369e-01 -5.13660960e-03 -1.20750963e+02] [-5.92914064e-03 -6.18820967e-05 -9.99982421e-01 5.13233846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.49762799999996 meters 0.02030976404680725 Centerline is valid? [True, True] Translation: X:194.36, Y:-120.73, Z:0.51 [[-5.71855773e-01 8.20352340e-01 1.73618681e-03 1.94361630e+02] [ 8.20348441e-01 5.71858408e-01 -2.52932126e-03 -1.20726294e+02] [-3.06778764e-03 -2.21288194e-05 -9.99995294e-01 5.09524390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.55762799999997 meters 0.019533044550833708 Centerline is valid? [True, True] Translation: X:194.35, Y:-120.70, Z:0.51 [[-6.31267720e-01 7.75563202e-01 -1.66864978e-03 1.94345991e+02] [ 7.75560455e-01 6.31269926e-01 2.06451519e-03 -1.20702110e+02] [ 2.65453043e-03 9.12301758e-06 -9.99996477e-01 5.05180093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.61762799999997 meters 0.020140752531493188 Centerline is valid? [True, True] Translation: X:194.33, Y:-120.68, Z:0.50 [[-6.88088143e-01 7.25622019e-01 -2.71903404e-03 1.94331315e+02] [ 7.25616339e-01 6.88093515e-01 2.87106690e-03 -1.20676531e+02] [ 3.95425905e-03 2.57156612e-06 -9.99992182e-01 5.04351689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.67762799999997 meters 0.020164093568180826 Centerline is valid? [True, True] Translation: X:194.31, Y:-120.66, Z:0.50 [[-7.39332650e-01 6.73303167e-01 -7.07661024e-03 1.94310358e+02] [ 6.73272887e-01 7.39366515e-01 6.38562216e-03 -1.20658738e+02] [ 9.53166827e-03 -4.33908557e-05 -9.99954572e-01 4.96245600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.737628 meters 0.021027474361690928 Centerline is valid? [True, True] Translation: X:194.80, Y:-120.14, Z:-0.49 [[-7.05367850e-01 -7.08799776e-01 -7.68599908e-03 1.94800451e+02] [ 7.08757963e-01 -7.05409723e-01 7.69886851e-03 -1.20135180e+02] [-1.08787348e-02 -1.69787237e-05 9.99940825e-01 -4.85641137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.797628 meters 0.01952538263313442 Centerline is valid? [True, True] Translation: X:194.76, Y:-120.09, Z:-0.49 [[-7.08335064e-01 -7.05855271e-01 -5.45648005e-03 1.94761057e+02] [ 7.05832826e-01 -7.08356067e-01 5.63064728e-03 -1.20093053e+02] [-7.83955281e-03 1.37022174e-04 9.99969261e-01 -4.86672453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.857628 meters 0.021209116778633096 Centerline is valid? [True, True] Translation: X:194.72, Y:-120.05, Z:-0.49 [[-7.14251230e-01 -6.99886912e-01 -1.86823415e-03 1.94723801e+02] [ 6.99884263e-01 -7.14253670e-01 1.92671395e-03 -1.20049754e+02] [-2.68287498e-03 6.86101255e-05 9.99996399e-01 -4.90799563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.917628 meters 0.024346033745556304 Centerline is valid? [True, True] Translation: X:194.69, Y:-120.00, Z:-0.49 [[-7.20515440e-01 -6.93436338e-01 -1.88321670e-03 1.94688357e+02] [ 6.93433627e-01 -7.20517895e-01 1.94102102e-03 -1.20004673e+02] [-2.70286584e-03 9.26498326e-05 9.99996343e-01 -4.91098507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.977628 meters 0.030066672171667138 Centerline is valid? [True, True] Translation: X:194.65, Y:-119.96, Z:-0.50 [[-7.31483765e-01 -6.81858771e-01 -3.43519639e-04 1.94651776e+02] [ 6.81858679e-01 -7.31483846e-01 3.53857537e-04 -1.19959246e+02] [-4.92559932e-04 2.46091958e-05 9.99999878e-01 -4.96467365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.037628 meters 0.03247369538703166 Centerline is valid? [True, True] Translation: X:194.62, Y:-119.91, Z:-0.50 [[-7.38439297e-01 -6.74319761e-01 -5.14032872e-04 1.94616233e+02] [ 6.74319555e-01 -7.38439475e-01 5.29195628e-04 -1.19913995e+02] [-7.36429234e-04 4.41564300e-05 9.99999728e-01 -4.95734846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.097628 meters 0.03188616114222725 Centerline is valid? [True, True] Translation: X:194.58, Y:-119.87, Z:-0.49 [[-7.42230708e-01 -6.70144034e-01 -7.40885549e-04 1.94576709e+02] [ 6.70143604e-01 -7.42231075e-01 7.62304141e-04 -1.19872022e+02] [-1.06076185e-03 6.93058310e-05 9.99999435e-01 -4.93050426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.157628 meters 0.0327202704347599 Centerline is valid? [True, True] Translation: X:194.54, Y:-119.83, Z:-0.49 [[-7.42221261e-01 -6.70154105e-01 -1.03726682e-03 1.94539855e+02] [ 6.70153263e-01 -7.42221979e-01 1.06674815e-03 -1.19829120e+02] [-1.48476789e-03 9.66354150e-05 9.99998893e-01 -4.89526131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.217628 meters 0.03644255805308317 Centerline is valid? [True, True] Translation: X:194.50, Y:-119.79, Z:-0.49 [[-7.42494524e-01 -6.69850361e-01 -1.54143248e-03 1.94503533e+02] [ 6.69848502e-01 -7.42496110e-01 1.58450418e-03 -1.19785759e+02] [-2.20588831e-03 1.43959439e-04 9.99997557e-01 -4.91533403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.277628 meters 0.032135256234956784 Centerline is valid? [True, True] Translation: X:194.46, Y:-119.75, Z:-0.49 [[-7.42696933e-01 -6.69619730e-01 -3.26849976e-03 1.94459928e+02] [ 6.69611381e-01 -7.42704062e-01 3.35775083e-03 -1.19747862e+02] [-4.67594425e-03 3.05166604e-04 9.99989021e-01 -4.89601036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.337628 meters 0.03165401440743183 Centerline is valid? [True, True] Translation: X:194.42, Y:-119.71, Z:-0.49 [[-7.42219551e-01 -6.70126340e-01 -6.38951677e-03 1.94420206e+02] [ 6.70094485e-01 -7.42246821e-01 6.56038099e-03 -1.19705324e+02] [-9.13888262e-03 5.87663087e-04 9.99958067e-01 -4.87729905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.397628 meters 0.031837705880699195 Centerline is valid? [True, True] Translation: X:194.38, Y:-119.66, Z:-0.49 [[-7.40872224e-01 -6.71599669e-01 -7.88872375e-03 1.94380966e+02] [ 6.71551244e-01 -7.40913891e-01 8.09516743e-03 -1.19662751e+02] [-1.12815768e-02 6.99802442e-04 9.99936116e-01 -4.86186885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.457628 meters 0.031147338817511083 Centerline is valid? [True, True] Translation: X:194.34, Y:-119.62, Z:-0.49 [[-7.37340605e-01 -6.75468973e-01 -8.39640841e-03 1.94341429e+02] [ 6.75414427e-01 -7.37388098e-01 8.61074395e-03 -1.19622934e+02] [-1.20077020e-02 6.77995777e-04 9.99927675e-01 -4.85877068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.517628 meters 0.03029869942106838 Centerline is valid? [True, True] Translation: X:194.30, Y:-119.58, Z:-0.49 [[-7.36096649e-01 -6.76812892e-01 -9.27542436e-03 1.94299459e+02] [ 6.76746498e-01 -7.36154732e-01 9.50726894e-03 -1.19582465e+02] [-1.32627897e-02 7.21157851e-04 9.99911785e-01 -4.86776912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.577628 meters 0.030640808115145746 Centerline is valid? [True, True] Translation: X:194.26, Y:-119.54, Z:-0.49 [[-7.36547006e-01 -6.76315464e-01 -9.79294121e-03 1.94260880e+02] [ 6.76241485e-01 -7.36611706e-01 1.00323676e-02 -1.19538397e+02] [-1.39986405e-02 7.66917229e-04 9.99901720e-01 -4.85189415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.637628 meters 0.03323830592295848 Centerline is valid? [True, True] Translation: X:194.22, Y:-119.50, Z:-0.49 [[-7.38852157e-01 -6.73804835e-01 -9.19428663e-03 1.94221385e+02] [ 6.73739498e-01 -7.38908969e-01 9.41399568e-03 -1.19496046e+02] [-1.31369367e-02 7.60996950e-04 9.99913417e-01 -4.86888035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.697628 meters 0.034077756688040035 Centerline is valid? [True, True] Translation: X:194.18, Y:-119.46, Z:-0.49 [[-7.41239353e-01 -6.71190905e-01 -8.18484652e-03 1.94180905e+02] [ 6.71139009e-01 -7.41284194e-01 8.37699786e-03 -1.19455656e+02] [-1.16898621e-02 7.16190691e-04 9.99931415e-01 -4.89373201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.757628 meters 0.035640233129699134 Centerline is valid? [True, True] Translation: X:194.14, Y:-119.41, Z:-0.49 [[-7.45314091e-01 -6.66658839e-01 -8.53806695e-03 1.94142183e+02] [ 6.66602130e-01 -7.45362545e-01 8.73362006e-03 -1.19412491e+02] [-1.21863003e-02 8.17796474e-04 9.99925410e-01 -4.88731582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.817628 meters 0.035785201000852924 Centerline is valid? [True, True] Translation: X:194.10, Y:-119.37, Z:-0.49 [[-7.50191202e-01 -6.61173572e-01 -7.91633926e-03 1.94101123e+02] [ 6.61124572e-01 -7.50232502e-01 8.09283674e-03 -1.19372388e+02] [-1.12898648e-02 8.37488517e-04 9.99935917e-01 -4.90204752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.877628 meters 0.03746116671840817 Centerline is valid? [True, True] Translation: X:194.06, Y:-119.33, Z:-0.49 [[-7.54442227e-01 -6.56315015e-01 -8.21750386e-03 1.94062233e+02] [ 6.56261987e-01 -7.54486392e-01 8.39573009e-03 -1.19330567e+02] [-1.17102386e-02 9.41257896e-04 9.99930990e-01 -4.90333065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.93762799999996 meters 0.04099542327857818 Centerline is valid? [True, True] Translation: X:194.03, Y:-119.29, Z:-0.49 [[-7.56676204e-01 -6.53711418e-01 -1.01244449e-02 1.94025681e+02] [ 6.53630784e-01 -7.56742975e-01 1.03376966e-02 -1.19286654e+02] [-1.44194728e-02 1.20464018e-03 9.99895308e-01 -4.88927294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.99762799999996 meters 0.03759162146874862 Centerline is valid? [True, True] Translation: X:193.98, Y:-119.25, Z:-0.49 [[-7.56231313e-01 -6.54219468e-01 -1.05398739e-02 1.93982601e+02] [ 6.54132212e-01 -7.56303742e-01 1.07563586e-02 -1.19247052e+02] [-1.50083652e-02 1.23982415e-03 9.99886599e-01 -4.88677652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.05762799999997 meters 0.0379402592194037 Centerline is valid? [True, True] Translation: X:193.94, Y:-119.21, Z:-0.49 [[-7.55821731e-01 -6.54692265e-01 -1.05617346e-02 1.93942722e+02] [ 6.54604780e-01 -7.55894523e-01 1.07727696e-02 -1.19205236e+02] [-1.50364063e-02 1.22853146e-03 9.99886192e-01 -4.88481519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.11762799999997 meters 0.038517944273570824 Centerline is valid? [True, True] Translation: X:193.90, Y:-119.16, Z:-0.49 [[-7.53301723e-01 -6.57598586e-01 -1.00306776e-02 1.93903034e+02] [ 6.57520019e-01 -7.53367689e-01 1.02249421e-02 -1.19164776e+02] [-1.42806959e-02 1.10709519e-03 9.99897413e-01 -4.90061095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.17762799999997 meters 0.03534336964821676 Centerline is valid? [True, True] Translation: X:193.86, Y:-119.13, Z:-0.49 [[-7.50082466e-01 -6.61253564e-01 -1.09552491e-02 1.93859278e+02] [ 6.61160336e-01 -7.50161616e-01 1.11606371e-02 -1.19127581e+02] [-1.55982185e-02 1.12822204e-03 9.99877704e-01 -4.89889743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.237628 meters 0.03474616248655853 Centerline is valid? [True, True] Translation: X:193.82, Y:-119.09, Z:-0.49 [[-7.45520164e-01 -6.66383774e-01 -1.15043571e-02 1.93819445e+02] [ 6.66281684e-01 -7.45608159e-01 1.17128177e-02 -1.19087286e+02] [-1.63829742e-02 1.06699939e-03 9.99865221e-01 -4.87912973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.297628 meters 0.03532721595446242 Centerline is valid? [True, True] Translation: X:193.78, Y:-119.05, Z:-0.49 [[-7.43756051e-01 -6.68329382e-01 -1.27582677e-02 1.93780344e+02] [ 6.68204240e-01 -7.43864611e-01 1.29820576e-02 -1.19046957e+02] [-1.81667144e-02 1.13035527e-03 9.99834333e-01 -4.86823712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.357628 meters 0.029645927544237182 Centerline is valid? [True, True] Translation: X:193.73, Y:-119.01, Z:-0.49 [[-7.43100748e-01 -6.69008308e-01 -1.51380960e-02 1.93734848e+02] [ 6.68832466e-01 -7.43253763e-01 1.53940191e-02 -1.19011743e+02] [-2.15501735e-02 1.31445706e-03 9.99766904e-01 -4.87696148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.417628 meters 0.02858636672120692 Centerline is valid? [True, True] Translation: X:193.69, Y:-118.97, Z:-0.49 [[-7.45126996e-01 -6.66734404e-01 -1.58428083e-02 1.93693261e+02] [ 6.66541516e-01 -7.45294015e-01 1.61008757e-02 -1.18971950e+02] [-2.25425580e-02 1.43730767e-03 9.99744851e-01 -4.87448407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.477628 meters 0.03154331291882959 Centerline is valid? [True, True] Translation: X:193.66, Y:-118.93, Z:-0.49 [[-7.47159759e-01 -6.64457995e-01 -1.57438209e-02 1.93655726e+02] [ 6.64267224e-01 -7.47324129e-01 1.59906286e-02 -1.18928813e+02] [-2.23908382e-02 1.48944997e-03 9.99748184e-01 -4.87111901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.537628 meters 0.03730269297895826 Centerline is valid? [True, True] Translation: X:193.62, Y:-118.88, Z:-0.48 [[-7.48840422e-01 -6.62561865e-01 -1.58049667e-02 1.93622908e+02] [ 6.62369396e-01 -7.49005599e-01 1.60435596e-02 -1.18881730e+02] [-2.24678593e-02 1.54533969e-03 9.99746371e-01 -4.82143392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.597628 meters 0.030288376719279687 Centerline is valid? [True, True] Translation: X:193.57, Y:-118.85, Z:-0.49 [[-7.50211711e-01 -6.61063315e-01 -1.33297341e-02 1.93571712e+02] [ 6.60926327e-01 -7.50328935e-01 1.35232951e-02 -1.18850876e+02] [-1.89414395e-02 1.33536217e-03 9.99819703e-01 -4.91886004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.657628 meters 0.030620506790762822 Centerline is valid? [True, True] Translation: X:193.53, Y:-118.81, Z:-0.49 [[-7.50425625e-01 -6.60863552e-01 -1.09884635e-02 1.93531415e+02] [ 6.60770536e-01 -7.50505266e-01 1.11420095e-02 -1.18809993e+02] [-1.56102478e-02 1.10039654e-03 9.99877547e-01 -4.93417138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.717628 meters 0.02922540073948526 Centerline is valid? [True, True] Translation: X:193.49, Y:-118.77, Z:-0.49 [[-7.50804913e-01 -6.60445878e-01 -1.01600015e-02 1.93490517e+02] [ 6.60366405e-01 -7.50872958e-01 1.02961613e-02 -1.18768607e+02] [-1.44289277e-02 1.02108483e-03 9.99895376e-01 -4.94433898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.777628 meters 0.029633464557962917 Centerline is valid? [True, True] Translation: X:193.45, Y:-118.73, Z:-0.50 [[-7.49016817e-01 -6.62499802e-01 -8.23525138e-03 1.93449621e+02] [ 6.62447770e-01 -7.49061670e-01 8.34068135e-03 -1.18727730e+02] [-1.16944109e-02 7.91886694e-04 9.99931304e-01 -4.98064173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.837628 meters 0.028033571383536307 Centerline is valid? [True, True] Translation: X:193.41, Y:-118.69, Z:-0.50 [[-7.44983257e-01 -6.67038056e-01 -7.75747854e-03 1.93406940e+02] [ 6.66992178e-01 -7.45023339e-01 7.85231490e-03 -1.18688709e+02] [-1.10172954e-02 6.75665626e-04 9.99939079e-01 -4.98403927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.897628 meters 0.026691286416089248 Centerline is valid? [True, True] Translation: X:193.37, Y:-118.65, Z:-0.49 [[-7.43095985e-01 -6.69111318e-01 -9.91976143e-03 1.93366572e+02] [ 6.69036569e-01 -7.43161740e-01 1.00347996e-02 -1.18647817e+02] [-1.40863851e-02 8.20136129e-04 9.99900446e-01 -4.93818386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.957628 meters 0.025624450675477733 Centerline is valid? [True, True] Translation: X:193.33, Y:-118.61, Z:-0.49 [[-7.40353187e-01 -6.72097793e-01 -1.27167634e-02 1.93325143e+02] [ 6.71975470e-01 -7.40461752e-01 1.28592856e-02 -1.18606775e+02] [-1.80589744e-02 9.75059951e-04 9.99836448e-01 -4.92008550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.017628 meters 0.025141707282091995 Centerline is valid? [True, True] Translation: X:193.28, Y:-118.57, Z:-0.49 [[-7.40024301e-01 -6.72437931e-01 -1.38297998e-02 1.93283371e+02] [ 6.72293471e-01 -7.40152779e-01 1.39768479e-02 -1.18565939e+02] [-1.96347274e-02 1.04552297e-03 9.99806673e-01 -4.91440368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.077628 meters 0.02583502264548948 Centerline is valid? [True, True] Translation: X:193.24, Y:-118.53, Z:-0.49 [[-7.38632180e-01 -6.73943133e-01 -1.49383855e-02 1.93242185e+02] [ 6.73775072e-01 -7.38782435e-01 1.50885805e-02 -1.18525220e+02] [-2.12050621e-02 1.07979933e-03 9.99774564e-01 -4.92024780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.137628 meters 0.025003708972300965 Centerline is valid? [True, True] Translation: X:193.20, Y:-118.48, Z:-0.49 [[-7.37958489e-01 -6.74671004e-01 -1.53721994e-02 1.93200343e+02] [ 6.74493375e-01 -7.38117784e-01 1.55185306e-02 -1.18484323e+02] [-2.18163964e-02 1.08358470e-03 9.99761407e-01 -4.91273673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.197628 meters 0.025943046826150947 Centerline is valid? [True, True] Translation: X:193.16, Y:-118.44, Z:-0.49 [[-7.37397854e-01 -6.75310395e-01 -1.41518661e-02 1.93160000e+02] [ 6.75160133e-01 -7.37532997e-01 1.42783856e-02 -1.18442678e+02] [-2.00798105e-02 9.74075104e-04 9.99797906e-01 -4.92451860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.257628 meters 0.023826469048152162 Centerline is valid? [True, True] Translation: X:193.12, Y:-118.40, Z:-0.49 [[-7.35062793e-01 -6.77875826e-01 -1.29249696e-02 1.93121266e+02] [ 6.77751001e-01 -7.35175959e-01 1.30341637e-02 -1.18402087e+02] [-1.83376714e-02 8.21017680e-04 9.99831514e-01 -4.87869755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.317628 meters 0.02362234778339736 Centerline is valid? [True, True] Translation: X:193.08, Y:-118.36, Z:-0.49 [[-7.34661092e-01 -6.78359418e-01 -1.00786969e-02 1.93077746e+02] [ 6.78283643e-01 -7.34729955e-01 1.01583678e-02 -1.18362841e+02] [-1.42961450e-02 6.26742303e-04 9.99897608e-01 -4.94060588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.377628 meters 0.026378077804405962 Centerline is valid? [True, True] Translation: X:193.04, Y:-118.32, Z:-0.50 [[-7.37755759e-01 -6.75035480e-01 -6.59856045e-03 1.93038944e+02] [ 6.75002905e-01 -7.37785130e-01 6.64677239e-03 -1.18320998e+02] [-9.35512697e-03 4.49647137e-04 9.99956139e-01 -4.99025578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.43762799999996 meters 0.027274736131591114 Centerline is valid? [True, True] Translation: X:193.00, Y:-118.28, Z:-0.50 [[-7.43757196e-01 -6.68416711e-01 -6.65837848e-03 1.92998213e+02] [ 6.68383315e-01 -7.43786807e-01 6.70293259e-03 -1.18279887e+02] [-9.43276622e-03 5.35005274e-04 9.99955367e-01 -4.98091815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.49762799999996 meters 0.030537495934064032 Centerline is valid? [True, True] Translation: X:192.96, Y:-118.23, Z:-0.49 [[-7.51179280e-01 -6.60056943e-01 -7.38383719e-03 1.92962161e+02] [ 6.60015516e-01 -7.51215237e-01 7.42871080e-03 -1.18234707e+02] [-1.04502231e-02 7.06846517e-04 9.99945145e-01 -4.94754220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.55762799999997 meters 0.034872228328392645 Centerline is valid? [True, True] Translation: X:192.93, Y:-118.19, Z:-0.49 [[-7.60384969e-01 -6.49410564e-01 -8.97877370e-03 1.92926386e+02] [ 6.49348611e-01 -7.60437273e-01 9.02967905e-03 -1.18189155e+02] [-1.26917632e-02 1.03567800e-03 9.99918920e-01 -4.91103490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.61762799999997 meters 0.03729315516752269 Centerline is valid? [True, True] Translation: X:192.89, Y:-118.15, Z:-0.49 [[-7.64019484e-01 -6.45119603e-01 -9.74299582e-03 1.92887459e+02] [ 6.45046369e-01 -7.64080665e-01 9.79385864e-03 -1.18145994e+02] [-1.37626449e-02 1.19801476e-03 9.99904573e-01 -4.89663311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.67762799999997 meters 0.03747466335435073 Centerline is valid? [True, True] Translation: X:192.85, Y:-118.10, Z:-0.49 [[-7.64830556e-01 -6.44135631e-01 -1.11134685e-02 1.92848049e+02] [ 6.44040346e-01 -7.64910047e-01 1.11648456e-02 -1.18104190e+02] [-1.56924786e-02 1.38169303e-03 9.99875911e-01 -4.87304024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.737628 meters 0.03704563672104037 Centerline is valid? [True, True] Translation: X:192.81, Y:-118.06, Z:-0.49 [[-7.62162635e-01 -6.47297565e-01 -1.06761407e-02 1.92807103e+02] [ 6.47210001e-01 -7.62236361e-01 1.07211715e-02 -1.18063582e+02] [-1.50775308e-02 1.26157131e-03 9.99885532e-01 -4.88013788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.797628 meters 0.032744736965987974 Centerline is valid? [True, True] Translation: X:192.76, Y:-118.03, Z:-0.49 [[-7.57097676e-01 -6.53219744e-01 -1.03476786e-02 1.92763219e+02] [ 6.53138087e-01 -7.57167580e-01 1.03872856e-02 -1.18025579e+02] [-1.46201068e-02 1.10572678e-03 9.99892509e-01 -4.87808807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.857628 meters 0.029732576388587506 Centerline is valid? [True, True] Translation: X:192.72, Y:-117.99, Z:-0.49 [[-7.47077765e-01 -6.64640054e-01 -1.13319069e-02 1.92721397e+02] [ 6.64543521e-01 -7.47163083e-01 1.13681843e-02 -1.17987800e+02] [-1.60225331e-02 9.62372395e-04 9.99871168e-01 -4.85986093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.917628 meters 0.02700836722902524 Centerline is valid? [True, True] Translation: X:192.68, Y:-117.95, Z:-0.49 [[-7.41685518e-01 -6.70627452e-01 -1.27048013e-02 1.92675856e+02] [ 6.70507117e-01 -7.41793743e-01 1.27376796e-02 -1.17952095e+02] [-1.79665797e-02 9.28692844e-04 9.99838157e-01 -4.86940194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.977628 meters 0.024437093755558838 Centerline is valid? [True, True] Translation: X:192.63, Y:-117.92, Z:-0.49 [[-7.38913595e-01 -6.73644683e-01 -1.44754892e-02 1.92630334e+02] [ 6.73489208e-01 -7.39054736e-01 1.45046165e-02 -1.17915518e+02] [-2.04691366e-02 9.68572535e-04 9.99790016e-01 -4.88336498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.037628 meters 0.025792078272446627 Centerline is valid? [True, True] Translation: X:192.59, Y:-117.87, Z:-0.48 [[-7.37983386e-01 -6.74594168e-01 -1.74135075e-02 1.92591523e+02] [ 6.74369607e-01 -7.38187941e-01 1.74412407e-02 -1.17873209e+02] [-2.46202005e-02 1.12820571e-03 9.99696240e-01 -4.84996192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.097628 meters 0.023124709120081913 Centerline is valid? [True, True] Translation: X:192.55, Y:-117.83, Z:-0.48 [[-7.36903151e-01 -6.75660208e-01 -2.13782320e-02 1.92548251e+02] [ 6.75322401e-01 -7.37211977e-01 2.14045801e-02 -1.17834243e+02] [-3.02225117e-02 1.33590359e-03 9.99542303e-01 -4.82222118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.157628 meters 0.025639510536990148 Centerline is valid? [True, True] Translation: X:192.51, Y:-117.79, Z:-0.48 [[-7.37164342e-01 -6.75301810e-01 -2.35838505e-02 1.92509649e+02] [ 6.74890869e-01 -7.37540012e-01 2.36018120e-02 -1.17792754e+02] [-3.33323797e-02 1.48188884e-03 9.99443223e-01 -4.79607296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.217628 meters 0.025566584143937733 Centerline is valid? [True, True] Translation: X:192.47, Y:-117.75, Z:-0.48 [[-7.37288448e-01 -6.75073797e-01 -2.60981381e-02 1.92467783e+02] [ 6.74570941e-01 -7.37748384e-01 2.61030324e-02 -1.17752537e+02] [-3.68753324e-02 1.64041872e-03 9.99318527e-01 -4.78921470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.277628 meters 0.02388871617738011 Centerline is valid? [True, True] Translation: X:192.42, Y:-117.71, Z:-0.48 [[-7.36135078e-01 -6.76330494e-01 -2.61191582e-02 1.92424638e+02] [ 6.75828165e-01 -7.36596637e-01 2.61091166e-02 -1.17713756e+02] [-3.68976758e-02 1.56777381e-03 9.99317819e-01 -4.80044617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.337628 meters 0.024528583573205677 Centerline is valid? [True, True] Translation: X:191.90, Y:-118.25, Z:0.49 [[-7.25313048e-01 6.87879177e-01 -2.72620662e-02 1.91904650e+02] [ 6.87474703e-01 7.25823457e-01 2.36398449e-02 -1.18245488e+02] [ 3.60488042e-02 -1.59569294e-03 -9.99348757e-01 4.92665069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.397628 meters 0.02529814948019912 Centerline is valid? [True, True] Translation: X:191.92, Y:-118.23, Z:0.49 [[-7.70659861e-01 6.36583126e-01 -2.90740997e-02 1.91923194e+02] [ 6.36211647e-01 7.71206244e-01 2.18098543e-02 -1.18227375e+02] [ 3.63059125e-02 -1.68930156e-03 -9.99339295e-01 4.92880142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.457628 meters 0.027390030430272834 Centerline is valid? [True, True] Translation: X:191.95, Y:-118.21, Z:0.50 [[-8.09738369e-01 5.86033356e-01 -2.98107269e-02 1.91946500e+02] [ 5.85721010e-01 8.10284715e-01 1.92244414e-02 -1.18210172e+02] [ 3.54213403e-02 -1.89400122e-03 -9.99370673e-01 4.95610956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.517628 meters 0.02678620238363013 Centerline is valid? [True, True] Translation: X:191.96, Y:-118.18, Z:0.50 [[-8.46943570e-01 5.30770805e-01 -3.11278280e-02 1.91964880e+02] [ 5.30499201e-01 8.47512965e-01 1.70988782e-02 -1.18184712e+02] [ 3.54568232e-02 -2.03150299e-03 -9.99369144e-01 4.99297586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.577628 meters 0.027691628699377954 Centerline is valid? [True, True] Translation: X:191.99, Y:-118.17, Z:0.50 [[-8.81518411e-01 4.71050579e-01 -3.21969302e-02 1.91989904e+02] [ 4.70821831e-01 8.82103727e-01 1.48262419e-02 -1.18165213e+02] [ 3.53849420e-02 -2.08941247e-03 -9.99371573e-01 5.01021622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.637628 meters 0.028635176103019095 Centerline is valid? [True, True] Translation: X:192.30, Y:-117.50, Z:-0.49 [[-9.03456093e-01 -4.27580488e-01 -3.06922433e-02 1.92301659e+02] [ 4.27254286e-01 -9.03974863e-01 1.68291865e-02 -1.17500270e+02] [-3.49408483e-02 2.09103860e-03 9.99387195e-01 -4.90552888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.697628 meters 0.026495144245470673 Centerline is valid? [True, True] Translation: X:191.94, Y:-118.14, Z:0.51 [[-8.84290334e-01 4.65771038e-01 -3.29840240e-02 1.91944421e+02] [ 4.65532500e-01 8.84902895e-01 1.50451821e-02 -1.18137606e+02] [ 3.61952684e-02 -2.05082601e-03 -9.99342632e-01 5.05693027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.757628 meters 0.02675760298857134 Centerline is valid? [True, True] Translation: X:191.96, Y:-118.11, Z:0.51 [[-9.14992389e-01 4.01919769e-01 -3.53472324e-02 1.91964851e+02] [ 4.01709041e-01 9.15672402e-01 1.31870451e-02 -1.18112958e+02] [ 3.76666194e-02 -2.13325689e-03 -9.99288084e-01 5.08404168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.817628 meters 0.02872104918505154 Centerline is valid? [True, True] Translation: X:191.97, Y:-118.09, Z:0.51 [[-9.41793512e-01 3.34010418e-01 -3.82363907e-02 1.91971355e+02] [ 3.33828013e-01 9.42566883e-01 1.12484928e-02 -1.18086271e+02] [ 3.97974694e-02 -2.17062085e-03 -9.99205409e-01 5.09207084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.877628 meters 0.027718166967913172 Centerline is valid? [True, True] Translation: X:191.98, Y:-118.06, Z:0.51 [[-9.62913471e-01 2.66627404e-01 -4.13216071e-02 1.91977504e+02] [ 2.66484434e-01 9.63796903e-01 9.03195202e-03 -1.18057628e+02] [ 4.22338029e-02 -2.31457683e-03 -9.99105074e-01 5.10871628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.93762799999996 meters 0.029419845587200698 Centerline is valid? [True, True] Translation: X:192.14, Y:-117.36, Z:-0.50 [[-9.73798049e-01 -2.23312718e-01 -4.29975488e-02 1.92136365e+02] [ 2.22990556e-01 -9.74744136e-01 1.22098535e-02 -1.17361076e+02] [-4.46382242e-02 2.30188423e-03 9.99000566e-01 -5.04061225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.99762799999996 meters 0.03034491213629943 Centerline is valid? [True, True] Translation: X:191.93, Y:-118.05, Z:0.52 [[-9.62413950e-01 2.67790423e-01 -4.52512817e-02 1.91930672e+02] [ 2.67628485e-01 9.63473225e-01 9.71276906e-03 -1.18051070e+02] [ 4.61993848e-02 -2.76282752e-03 -9.98928418e-01 5.17601678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.05762799999997 meters 0.03180933409713932 Centerline is valid? [True, True] Translation: X:192.09, Y:-117.35, Z:-0.51 [[-9.75400188e-01 -2.15987679e-01 -4.40885015e-02 1.92089390e+02] [ 2.15638709e-01 -9.76392178e-01 1.25802136e-02 -1.17349836e+02] [-4.57648391e-02 2.76355514e-03 9.98948418e-01 -5.11543788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.11762799999997 meters 0.03167902400363397 Centerline is valid? [True, True] Translation: X:191.89, Y:-118.04, Z:0.53 [[-9.62746825e-01 2.66560045e-01 -4.54344991e-02 1.91888378e+02] [ 2.66403777e-01 9.63813986e-01 9.57223388e-03 -1.18041116e+02] [ 4.63419808e-02 -2.88828438e-03 -9.98921458e-01 5.27891936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.17762799999997 meters 0.030056335192373655 Centerline is valid? [True, True] Translation: X:191.89, Y:-118.01, Z:0.53 [[-9.79010755e-01 1.98126550e-01 -4.77892374e-02 1.91894008e+02] [ 1.98040595e-01 9.80171772e-01 6.57425995e-03 -1.18012394e+02] [ 4.81441969e-02 -3.02793780e-03 -9.98835806e-01 5.33398876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.237628 meters 0.032862382408035566 Centerline is valid? [True, True] Translation: X:191.90, Y:-117.99, Z:0.54 [[-9.90319414e-01 1.30671919e-01 -4.68220863e-02 1.91898784e+02] [ 1.30671584e-01 9.91420921e-01 3.08118285e-03 -1.17988911e+02] [ 4.68230200e-02 -3.06696102e-03 -9.98898493e-01 5.39579665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.297628 meters 0.03256043419668831 Centerline is valid? [True, True] Translation: X:191.89, Y:-117.96, Z:0.54 [[-9.96703463e-01 6.33110706e-02 -5.07337702e-02 1.91892759e+02] [ 6.34064181e-02 9.97987752e-01 -2.70498453e-04 -1.17962585e+02] [ 5.06145557e-02 -3.48645339e-03 -9.98712176e-01 5.42312792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.357628 meters 0.03637663163792891 Centerline is valid? [True, True] Translation: X:191.90, Y:-117.94, Z:0.54 [[-9.98608844e-01 -4.74491801e-03 -5.25153572e-02 1.91896631e+02] [-4.53979350e-03 9.99981596e-01 -4.02458951e-03 -1.17944951e+02] [ 5.25334870e-02 -3.78058180e-03 -9.98612007e-01 5.36999414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.417628 meters 0.03899415854315473 Centerline is valid? [True, True] Translation: X:191.84, Y:-117.20, Z:-0.53 [[-9.94846655e-01 8.49286891e-02 -5.53827574e-02 1.91844345e+02] [-8.50092189e-02 -9.96379754e-01 -9.04419226e-04 -1.17199500e+02] [-5.52590694e-02 3.80828651e-03 9.98464788e-01 -5.26897799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.477628 meters 0.036654661271934494 Centerline is valid? [True, True] Translation: X:191.81, Y:-117.95, Z:0.54 [[-9.98410328e-01 -3.61130155e-03 -5.62474470e-02 1.91814907e+02] [-3.35683644e-03 9.99983703e-01 -4.61785460e-03 -1.17948147e+02] [ 5.62632068e-02 -4.42170025e-03 -9.98406180e-01 5.42354758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.537628 meters 0.03601188813976184 Centerline is valid? [True, True] Translation: X:191.81, Y:-117.92, Z:0.55 [[-9.95983237e-01 -7.15453695e-02 -5.38391210e-02 1.91811593e+02] [-7.11997709e-02 9.97427439e-01 -8.31247347e-03 -1.17920673e+02] [ 5.42953355e-02 -4.44575116e-03 -9.98515023e-01 5.46892830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.597628 meters 0.03546493231883172 Centerline is valid? [True, True] Translation: X:191.80, Y:-117.90, Z:0.55 [[-9.88063654e-01 -1.44649149e-01 -5.29796120e-02 1.91795036e+02] [-1.44206862e-01 9.89473605e-01 -1.20981609e-02 -1.17895375e+02] [ 5.41719164e-02 -4.31372946e-03 -9.98522306e-01 5.50668442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.657628 meters 0.036297314843620095 Centerline is valid? [True, True] Translation: X:191.77, Y:-117.87, Z:0.55 [[-9.73343657e-01 -2.23933707e-01 -4.95562301e-02 1.91768328e+02] [-2.23452780e-01 9.74597596e-01 -1.51122693e-02 -1.17871786e+02] [ 5.16815293e-02 -3.63595414e-03 -9.98656998e-01 5.47646295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.717628 meters 0.03254423399907723 Centerline is valid? [True, True] Translation: X:191.73, Y:-117.84, Z:0.55 [[-9.53723372e-01 -2.97078696e-01 -4.64325138e-02 1.91732383e+02] [-2.96557000e-01 9.54847269e-01 -1.79064080e-02 -1.17844134e+02] [ 4.96555713e-02 -3.30787275e-03 -9.98760923e-01 5.53235356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.777628 meters 0.037026653639365255 Centerline is valid? [True, True] Translation: X:191.67, Y:-117.85, Z:0.56 [[-9.31616413e-01 -3.61154541e-01 -4.07216901e-02 1.91669076e+02] [-3.60655833e-01 9.32500328e-01 -1.92485742e-02 -1.17848648e+02] [ 4.49246994e-02 -3.24577263e-03 -9.98985103e-01 5.55738227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.837628 meters 0.033409754905341024 Centerline is valid? [True, True] Translation: X:191.60, Y:-117.85, Z:0.56 [[-9.03804050e-01 -4.26284431e-01 -3.76805333e-02 1.91603733e+02] [-4.25761548e-01 9.04583305e-01 -2.13576523e-02 -1.17846195e+02] [ 4.31896160e-02 -3.26021048e-03 -9.99061574e-01 5.58181749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.897628 meters 0.03593144971462109 Centerline is valid? [True, True] Translation: X:191.53, Y:-117.86, Z:0.56 [[-8.69531089e-01 -4.92560303e-01 -3.60559567e-02 1.91529440e+02] [-4.91979013e-01 8.70272231e-01 -2.41432295e-02 -1.17861604e+02] [ 4.32704943e-02 -3.25451464e-03 -9.99058093e-01 5.57214415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.957628 meters 0.03173909059183135 Centerline is valid? [True, True] Translation: X:191.44, Y:-117.88, Z:0.56 [[-8.28710241e-01 -5.58627007e-01 -3.42812474e-02 1.91443152e+02] [-5.57989473e-01 8.29413071e-01 -2.68645719e-02 -1.17884254e+02] [ 4.34405901e-02 -3.13437071e-03 -9.99051095e-01 5.55824394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.017628 meters 0.032726361678979674 Centerline is valid? [True, True] Translation: X:191.36, Y:-117.92, Z:0.56 [[-7.84276556e-01 -6.19575135e-01 -3.22014778e-02 1.91359412e+02] [-6.18885372e-01 7.84931139e-01 -2.93939458e-02 -1.17918223e+02] [ 4.34877005e-02 -3.12395901e-03 -9.99049078e-01 5.55195468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.077628 meters 0.03240271379331355 Centerline is valid? [True, True] Translation: X:191.27, Y:-117.97, Z:0.55 [[-7.31417203e-01 -6.81292366e-01 -2.94887745e-02 1.91269710e+02] [-6.80578730e-01 7.32005960e-01 -3.13028149e-02 -1.17966011e+02] [ 4.29123275e-02 -2.82598464e-03 -9.99074845e-01 5.51331931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.137628 meters 0.029319068531519096 Centerline is valid? [True, True] Translation: X:191.18, Y:-118.02, Z:0.55 [[-6.76185643e-01 -7.36264255e-01 -2.62282936e-02 1.91183223e+02] [-7.35553964e-01 6.76688967e-01 -3.24408444e-02 -1.18017030e+02] [ 4.16334311e-02 -2.64370786e-03 -9.99129455e-01 5.52057745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.197628 meters 0.02933791824493986 Centerline is valid? [True, True] Translation: X:191.10, Y:-118.08, Z:0.55 [[-6.18718094e-01 -7.85163066e-01 -2.65871999e-02 1.91100210e+02] [-7.84222852e-01 6.19281866e-01 -3.85290673e-02 -1.18080506e+02] [ 4.67165714e-02 -2.98834135e-03 -9.98903715e-01 5.49790265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.257628 meters 0.03753127636237338 Centerline is valid? [True, True] Translation: X:191.03, Y:-118.17, Z:0.54 [[-5.57260406e-01 -8.29947935e-01 -2.54413954e-02 1.91025271e+02] [-8.28806588e-01 5.57831522e-01 -4.36306440e-02 -1.18168500e+02] [ 5.04031752e-02 -3.22763433e-03 -9.98723737e-01 5.37689657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.317628 meters 0.031219980628871487 Centerline is valid? [True, True] Translation: X:190.95, Y:-118.25, Z:0.54 [[-4.90673546e-01 -8.71035997e-01 -2.31465467e-02 1.90947167e+02] [-8.69733993e-01 4.91208212e-01 -4.77207890e-02 -1.18247500e+02] [ 5.29362989e-02 -3.28399029e-03 -9.98592491e-01 5.40294750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.377628 meters 0.030334905630555284 Centerline is valid? [True, True] Translation: X:190.88, Y:-118.34, Z:0.54 [[-4.21354019e-01 -9.06686293e-01 -1.95129789e-02 1.90875388e+02] [-9.05336728e-01 4.21793352e-01 -4.95558025e-02 -1.18339936e+02] [ 5.31620116e-02 -3.21472008e-03 -9.98580726e-01 5.40335917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.43762799999996 meters 0.031420864311760915 Centerline is valid? [True, True] Translation: X:190.81, Y:-118.44, Z:0.54 [[-3.52236942e-01 -9.35781505e-01 -1.55598996e-02 1.90812347e+02] [-9.34419655e-01 3.52565246e-01 -5.05732630e-02 -1.18440312e+02] [ 5.28114041e-02 -3.27429554e-03 -9.98599136e-01 5.40878604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.49762799999996 meters 0.034960779253448065 Centerline is valid? [True, True] Translation: X:190.76, Y:-118.54, Z:0.54 [[-2.81285981e-01 -9.59549406e-01 -1.19638841e-02 1.90759367e+02] [-9.58085626e-01 2.81518880e-01 -5.30947585e-02 -1.18541356e+02] [ 5.43151033e-02 -3.47238581e-03 -9.98517808e-01 5.36097034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.55762799999997 meters 0.03384658372733311 Centerline is valid? [True, True] Translation: X:190.71, Y:-118.66, Z:0.54 [[-2.10854653e-01 -9.77478007e-01 -8.77843477e-03 1.90706550e+02] [-9.75633031e-01 2.10997037e-01 -6.01700790e-02 -1.18659645e+02] [ 6.06671527e-02 -4.12261019e-03 -9.98149538e-01 5.36820700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.61762799999997 meters 0.03570070097557584 Centerline is valid? [True, True] Translation: X:190.67, Y:-118.76, Z:0.53 [[-1.42869110e-01 -9.89732840e-01 -4.16197014e-03 1.90673613e+02] [-9.87843175e-01 1.42854140e-01 -6.13070628e-02 -1.18761814e+02] [ 6.12721681e-02 -4.64751170e-03 -9.98110276e-01 5.31530657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.67762799999997 meters 0.034251930364906404 Centerline is valid? [True, True] Translation: X:190.64, Y:-118.88, Z:0.53 [[-7.23152000e-02 -9.97381659e-01 5.82087124e-04 1.90638618e+02] [-9.95382880e-01 7.21333227e-02 -6.33222360e-02 -1.18880386e+02] [ 6.31144489e-02 -5.15855972e-03 -9.97992964e-01 5.33898368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.737628 meters 0.034132357543890005 Centerline is valid? [True, True] Translation: X:190.61, Y:-119.00, Z:0.53 [[-7.76374782e-04 -9.99983606e-01 5.67314490e-03 1.90614034e+02] [-9.97841535e-01 4.02169149e-04 -6.56666551e-02 -1.18997177e+02] [ 6.56632970e-02 -5.71188155e-03 -9.97825489e-01 5.33752819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.797628 meters 0.03879478310869802 Centerline is valid? [True, True] Translation: X:190.60, Y:-119.12, Z:0.53 [[ 7.41376675e-02 -9.97189540e-01 1.07994210e-02 1.90602932e+02] [-9.95047030e-01 -7.46887876e-02 -6.55972106e-02 -1.19118306e+02] [ 6.62194479e-02 -5.88270763e-03 -9.97787742e-01 5.33680441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.857628 meters 0.041262871138737535 Centerline is valid? [True, True] Translation: X:190.60, Y:-119.25, Z:0.53 [[ 1.49875620e-01 -9.88575421e-01 1.59979875e-02 1.90601182e+02] [-9.86429981e-01 -1.50608207e-01 -6.53686479e-02 -1.19245941e+02] [ 6.70312668e-02 -5.98372791e-03 -9.97732932e-01 5.31342762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.917628 meters 0.040193230165955246 Centerline is valid? [True, True] Translation: X:190.60, Y:-119.38, Z:0.54 [[ 2.23515805e-01 -9.74488054e-01 2.03400211e-02 1.90602433e+02] [-9.72531093e-01 -2.24361257e-01 -6.20104814e-02 -1.19378263e+02] [ 6.49919861e-02 -5.92098021e-03 -9.97868220e-01 5.37839497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.977628 meters 0.04206894112819068 Centerline is valid? [True, True] Translation: X:190.61, Y:-119.49, Z:0.54 [[ 2.96174944e-01 -9.54805706e-01 2.50292945e-02 1.90614026e+02] [-9.52923367e-01 -2.97169816e-01 -6.02258914e-02 -1.19491039e+02] [ 6.49419756e-02 -6.01359958e-03 -9.97870922e-01 5.37696314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.037628 meters 0.04393602099897779 Centerline is valid? [True, True] Translation: X:190.64, Y:-119.61, Z:0.54 [[ 3.67286799e-01 -9.29629478e-01 2.98235021e-02 1.90638899e+02] [-9.27799968e-01 -3.68444460e-01 -5.86165502e-02 -1.19609399e+02] [ 6.54799771e-02 -6.14115919e-03 -9.97834986e-01 5.36256491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.097628 meters 0.0466092392443065 Centerline is valid? [True, True] Translation: X:190.68, Y:-119.73, Z:0.53 [[ 4.34337009e-01 -9.00062314e-01 3.52021814e-02 1.90677124e+02] [-8.98231109e-01 -4.35712216e-01 -5.77558606e-02 -1.19726459e+02] [ 6.73218940e-02 -6.53418677e-03 -9.97709911e-01 5.33121034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.157628 meters 0.04888912701699762 Centerline is valid? [True, True] Translation: X:190.72, Y:-119.83, Z:0.53 [[ 4.99696020e-01 -8.65253455e-01 4.05011904e-02 1.90720785e+02] [-8.63449439e-01 -5.01287796e-01 -5.62637670e-02 -1.19834963e+02] [ 6.89851713e-02 -6.85594973e-03 -9.97594127e-01 5.29186022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.217628 meters 0.04889040019750581 Centerline is valid? [True, True] Translation: X:190.76, Y:-119.94, Z:0.53 [[ 5.61353407e-01 -8.26251979e-01 4.67976387e-02 1.90762013e+02] [-8.24418289e-01 -5.63251848e-01 -5.55143281e-02 -1.19942388e+02] [ 7.22276800e-02 -7.41767194e-03 -9.97360587e-01 5.27811109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.277628 meters 0.0431666488187666 Centerline is valid? [True, True] Translation: X:190.80, Y:-120.05, Z:0.53 [[ 6.16016109e-01 -7.85664583e-01 5.70553796e-02 1.90801452e+02] [-7.83566638e-01 -6.18588169e-01 -5.80689307e-02 -1.20049422e+02] [ 8.09164851e-02 -8.93529522e-03 -9.96680833e-01 5.31556422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.337628 meters 0.04733091545376801 Centerline is valid? [True, True] Translation: X:190.86, Y:-120.15, Z:0.52 [[ 6.69128634e-01 -7.39790993e-01 7.05418848e-02 1.90860191e+02] [-7.37296577e-01 -6.72750688e-01 -6.16463210e-02 -1.20147967e+02] [ 9.30624946e-02 -1.07609716e-02 -9.95602116e-01 5.22220629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.397628 meters 0.043857403579367064 Centerline is valid? [True, True] Translation: X:190.87, Y:-120.19, Z:0.52 [[ 7.25425077e-01 -6.83072584e-01 8.46776405e-02 1.90874757e+02] [-6.80257742e-01 -7.30254367e-01 -6.30711081e-02 -1.20194547e+02] [ 1.04918362e-01 -1.18492571e-02 -9.94410244e-01 5.16544541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.457628 meters 0.04373303565495394 Centerline is valid? [True, True] Translation: X:190.90, Y:-120.23, Z:0.51 [[ 7.79330454e-01 -6.19014487e-01 9.72887868e-02 1.90897472e+02] [-6.16094367e-01 -7.85285074e-01 -6.12787364e-02 -1.20230290e+02] [ 1.14331858e-01 -1.21826880e-02 -9.93367912e-01 5.05180797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.517628 meters 0.04815292912784694 Centerline is valid? [True, True] Translation: X:190.93, Y:-120.25, Z:0.50 [[ 8.19782584e-01 -5.62714697e-01 1.06342303e-01 1.90926413e+02] [-5.60100414e-01 -8.26536962e-01 -5.58943280e-02 -1.20251696e+02] [ 1.19348404e-01 -1.37411715e-02 -9.92757341e-01 4.98915142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.577628 meters 0.04592916807262628 Centerline is valid? [True, True] Translation: X:190.95, Y:-120.28, Z:0.50 [[ 8.57478090e-01 -5.01191315e-01 1.16355448e-01 1.90948758e+02] [-4.98925155e-01 -8.65202990e-01 -4.99747536e-02 -1.20282642e+02] [ 1.25717994e-01 -1.52004038e-02 -9.91949562e-01 5.02301173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.637628 meters 0.04983174392519813 Centerline is valid? [True, True] Translation: X:190.97, Y:-120.31, Z:0.50 [[ 8.98114117e-01 -4.22497785e-01 1.22010879e-01 1.90972935e+02] [-4.20696931e-01 -9.06254136e-01 -4.14431284e-02 -1.20310155e+02] [ 1.28082493e-01 -1.41089435e-02 -9.91663155e-01 4.99154424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.697628 meters 0.050008252179491584 Centerline is valid? [True, True] Translation: X:191.00, Y:-120.34, Z:0.50 [[ 9.32706463e-01 -3.38762263e-01 1.23688250e-01 1.90999479e+02] [-3.37524301e-01 -9.40790421e-01 -3.14758717e-02 -1.20340666e+02] [ 1.27027559e-01 -1.23900413e-02 -9.91821802e-01 5.03815194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.757628 meters 0.04256775302332621 Centerline is valid? [True, True] Translation: X:191.03, Y:-120.38, Z:0.53 [[ 9.60340633e-01 -2.49913123e-01 1.23649906e-01 1.91026657e+02] [-2.49214284e-01 -9.68213240e-01 -2.13392063e-02 -1.20383359e+02] [ 1.25052424e-01 -1.03224159e-02 -9.92096436e-01 5.28105509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.817628 meters 0.038320354877727676 Centerline is valid? [True, True] Translation: X:191.06, Y:-120.41, Z:0.54 [[ 9.77844429e-01 -1.70340747e-01 1.21672932e-01 1.91059460e+02] [-1.70239107e-01 -9.85337904e-01 -1.13076301e-02 -1.20414554e+02] [ 1.21815102e-01 -9.65638820e-03 -9.92505836e-01 5.42016668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.877628 meters 0.039642058600034454 Centerline is valid? [True, True] Translation: X:191.10, Y:-120.45, Z:0.56 [[ 9.89612967e-01 -8.66504342e-02 1.14707793e-01 1.91095050e+02] [-8.70360975e-02 -9.96203790e-01 -1.65150275e-03 -1.20445782e+02] [ 1.14415442e-01 -8.34937016e-03 -9.93397904e-01 5.55427675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.93762799999996 meters 0.03935442788888892 Centerline is valid? [True, True] Translation: X:191.13, Y:-120.47, Z:0.57 [[ 9.94703104e-01 -4.54148475e-03 1.02689383e-01 1.91130935e+02] [-5.24448248e-03 -9.99964619e-01 6.57691108e-03 -1.20470350e+02] [ 1.02655881e-01 -7.08062654e-03 -9.94691729e-01 5.74328464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 2629.02 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%| | 0/11466 [00:00