+ python -m lidar_slam --no-model /working/84283bf0-e279-4586-a2c6-074052c145ce Lidar SLAM 0.0.11 ===================================================== The recording path: /working/84283bf0-e279-4586-a2c6-074052c145ce 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 0.019928851 Adjusted end_distance from 9.223372036854776e+18 to 205.149928851 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.019928851 meters 0.1459135088024604 Centerline is valid? [0, False] SLAMing on 0.079928851 meters 0.1505770982469567 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.00, Z:0.00 [[ 9.99999969e-01 -2.05955475e-04 1.36865198e-04 -5.76767350e-04] [ 2.05995588e-04 9.99999936e-01 -2.93137781e-04 4.12330115e-04] [-1.36804816e-04 2.93165966e-04 9.99999948e-01 4.19774172e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.139928851 meters 0.16470523842073648 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.00, Z:-0.00 [[ 9.99999840e-01 1.57952894e-04 5.43776126e-04 -1.05841396e-03] [-1.58197754e-04 9.99999886e-01 4.50283608e-04 -2.05777561e-03] [-5.43704941e-04 -4.50369560e-04 9.99999751e-01 -1.34561247e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.199928851 meters 0.16771061318384164 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.00, Z:0.00 [[ 9.99992299e-01 -3.92184882e-03 1.45069520e-04 -2.52307680e-04] [ 3.92238077e-03 9.99984823e-01 -3.86892624e-03 -1.63702630e-03] [-1.29893974e-04 3.86946546e-03 9.99992505e-01 1.18092523e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.259928851 meters 0.1767632498861282 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.00, Z:0.00 [[ 9.99968281e-01 -7.96300140e-03 1.63481395e-04 -6.34832240e-04] [ 7.96401885e-03 9.99939042e-01 -7.64771903e-03 -3.21239300e-03] [-1.02572632e-04 7.64877843e-03 9.99970742e-01 4.28056798e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.319928851 meters 0.18468999776722111 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.01, Z:-0.00 [[ 9.99973505e-01 -7.27243543e-03 3.18690654e-04 -8.26851632e-05] [ 7.27434580e-03 9.99952602e-01 -6.47126701e-03 -5.94687616e-03] [-2.71613677e-04 6.47341382e-03 9.99979010e-01 -9.62704971e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.379928851 meters 0.19364954783969987 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.01, Z:-0.00 [[ 9.99983309e-01 -5.75582704e-03 5.02425729e-04 1.18782888e-03] [ 5.75800772e-03 9.99973510e-01 -4.45247342e-03 -1.20534251e-02] [-4.76784753e-04 4.45529207e-03 9.99989961e-01 -3.08915469e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.439928851 meters 0.19908183535662 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.01, Z:-0.00 [[ 9.99999695e-01 -6.34224867e-04 4.56727177e-04 2.35375202e-03] [ 6.34011280e-04 9.99999690e-01 4.67640760e-04 -1.44194311e-02] [-4.57023625e-04 -4.67351047e-04 9.99999786e-01 -4.02341737e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.499928851 meters 0.2045051785962322 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.02, Z:-0.00 [[ 9.99999771e-01 6.57458418e-04 -1.59328106e-04 5.11286326e-03] [-6.57299996e-04 9.99999292e-01 9.92331463e-04 -1.58580346e-02] [ 1.59980410e-04 -9.92226509e-04 9.99999495e-01 -4.84106383e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.559928851 meters 0.20665784330437412 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.02, Z:-0.01 [[ 0.9999966 -0.00234103 -0.00114466 0.00869129] [ 0.00233806 0.99999391 -0.00259217 -0.01607314] [ 0.00115072 0.00258949 0.99999599 -0.00614468] [ 0. 0. 0. 1. ]] SLAMing on 0.619928851 meters 0.20945832069018047 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.02, Z:-0.01 [[ 9.99998868e-01 -1.29834488e-03 -7.59841817e-04 9.05002704e-03] [ 1.29742401e-03 9.99998425e-01 -1.21116699e-03 -2.32440047e-02] [ 7.61413133e-04 1.21017979e-03 9.99998978e-01 -7.51081255e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6799288509999999 meters 0.20194018686976384 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.03, Z:-0.01 [[ 9.99999534e-01 -7.51819669e-04 -6.05404203e-04 8.38784502e-03] [ 7.51741922e-04 9.99999709e-01 -1.28639698e-04 -2.89472504e-02] [ 6.05500741e-04 1.28184531e-04 9.99999808e-01 -7.27773637e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7399288509999999 meters 0.2026456506518644 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.03, Z:-0.01 [[ 0.9999894 -0.00447632 -0.00107848 0.00890106] [ 0.0044725 0.99998382 -0.00351526 -0.03142325] [ 0.0010942 0.0035104 0.99999324 -0.00684351] [ 0. 0. 0. 1. ]] SLAMing on 0.799928851 meters 0.20957227105353896 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.03, Z:-0.01 [[ 0.99996908 -0.00773034 -0.00144177 0.01078967] [ 0.00772112 0.99995038 -0.0062938 -0.03499149] [ 0.00149035 0.00628248 0.99997915 -0.00831222] [ 0. 0. 0. 1. ]] SLAMing on 0.8599288509999999 meters 0.20495362751573887 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.05, Z:-0.01 [[ 0.99997867 -0.00639193 -0.00134062 0.0123512 ] [ 0.00638728 0.99997366 -0.00344574 -0.04508195] [ 0.00136261 0.00343711 0.99999316 -0.01163867] [ 0. 0. 0. 1. ]] SLAMing on 0.9199288509999999 meters 0.20287134773006038 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.05, Z:-0.01 [[ 0.99998481 -0.00534614 -0.0013422 0.01335838] [ 0.00534402 0.99998448 -0.00157804 -0.0511046 ] [ 0.00135062 0.00157084 0.99999785 -0.01329087] [ 0. 0. 0. 1. ]] SLAMing on 0.9799288509999999 meters 0.2035815183071605 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.06, Z:-0.02 [[ 9.99989252e-01 -4.39867512e-03 -1.46551638e-03 1.45198339e-02] [ 4.39952873e-03 9.99990154e-01 5.79754048e-04 -5.85936038e-02] [ 1.46295180e-03 -5.86195398e-04 9.99998758e-01 -1.51322940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.039928851 meters 0.20391533561720399 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.06, Z:-0.02 [[ 0.99999289 -0.0034881 -0.00143617 0.0159854 ] [ 0.00349166 0.99999082 0.00248409 -0.06346143] [ 0.00142749 -0.00248909 0.99999588 -0.01762656] [ 0. 0. 0. 1. ]] SLAMing on 1.099928851 meters 0.19659015197866558 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.07, Z:-0.02 [[ 9.99977061e-01 -6.40047781e-03 -2.21596369e-03 1.83743637e-02] [ 6.40116828e-03 9.99979466e-01 3.04638559e-04 -6.84562959e-02] [ 2.21396836e-03 -3.18816327e-04 9.99997498e-01 -1.87029193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1599288509999999 meters 0.2010768253365788 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.07, Z:-0.02 [[ 0.99997949 -0.00600333 -0.00223166 0.01894607] [ 0.00600775 0.99997999 0.00198004 -0.0732718 ] [ 0.00221973 -0.0019934 0.99999555 -0.0202724 ] [ 0. 0. 0. 1. ]] SLAMing on 1.219928851 meters 0.19251248264689885 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.08, Z:-0.02 [[ 9.99952600e-01 -9.32526159e-03 -2.79933062e-03 2.04252578e-02] [ 9.32448587e-03 9.99956484e-01 -2.90029692e-04 -7.91880047e-02] [ 2.80191341e-03 2.63913626e-04 9.99996040e-01 -2.09543657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.279928851 meters 0.19129680410216132 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.08, Z:-0.02 [[ 9.99945521e-01 -9.91899984e-03 -3.25102430e-03 2.08491822e-02] [ 9.91934304e-03 9.99950798e-01 8.94567583e-05 -8.43905765e-02] [ 3.24997702e-03 -1.21699910e-04 9.99994711e-01 -2.08708637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3399288509999998 meters 0.18852970586571738 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.09, Z:-0.02 [[ 0.99990144 -0.01356126 -0.00363411 0.02140152] [ 0.01355242 0.99990517 -0.00244569 -0.09057826] [ 0.00366693 0.00239619 0.99999041 -0.02078145] [ 0. 0. 0. 1. ]] SLAMing on 1.3999288509999999 meters 0.18243105416560068 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.10, Z:-0.02 [[ 0.99985286 -0.01656686 -0.00444911 0.02376798] [ 0.01654616 0.99985229 -0.00465 -0.09617607] [ 0.00452549 0.0045757 0.99997929 -0.02148898] [ 0. 0. 0. 1. ]] SLAMing on 1.459928851 meters 0.17928656817016259 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.10, Z:-0.02 [[ 0.99986337 -0.01582791 -0.00476584 0.0252552 ] [ 0.01581312 0.99987008 -0.00312545 -0.09986209] [ 0.00481469 0.00304966 0.99998376 -0.02288844] [ 0. 0. 0. 1. ]] SLAMing on 1.519928851 meters 0.17021567097132836 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.10, Z:-0.02 [[ 0.99991851 -0.01177163 -0.00493907 0.02525161] [ 0.01177864 0.99992966 0.00139185 -0.10388768] [ 0.00492234 -0.00144991 0.99998683 -0.02263282] [ 0. 0. 0. 1. ]] SLAMing on 1.579928851 meters 0.1650812813733645 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.11, Z:-0.02 [[ 0.99995891 -0.00757885 -0.00497338 0.02508832] [ 0.0076074 0.99995455 0.00574608 -0.10566861] [ 0.0049296 -0.00578368 0.99997112 -0.02239636] [ 0. 0. 0. 1. ]] SLAMing on 1.6399288509999999 meters 0.15786605854081703 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.10, Z:-0.02 [[ 0.99997 -0.00578549 -0.00515027 0.02623877] [ 0.00581569 0.99996587 0.00586778 -0.10398204] [ 0.00511614 -0.00589756 0.99996952 -0.02174211] [ 0. 0. 0. 1. ]] SLAMing on 1.699928851 meters 0.15231041897896413 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.10, Z:-0.02 [[ 9.99983259e-01 -8.04373548e-04 -5.73012923e-03 2.86299688e-02] [ 8.62612375e-04 9.99947928e-01 1.01684043e-02 -1.02845890e-01] [ 5.72165166e-03 -1.01731770e-02 9.99931882e-01 -2.32524929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.759928851 meters 0.1476315419764264 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.10, Z:-0.02 [[ 9.99983944e-01 5.29410050e-04 -5.64186163e-03 2.94655773e-02] [-4.74712435e-04 9.99952920e-01 9.69189175e-03 -9.85517485e-02] [ 5.64672700e-03 -9.68905788e-03 9.99937116e-01 -2.32410544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8199288509999998 meters 0.138600505248149 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.09, Z:-0.02 [[ 0.99997094 0.00476381 -0.00595218 0.03040803] [-0.00468621 0.99990472 0.01298429 -0.09489735] [ 0.00601347 -0.01295602 0.99989798 -0.02356518] [ 0. 0. 0. 1. ]] SLAMing on 1.8799288509999998 meters 0.13218111249725414 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.09, Z:-0.03 [[ 0.99990607 0.01224225 -0.00616227 0.03258088] [-0.0121273 0.99975795 0.01835693 -0.08723863] [ 0.00638551 -0.01828047 0.99981251 -0.02535932] [ 0. 0. 0. 1. ]] SLAMing on 1.939928851 meters 0.12541223939219467 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.08, Z:-0.03 [[ 0.99978465 0.01965403 -0.00666152 0.03486611] [-0.01949749 0.99954987 0.02280135 -0.07643655] [ 0.00710666 -0.02266655 0.99971782 -0.02652007] [ 0. 0. 0. 1. ]] SLAMing on 1.999928851 meters 0.12296461351468899 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.07, Z:-0.03 [[ 0.99970207 0.02336567 -0.00705741 0.03576395] [-0.0231892 0.99943988 0.02412873 -0.06727383] [ 0.00761724 -0.02395788 0.99968395 -0.02622763] [ 0. 0. 0. 1. ]] SLAMing on 2.059928851 meters 0.1173961763012439 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.06, Z:-0.03 [[ 0.99961269 0.02691072 -0.00709118 0.03615882] [-0.02671665 0.99930038 0.02617211 -0.05956036] [ 0.00779053 -0.02597252 0.9996323 -0.02655346] [ 0. 0. 0. 1. ]] SLAMing on 2.119928851 meters 0.1110133711105161 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.05, Z:-0.03 [[ 0.99954951 0.02922433 -0.00683544 0.0357806 ] [-0.02903491 0.99923132 0.02633906 -0.04708462] [ 0.00759993 -0.02612872 0.9996297 -0.02672562] [ 0. 0. 0. 1. ]] SLAMing on 2.179928851 meters 0.10463512301206734 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.04, Z:-0.03 [[ 0.99957589 0.02822922 -0.0071517 0.03589103] [-0.02805244 0.99932503 0.02371796 -0.0380526 ] [ 0.00781641 -0.02350728 0.99969311 -0.02630028] [ 0. 0. 0. 1. ]] SLAMing on 2.2399288509999997 meters 0.10512531417338643 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.02, Z:-0.02 [[ 0.99963344 0.02607781 -0.00727579 0.03472403] [-0.02593638 0.99948493 0.01889893 -0.02431407] [ 0.00776489 -0.0187033 0.99979493 -0.02425604] [ 0. 0. 0. 1. ]] SLAMing on 2.2999288509999998 meters 0.10530284001084787 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.01, Z:-0.02 [[ 0.99976032 0.02052842 -0.0076088 0.03344419] [-0.02045348 0.99974278 0.00979994 -0.01164729] [ 0.00780802 -0.00964197 0.99992303 -0.01961665] [ 0. 0. 0. 1. ]] SLAMing on 2.359928851 meters 0.10070930804595983 Centerline is valid? [False, False] Translation: X:0.03, Y:0.00, Z:-0.02 [[ 0.99981101 0.01795186 -0.00746177 0.03054507] [-0.01791163 0.99982486 0.00542425 0.00322801] [ 0.00755784 -0.00528958 0.99995745 -0.0169975 ] [ 0. 0. 0. 1. ]] SLAMing on 2.419928851 meters 0.10188314828530337 Centerline is valid? [False, False] Translation: X:0.03, Y:0.01, Z:-0.01 [[ 0.99987116 0.01479337 -0.00623088 0.02522441] [-0.01477961 0.99988825 0.00224871 0.01263448] [ 0.00626345 -0.00215633 0.99997806 -0.01472526] [ 0. 0. 0. 1. ]] SLAMing on 2.479928851 meters 0.10447297346551845 Centerline is valid? [False, False] Translation: X:0.02, Y:0.02, Z:-0.01 [[ 0.99993202 0.00967929 -0.006501 0.02439876] [-0.00970217 0.99994682 -0.00349663 0.01655087] [ 0.00646681 0.00355947 0.99997275 -0.0129384 ] [ 0. 0. 0. 1. ]] SLAMing on 2.539928851 meters 0.10138137319840579 Centerline is valid? [False, False] Translation: X:0.03, Y:0.02, Z:-0.01 [[ 0.99992386 0.01029157 -0.00680865 0.02565419] [-0.0103131 0.99994191 -0.00313445 0.01554684] [ 0.00677599 0.00320443 0.99997191 -0.01346469] [ 0. 0. 0. 1. ]] SLAMing on 2.599928851 meters 0.09507831112056889 Centerline is valid? [False, True] Translation: X:0.03, Y:0.01, Z:-0.01 [[ 0.99991102 0.01116202 -0.00730466 0.02751646] [-0.01118152 0.99993402 -0.00263384 0.01445684] [ 0.00727477 0.00271529 0.99996985 -0.01424433] [ 0. 0. 0. 1. ]] SLAMing on 2.6599288509999996 meters 0.09499258702098858 Centerline is valid? [True, True] Translation: X:0.08, Y:0.01, Z:-0.02 [[ 9.99887974e-01 1.29987399e-02 -7.42111835e-03 8.49310097e-02] [-1.29966072e-02 9.99915484e-01 3.35529905e-04 1.13123942e-02] [ 7.42485262e-03 -2.39042956e-04 9.99972407e-01 -2.15956971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7199288509999997 meters 0.08577703226210305 Centerline is valid? [True, True] Translation: X:0.15, Y:0.02, Z:-0.00 [[ 9.99823225e-01 1.87512486e-02 1.38175247e-03 1.47724152e-01] [-1.87511776e-02 9.99824179e-01 -6.42966130e-05 2.10620016e-02] [-1.38271517e-03 3.83757610e-05 9.99999043e-01 -2.81526164e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7799288509999998 meters 0.08158943423140332 Centerline is valid? [True, True] Translation: X:0.21, Y:0.02, Z:-0.01 [[ 9.99542048e-01 2.70711306e-02 1.35221647e-02 2.07381055e-01] [-2.70651281e-02 9.99633476e-01 -6.26736695e-04 2.29064468e-02] [-1.35341750e-02 2.60470559e-04 9.99908375e-01 -7.04257601e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.839928851 meters 0.07910381081495478 Centerline is valid? [True, True] Translation: X:0.27, Y:0.03, Z:-0.00 [[ 9.99345165e-01 3.27264706e-02 1.54343855e-02 2.67999339e-01] [-3.27193191e-02 9.99464323e-01 -7.15707221e-04 2.53795547e-02] [-1.54495403e-02 2.10235965e-04 9.99880627e-01 -4.16152356e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.899928851 meters 0.0793065551655026 Centerline is valid? [True, True] Translation: X:0.33, Y:0.03, Z:-0.01 [[ 9.98875565e-01 4.52045598e-02 1.42882174e-02 3.26801766e-01] [-4.51995359e-02 9.98977751e-01 -6.74506441e-04 3.39414694e-02] [-1.43041020e-02 2.79272075e-05 9.99897691e-01 -8.07484371e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.959928851 meters 0.07637304750354414 Centerline is valid? [True, True] Translation: X:0.39, Y:0.04, Z:-0.01 [[ 9.98464336e-01 4.99516099e-02 2.39542473e-02 3.87898506e-01] [-4.99395050e-02 9.98751635e-01 -1.10365899e-03 3.58650362e-02] [-2.39794732e-02 -9.42991094e-05 9.99712447e-01 -6.50268065e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.019928851 meters 0.07673055245311731 Centerline is valid? [True, True] Translation: X:0.45, Y:0.04, Z:-0.01 [[ 9.98154789e-01 5.62831157e-02 2.27865675e-02 4.47844784e-01] [-5.62737831e-02 9.98414822e-01 -1.05109476e-03 3.84741278e-02] [-2.28096057e-02 -2.33131087e-04 9.99739800e-01 -1.02344584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.079928851 meters 0.07581888423275643 Centerline is valid? [True, True] Translation: X:0.51, Y:0.04, Z:-0.01 [[ 9.97804732e-01 5.94514034e-02 2.91761328e-02 5.08516691e-01] [-5.94375359e-02 9.98231123e-01 -1.34310568e-03 3.76736688e-02] [-2.92043733e-02 -3.94000231e-04 9.99573384e-01 -1.32277064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.139928851 meters 0.07477898331813909 Centerline is valid? [True, True] Translation: X:0.57, Y:0.04, Z:-0.01 [[ 9.97455917e-01 6.05653875e-02 3.75969145e-02 5.68737347e-01] [-6.05431458e-02 9.98164080e-01 -1.73086843e-03 3.55550520e-02] [-3.76327203e-02 -5.49770519e-04 9.99291487e-01 -1.39664873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1999288509999997 meters 0.07463802756297032 Centerline is valid? [True, True] Translation: X:0.63, Y:0.03, Z:-0.02 [[ 9.97572950e-01 5.86268489e-02 3.75646460e-02 6.27556861e-01] [-5.86030457e-02 9.98279856e-01 -1.73538749e-03 3.27119791e-02] [-3.76017697e-02 -4.70227048e-04 9.99292693e-01 -1.72481882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2599288509999997 meters 0.07390254803528094 Centerline is valid? [True, True] Translation: X:0.69, Y:0.03, Z:-0.02 [[ 9.97650019e-01 5.55065007e-02 4.01680039e-02 6.86795853e-01] [-5.54773747e-02 9.98458249e-01 -1.84025916e-03 2.76746942e-02] [-4.02082212e-02 -3.92480820e-04 9.99191245e-01 -2.08058465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.319928851 meters 0.07362241974244746 Centerline is valid? [True, True] Translation: X:0.74, Y:0.02, Z:-0.03 [[ 9.97869271e-01 5.10661772e-02 4.06099050e-02 7.44695032e-01] [-5.10327446e-02 9.98695248e-01 -1.86015950e-03 2.14300488e-02] [-4.06519104e-02 -2.16238902e-04 9.99173346e-01 -2.69672347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.379928851 meters 0.07338802378956309 Centerline is valid? [True, True] Translation: X:0.80, Y:0.01, Z:-0.03 [[ 9.98203971e-01 4.29135456e-02 4.18002426e-02 8.01471959e-01] [-4.28710875e-02 9.99078783e-01 -1.91202545e-03 1.01580753e-02] [-4.18437872e-02 1.16569537e-04 9.99124158e-01 -3.35275467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.439928851 meters 0.07352139460052354 Centerline is valid? [True, True] Translation: X:0.86, Y:0.00, Z:-0.04 [[ 9.98324608e-01 3.78982498e-02 4.37229897e-02 8.59993246e-01] [-3.78471082e-02 9.99281546e-01 -1.99716856e-03 1.97929656e-03] [-4.37672659e-02 3.39033803e-04 9.99041697e-01 -3.85433033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.499928851 meters 0.07381891134391393 Centerline is valid? [True, True] Translation: X:0.92, Y:-0.01, Z:-0.04 [[ 9.98443765e-01 3.29797780e-02 4.49708972e-02 9.18507696e-01] [-3.29208142e-02 9.99455858e-01 -2.05134116e-03 -5.64826891e-03] [-4.50140794e-02 5.67670242e-04 9.98986191e-01 -4.25918046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.559928851 meters 0.07443526827266485 Centerline is valid? [True, True] Translation: X:0.98, Y:-0.01, Z:-0.05 [[ 9.98507368e-01 2.90608208e-02 4.62439686e-02 9.77759646e-01] [-2.89944794e-02 9.99577356e-01 -2.10486068e-03 -1.11581167e-02] [-4.62855929e-02 7.60899104e-04 9.98927958e-01 -4.54279068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6199288509999996 meters 0.07484865757589985 Centerline is valid? [True, True] Translation: X:1.04, Y:-0.02, Z:-0.05 [[ 9.98505762e-01 2.61165499e-02 4.80017704e-02 1.03845416e+00] [-2.60416700e-02 9.99658471e-01 -2.18477092e-03 -1.69514520e-02] [-4.80424351e-02 9.31460092e-04 9.98844861e-01 -4.79029439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6799288509999997 meters 0.07601710674340094 Centerline is valid? [True, True] Translation: X:1.10, Y:-0.03, Z:-0.05 [[ 0.99856206 0.02196091 0.0489033 1.10020472] [-0.02187817 0.99975816 -0.00222663 -0.02577949] [-0.04894037 0.00115351 0.99880104 -0.052454 ] [ 0. 0. 0. 1. ]] SLAMing on 3.7399288509999997 meters 0.07656736849643986 Centerline is valid? [True, True] Translation: X:1.16, Y:-0.03, Z:-0.06 [[ 0.99850834 0.02073768 0.05050795 1.16202271] [-0.02064786 0.99978417 -0.0022995 -0.03151158] [-0.05054473 0.00125319 0.99872101 -0.05595019] [ 0. 0. 0. 1. ]] SLAMing on 3.7999288509999998 meters 0.07691181517775085 Centerline is valid? [True, True] Translation: X:1.22, Y:-0.04, Z:-0.07 [[ 9.98668842e-01 2.15304895e-02 4.68719766e-02 1.22345373e+00] [-2.14534152e-02 9.99767544e-01 -2.14685519e-03 -3.63920100e-02] [-4.69073038e-02 1.13843342e-03 9.98898598e-01 -6.53697735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.859928851 meters 0.07657066128636704 Centerline is valid? [True, True] Translation: X:1.29, Y:-0.04, Z:-0.07 [[ 9.98632585e-01 2.27478758e-02 4.70690482e-02 1.28522380e+00] [-2.26715355e-02 9.99740645e-01 -2.15517091e-03 -4.01799737e-02] [-4.71058661e-02 1.08509629e-03 9.98889313e-01 -6.98683443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.919928851 meters 0.07669389417228063 Centerline is valid? [True, True] Translation: X:1.35, Y:-0.05, Z:-0.07 [[ 9.98506798e-01 2.25391300e-02 4.97610516e-02 1.34606351e+00] [-2.24529891e-02 9.99745278e-01 -2.28947288e-03 -4.84067139e-02] [-4.97999791e-02 1.16876988e-03 9.98758527e-01 -7.21258283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.979928851 meters 0.07582966294835626 Centerline is valid? [True, True] Translation: X:1.41, Y:-0.05, Z:-0.07 [[ 9.98481307e-01 2.06734292e-02 5.10655258e-02 1.40872144e+00] [-2.05798063e-02 9.99785431e-01 -2.35856682e-03 -5.19441129e-02] [-5.11033284e-02 1.30406625e-03 9.98692520e-01 -6.96083503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.039928851 meters 0.0773298690057834 Centerline is valid? [True, True] Translation: X:1.47, Y:-0.07, Z:-0.07 [[ 0.99849288 0.01714901 0.05213336 1.46998552] [-0.01704603 0.99985178 -0.00241938 -0.06547954] [-0.05216712 0.00152707 0.9986372 -0.07350359] [ 0. 0. 0. 1. ]] SLAMing on 4.0999288510000005 meters 0.07914689757323586 Centerline is valid? [True, True] Translation: X:1.53, Y:-0.08, Z:-0.08 [[ 0.99856145 0.01466391 0.05157529 1.53094628] [-0.01455931 0.99989112 -0.00240323 -0.07696552] [-0.05160491 0.00164887 0.99866622 -0.08093829] [ 0. 0. 0. 1. ]] SLAMing on 4.159928851 meters 0.08055283603177726 Centerline is valid? [True, True] Translation: X:1.59, Y:-0.09, Z:-0.09 [[ 0.9986358 0.012158 0.05078112 1.59180478] [-0.01205272 0.99992453 -0.00237886 -0.08682536] [-0.05080621 0.00176356 0.99870697 -0.08605658] [ 0. 0. 0. 1. ]] SLAMing on 4.219928851000001 meters 0.08253756109823768 Centerline is valid? [True, True] Translation: X:1.65, Y:-0.10, Z:-0.09 [[ 0.99857392 0.00891596 0.05263686 1.65328538] [-0.00879841 0.99995826 -0.00246449 -0.10016393] [-0.05265664 0.00199785 0.99861068 -0.08780769] [ 0. 0. 0. 1. ]] SLAMing on 4.279928851 meters 0.08642076599852945 Centerline is valid? [True, True] Translation: X:1.71, Y:-0.12, Z:-0.09 [[ 0.99857346 0.00353498 0.05327804 1.71212618] [-0.00340619 0.99999105 -0.00250801 -0.11824638] [-0.05328643 0.00232296 0.99857657 -0.09230417] [ 0. 0. 0. 1. ]] SLAMing on 4.339928851000001 meters 0.08866143213306103 Centerline is valid? [True, True] Translation: X:1.77, Y:-0.13, Z:-0.10 [[ 9.98647620e-01 9.58864335e-04 5.19808689e-02 1.77235974e+00] [-8.32844982e-04 9.99996662e-01 -2.44594748e-03 -1.29848963e-01] [-5.19830407e-02 2.39934763e-03 9.98645085e-01 -9.88279980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.399928851 meters 0.08830965042505604 Centerline is valid? [True, True] Translation: X:1.83, Y:-0.14, Z:-0.10 [[ 9.98745431e-01 -1.62783955e-03 5.00491244e-02 1.83299923e+00] [ 1.74792592e-03 9.99995698e-01 -2.35569516e-03 -1.38081753e-01] [-5.00450744e-02 2.44022194e-03 9.98743979e-01 -1.03047836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.459928851 meters 0.08896980029364968 Centerline is valid? [True, True] Translation: X:1.89, Y:-0.15, Z:-0.11 [[ 9.98786697e-01 -1.83556937e-03 4.92114298e-02 1.89483874e+00] [ 1.95174719e-03 9.99995421e-01 -2.31284011e-03 -1.45760333e-01] [-4.92069591e-02 2.40608220e-03 9.98785706e-01 -1.08219700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.519928851 meters 0.087364659773754 Centerline is valid? [True, True] Translation: X:1.96, Y:-0.15, Z:-0.11 [[ 9.98768742e-01 7.91928066e-04 4.96021410e-02 1.95538711e+00] [-6.76422434e-04 9.99997021e-01 -2.34538511e-03 -1.49992428e-01] [-4.96038506e-02 2.30894534e-03 9.98766302e-01 -1.10636535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.579928851 meters 0.08666039986029973 Centerline is valid? [True, True] Translation: X:2.02, Y:-0.15, Z:-0.11 [[ 9.98723467e-01 2.07100577e-03 5.04692680e-02 2.01639484e+00] [-1.95302133e-03 9.99995244e-01 -2.38695139e-03 -1.52919047e-01] [-5.04739713e-02 2.28533681e-03 9.98722762e-01 -1.13530792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.6399288510000005 meters 0.07771421791598317 Centerline is valid? [True, True] Translation: X:2.08, Y:-0.14, Z:-0.11 [[ 0.99869517 0.00347279 0.05094998 2.07973783] [-0.00335451 0.99999148 -0.00240681 -0.13745954] [-0.0509579 0.00223276 0.99869831 -0.10802969] [ 0. 0. 0. 1. ]] SLAMing on 4.699928851 meters 0.07738701971761032 Centerline is valid? [True, True] Translation: X:2.14, Y:-0.14, Z:-0.11 [[ 9.98716102e-01 5.33318444e-03 5.03756366e-02 2.14188217e+00] [-5.21930953e-03 9.99983519e-01 -2.39179253e-03 -1.44646372e-01] [-5.03875622e-02 2.12579567e-03 9.98727478e-01 -1.12666793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.759928851000001 meters 0.07775270500252053 Centerline is valid? [True, True] Translation: X:2.20, Y:-0.15, Z:-0.12 [[ 9.98694348e-01 6.61886644e-03 5.06536199e-02 2.20243283e+00] [-6.50474187e-03 9.99975922e-01 -2.41755914e-03 -1.53339518e-01] [-5.06684017e-02 2.08491393e-03 9.98713355e-01 -1.17326370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.819928851 meters 0.07760613317911427 Centerline is valid? [True, True] Translation: X:2.26, Y:-0.16, Z:-0.12 [[ 9.98764975e-01 6.54688904e-03 4.92510127e-02 2.26436767e+00] [-6.43842632e-03 9.99976487e-01 -2.36056874e-03 -1.58721433e-01] [-4.92653090e-02 2.04055437e-03 9.98783643e-01 -1.20949933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.879928851 meters 0.07866816136991876 Centerline is valid? [True, True] Translation: X:2.32, Y:-0.17, Z:-0.13 [[ 9.98841829e-01 5.78715186e-03 4.77651596e-02 2.32416763e+00] [-5.68363900e-03 9.99981197e-01 -2.30265472e-03 -1.69725134e-01] [-4.77775873e-02 2.02850792e-03 9.98855939e-01 -1.28634891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.939928851 meters 0.07753039575590172 Centerline is valid? [True, True] Translation: X:2.39, Y:-0.17, Z:-0.13 [[ 9.98907580e-01 4.36873579e-03 4.65248392e-02 2.38631207e+00] [-4.26870971e-03 9.99988360e-01 -2.24908804e-03 -1.72290549e-01] [-4.65341233e-02 2.04803006e-03 9.98914601e-01 -1.31262576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.999928851 meters 0.0899059953157173 Centerline is valid? [True, True] Translation: X:2.44, Y:-0.21, Z:-0.15 [[ 9.98885411e-01 3.39152370e-03 4.70790084e-02 2.44463160e+00] [-3.28803023e-03 9.99992005e-01 -2.27556115e-03 -2.06228210e-01] [-4.70863497e-02 2.11822763e-03 9.98888577e-01 -1.48941815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.0599288510000004 meters 0.07782260758893494 Centerline is valid? [True, True] Translation: X:2.51, Y:-0.19, Z:-0.13 [[ 9.98771032e-01 2.44258534e-03 4.95021207e-02 2.51013624e+00] [-2.32647848e-03 9.99994407e-01 -2.40297515e-03 -1.86933774e-01] [-4.95077133e-02 2.28485635e-03 9.98771128e-01 -1.34490668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.119928851 meters 0.07787593980496661 Centerline is valid? [True, True] Translation: X:2.57, Y:-0.19, Z:-0.14 [[ 9.98713044e-01 1.69631725e-03 5.06890340e-02 2.57247852e+00] [-1.57284088e-03 9.99995698e-01 -2.47574758e-03 -1.93890484e-01] [-5.06930156e-02 2.39283561e-03 9.98711416e-01 -1.37711948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.1799288510000006 meters 0.11229653473882292 Centerline is valid? [True, False] Translation: X:2.65, Y:-0.20, Z:-0.14 [[ 9.98958152e-01 -4.62291886e-03 4.54008711e-02 2.65491166e+00] [ 4.73375764e-03 9.99986072e-01 -2.33412509e-03 -2.03813867e-01] [-4.53894483e-02 2.54661000e-03 9.98966122e-01 -1.41123993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.239928851 meters 0.0836405269351145 Centerline is valid? [False, True] Translation: X:2.57, Y:-0.21, Z:-0.13 [[ 9.99334630e-01 -1.23599802e-02 3.43151214e-02 2.57328337e+00] [ 1.23935416e-02 9.99922904e-01 -7.65494031e-04 -2.05899868e-01] [-3.43030144e-02 1.19027058e-03 9.99410770e-01 -1.31914276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.299928851 meters 0.08361659535168174 Centerline is valid? [True, True] Translation: X:2.63, Y:-0.21, Z:-0.13 [[ 9.99298333e-01 -1.51706605e-02 3.42446135e-02 2.63427451e+00] [ 1.52315838e-02 9.99882839e-01 -1.51887392e-03 -2.12958663e-01] [-3.42175590e-02 2.03940788e-03 9.99412327e-01 -1.32126221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.359928851 meters 0.08646757045852607 Centerline is valid? [True, True] Translation: X:2.69, Y:-0.23, Z:-0.14 [[ 9.99205970e-01 -1.81770032e-02 3.54545618e-02 2.69324918e+00] [ 1.82442237e-02 9.99832322e-01 -1.57333360e-03 -2.30044124e-01] [-3.54200183e-02 2.21892528e-03 9.99370051e-01 -1.36144394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.419928851 meters 0.08774549154126565 Centerline is valid? [True, True] Translation: X:2.75, Y:-0.24, Z:-0.14 [[ 9.99228663e-01 -1.92927854e-02 3.42033161e-02 2.75471116e+00] [ 1.93559682e-02 9.99811505e-01 -1.51708903e-03 -2.39449808e-01] [-3.41676001e-02 2.17795715e-03 9.99413744e-01 -1.39598389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.479928851 meters 0.08375056528587957 Centerline is valid? [True, True] Translation: X:2.82, Y:-0.24, Z:-0.14 [[ 9.99229943e-01 -1.88976897e-02 3.43860280e-02 2.81734697e+00] [ 1.89615404e-02 9.99819041e-01 -1.53169622e-03 -2.37292269e-01] [-3.43508600e-02 2.18252879e-03 9.99407452e-01 -1.40271034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.539928851 meters 0.08199524639873702 Centerline is valid? [True, True] Translation: X:2.88, Y:-0.24, Z:-0.14 [[ 9.99261176e-01 -1.54353189e-02 3.51973426e-02 2.87791895e+00] [ 1.55005603e-02 9.99878608e-01 -1.58145332e-03 -2.39726675e-01] [-3.51686597e-02 2.12586343e-03 9.99379130e-01 -1.42338734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.5999288510000005 meters 0.07942685576200283 Centerline is valid? [True, True] Translation: X:2.94, Y:-0.24, Z:-0.14 [[ 9.99316675e-01 -1.16879831e-02 3.50652977e-02 2.93936498e+00] [ 1.17504645e-02 9.99929718e-01 -1.57629968e-03 -2.37189049e-01] [-3.50444095e-02 1.98725609e-03 9.99383780e-01 -1.44186305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.659928851 meters 0.07890258695121778 Centerline is valid? [True, True] Translation: X:3.00, Y:-0.24, Z:-0.15 [[ 9.99374484e-01 -7.60582327e-03 3.45368310e-02 2.99842790e+00] [ 7.66405125e-03 9.99969423e-01 -1.55389322e-03 -2.41546438e-01] [-3.45239563e-02 1.81761328e-03 9.99402218e-01 -1.48401839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.719928851000001 meters 0.07834671460673545 Centerline is valid? [True, True] Translation: X:3.06, Y:-0.25, Z:-0.15 [[ 9.99385385e-01 -6.10576607e-03 3.45191418e-02 3.06017343e+00] [ 6.16282638e-03 9.99979813e-01 -1.54684598e-03 -2.47614594e-01] [-3.45090002e-02 1.75863075e-03 9.99402840e-01 -1.51629939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.779928851 meters 0.07826515068289719 Centerline is valid? [True, True] Translation: X:3.12, Y:-0.25, Z:-0.15 [[ 9.99354582e-01 -4.54899243e-03 3.56332173e-02 3.12004515e+00] [ 4.60929053e-03 9.99988081e-01 -1.61022234e-03 -2.53647591e-01] [-3.56254677e-02 1.77342692e-03 9.99363638e-01 -1.54030844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.839928851 meters 0.0787286140588012 Centerline is valid? [True, True] Translation: X:3.18, Y:-0.26, Z:-0.16 [[ 9.99399559e-01 -2.00803281e-03 3.45902940e-02 3.17977859e+00] [ 2.06335208e-03 9.99996649e-01 -1.56364898e-03 -2.60619470e-01] [-3.45870382e-02 1.63408205e-03 9.99400353e-01 -1.59100664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.899928851 meters 0.0764656073078069 Centerline is valid? [True, True] Translation: X:3.24, Y:-0.26, Z:-0.16 [[ 9.99446396e-01 -4.25188515e-04 3.32674225e-02 3.24232357e+00] [ 4.75328651e-04 9.99998763e-01 -1.49929013e-03 -2.58463107e-01] [-3.32667438e-02 1.51427308e-03 9.99445362e-01 -1.60225642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.959928851 meters 0.07592113983257463 Centerline is valid? [True, True] Translation: X:3.30, Y:-0.26, Z:-0.16 [[ 9.99381145e-01 2.07300292e-03 3.51145335e-02 3.30304221e+00] [-2.01820485e-03 9.99996690e-01 -1.59592556e-03 -2.62907709e-01] [-3.51177256e-02 1.52406959e-03 9.99382020e-01 -1.63208596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.019928851 meters 0.0751200406695706 Centerline is valid? [True, True] Translation: X:3.37, Y:-0.26, Z:-0.17 [[ 9.99370643e-01 3.65019705e-03 3.52844800e-02 3.36565283e+00] [-3.59598958e-03 9.99992255e-01 -1.59963706e-03 -2.64417119e-01] [-3.52900458e-02 1.47174770e-03 9.99376029e-01 -1.65386570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.079928851 meters 0.07684621052240806 Centerline is valid? [True, True] Translation: X:3.43, Y:-0.27, Z:-0.17 [[ 9.99399611e-01 4.31287604e-03 3.43775575e-02 3.42708220e+00] [-4.26155945e-03 9.99989694e-01 -1.56586853e-03 -2.74123044e-01] [-3.43839566e-02 1.41842640e-03 9.99407690e-01 -1.71792136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.1399288510000005 meters 0.07793088649427589 Centerline is valid? [True, True] Translation: X:3.49, Y:-0.28, Z:-0.18 [[ 9.99407395e-01 2.24704345e-03 3.43483662e-02 3.48756157e+00] [-2.19420042e-03 9.99996351e-01 -1.57606129e-03 -2.82243252e-01] [-3.43517823e-02 1.49976011e-03 9.99408678e-01 -1.75499068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.199928851 meters 0.07723907896471553 Centerline is valid? [True, True] Translation: X:3.55, Y:-0.29, Z:-0.18 [[ 9.99399916e-01 -2.52925824e-03 3.45457894e-02 3.54799188e+00] [ 2.58576687e-03 9.99995391e-01 -1.59118107e-03 -2.87323172e-01] [-3.45416057e-02 1.67955359e-03 9.99401849e-01 -1.75307155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.259928851000001 meters 0.07862084720979258 Centerline is valid? [True, True] Translation: X:3.61, Y:-0.30, Z:-0.18 [[ 9.99404396e-01 -5.25208435e-03 3.41067231e-02 3.60816734e+00] [ 5.30874796e-03 9.99984674e-01 -1.57101554e-03 -2.96774783e-01] [-3.40979493e-02 1.75114383e-03 9.99416962e-01 -1.79626781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.319928851 meters 0.0826541856322343 Centerline is valid? [True, True] Translation: X:3.67, Y:-0.31, Z:-0.19 [[ 9.99393364e-01 -9.46807657e-03 3.35150493e-02 3.66716388e+00] [ 9.52516936e-03 9.99953442e-01 -1.54424055e-03 -3.14093615e-01] [-3.34988679e-02 1.86254028e-03 9.99437020e-01 -1.86032881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.379928851 meters 0.08304520250338518 Centerline is valid? [True, True] Translation: X:3.73, Y:-0.32, Z:-0.19 [[ 9.99350246e-01 -1.29123313e-02 3.36505331e-02 3.72816399e+00] [ 1.29718559e-02 9.99914659e-01 -1.55118061e-03 -3.20767306e-01] [-3.36276320e-02 1.98668259e-03 9.99432457e-01 -1.88159127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.439928851 meters 0.08608122942251169 Centerline is valid? [True, True] Translation: X:3.79, Y:-0.34, Z:-0.19 [[ 9.99238238e-01 -1.94181907e-02 3.38508175e-02 3.78794184e+00] [ 1.94821701e-02 9.99808986e-01 -1.56119735e-03 -3.36014211e-01] [-3.38140358e-02 2.21949547e-03 9.99425677e-01 -1.91291764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.499928851 meters 0.08706540811899605 Centerline is valid? [True, True] Translation: X:3.85, Y:-0.34, Z:-0.19 [[ 9.99160311e-01 -2.19446981e-02 3.45991684e-02 3.84917496e+00] [ 2.20130325e-02 9.99756411e-01 -1.59529073e-03 -3.42932339e-01] [-3.45557322e-02 2.35558380e-03 9.99399996e-01 -1.93901690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.5599288510000004 meters 0.08782070372789988 Centerline is valid? [True, True] Translation: X:3.91, Y:-0.35, Z:-0.20 [[ 9.99063053e-01 -2.56691206e-02 3.48441270e-02 3.90956840e+00] [ 2.57407382e-02 9.99667359e-01 -1.60826176e-03 -3.50668787e-01] [-3.47912537e-02 2.50366846e-03 9.99391465e-01 -1.96515149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.619928851 meters 0.08612628717496987 Centerline is valid? [True, True] Translation: X:3.97, Y:-0.35, Z:-0.20 [[ 9.99015239e-01 -2.85592939e-02 3.39546506e-02 3.97036876e+00] [ 2.86289653e-02 9.99588878e-01 -1.56738919e-03 -3.53762093e-01] [-3.38959275e-02 2.53793220e-03 9.99422146e-01 -1.98502548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.6799288510000006 meters 0.087123015807132 Centerline is valid? [True, True] Translation: X:4.03, Y:-0.36, Z:-0.20 [[ 9.99038682e-01 -2.79640736e-02 3.37597684e-02 4.03149308e+00] [ 2.80325189e-02 9.99605801e-01 -1.55571524e-03 -3.61568981e-01] [-3.37029562e-02 2.50059105e-03 9.99428766e-01 -2.02064377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.739928851 meters 0.08720778865239509 Centerline is valid? [True, True] Translation: X:4.09, Y:-0.37, Z:-0.21 [[ 9.99119459e-01 -2.75142545e-02 3.16744686e-02 4.09323235e+00] [ 2.75743159e-02 9.99618689e-01 -1.46087758e-03 -3.65858102e-01] [-3.16221959e-02 2.33299302e-03 9.99497171e-01 -2.06904447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.799928851 meters 0.08872943382976685 Centerline is valid? [True, True] Translation: X:4.15, Y:-0.37, Z:-0.21 [[ 9.99149626e-01 -2.65912915e-02 3.15107490e-02 4.15447310e+00] [ 2.66505082e-02 9.99643745e-01 -1.46067959e-03 -3.74906926e-01] [-3.14606818e-02 2.29921494e-03 9.99502346e-01 -2.11870248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.859928851 meters 0.08438685357927918 Centerline is valid? [True, True] Translation: X:4.22, Y:-0.37, Z:-0.21 [[ 9.99152617e-01 -2.62014935e-02 3.17416008e-02 4.21738702e+00] [ 2.62616110e-02 9.99654011e-01 -1.47847911e-03 -3.70707401e-01] [-3.16918802e-02 2.31081185e-03 9.99495015e-01 -2.11917559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.919928851 meters 0.08662363242621297 Centerline is valid? [True, True] Translation: X:4.28, Y:-0.38, Z:-0.22 [[ 9.99142069e-01 -2.67923203e-02 3.15800237e-02 4.27771373e+00] [ 2.68524535e-02 9.99638310e-01 -1.48151073e-03 -3.80805071e-01] [-3.15289084e-02 2.32824082e-03 9.99500129e-01 -2.15813575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.979928851 meters 0.08729924314070969 Centerline is valid? [True, True] Translation: X:4.34, Y:-0.39, Z:-0.22 [[ 9.99057188e-01 -2.77589942e-02 3.33792265e-02 4.33913215e+00] [ 2.78267843e-02 9.99611530e-01 -1.56798828e-03 -3.89878610e-01] [-3.33227339e-02 2.49534650e-03 9.99441528e-01 -2.16991632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.039928851 meters 0.08573897615223264 Centerline is valid? [True, True] Translation: X:4.40, Y:-0.39, Z:-0.22 [[ 9.99078320e-01 -2.71902285e-02 3.32144949e-02 4.40145608e+00] [ 2.72572554e-02 9.99627224e-01 -1.56679366e-03 -3.92063771e-01] [-3.31595118e-02 2.47068555e-03 9.99447018e-01 -2.19275597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0999288510000005 meters 0.08792014001233558 Centerline is valid? [True, True] Translation: X:4.46, Y:-0.40, Z:-0.23 [[ 9.99135138e-01 -2.62909850e-02 3.22142735e-02 4.46202289e+00] [ 2.63538151e-02 9.99651511e-01 -1.52726846e-03 -4.03053352e-01] [-3.21628938e-02 2.37491659e-03 9.99479819e-01 -2.25252262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.159928851 meters 0.08801424363954818 Centerline is valid? [True, True] Translation: X:4.52, Y:-0.41, Z:-0.23 [[ 9.99211122e-01 -2.61507132e-02 2.98876794e-02 4.52384612e+00] [ 2.62048861e-02 9.99655581e-01 -1.42223528e-03 -4.09137436e-01] [-2.98401931e-02 2.20431655e-03 9.99552252e-01 -2.30594851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.219928851 meters 0.08593457820784658 Centerline is valid? [True, True] Translation: X:4.59, Y:-0.41, Z:-0.23 [[ 9.99192440e-01 -2.62332097e-02 3.04349431e-02 4.58675730e+00] [ 2.62896065e-02 9.99653311e-01 -1.45428764e-03 -4.11642914e-01] [-3.03862410e-02 2.25323589e-03 9.99535692e-01 -2.31139051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.279928851 meters 0.08804715823255506 Centerline is valid? [True, True] Translation: X:4.65, Y:-0.42, Z:-0.23 [[ 9.99160037e-01 -2.59378443e-02 3.17245784e-02 4.64774088e+00] [ 2.59993078e-02 9.99660796e-01 -1.52636234e-03 -4.23412199e-01] [-3.16742268e-02 2.34989733e-03 9.99495483e-01 -2.33642166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.339928851 meters 0.08521647568435002 Centerline is valid? [True, True] Translation: X:4.71, Y:-0.42, Z:-0.23 [[ 9.99132404e-01 -2.58622890e-02 3.26432528e-02 4.70990971e+00] [ 2.59275440e-02 9.99662580e-01 -1.57725582e-03 -4.23213802e-01] [-3.25914468e-02 2.42224677e-03 9.99465822e-01 -2.34269751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.399928851 meters 0.08769635904501785 Centerline is valid? [True, True] Translation: X:4.77, Y:-0.44, Z:-0.24 [[ 9.99140544e-01 -2.71576325e-02 3.13151168e-02 4.76936206e+00] [ 2.72187006e-02 9.99628339e-01 -1.52540455e-03 -4.35732639e-01] [-3.12620518e-02 2.37645032e-03 9.99508397e-01 -2.40431473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.459928851 meters 0.08769828800641938 Centerline is valid? [True, True] Translation: X:4.83, Y:-0.44, Z:-0.24 [[ 9.99152133e-01 -2.68412615e-02 3.12179661e-02 4.83194781e+00] [ 2.69016173e-02 9.99636938e-01 -1.51488995e-03 -4.41325138e-01] [-3.11659705e-02 2.35341930e-03 9.99511453e-01 -2.43884286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.519928851 meters 0.08676161489503063 Centerline is valid? [True, True] Translation: X:4.89, Y:-0.44, Z:-0.25 [[ 9.99157303e-01 -2.80303051e-02 2.99830962e-02 4.89250403e+00] [ 2.80869230e-02 9.99604406e-01 -1.46875548e-03 -4.44753097e-01] [-2.99300654e-02 2.30965068e-03 9.99549327e-01 -2.47587090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.579928851 meters 0.0863421609581574 Centerline is valid? [True, True] Translation: X:4.95, Y:-0.45, Z:-0.25 [[ 9.99189752e-01 -2.73996982e-02 2.94804324e-02 4.95422422e+00] [ 2.74540001e-02 9.99622033e-01 -1.43870160e-03 -4.48846769e-01] [-2.94298698e-02 2.24689169e-03 9.99564322e-01 -2.51309534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.6399288510000005 meters 0.0839514323652982 Centerline is valid? [True, True] Translation: X:5.02, Y:-0.45, Z:-0.25 [[ 9.99206409e-01 -2.61360555e-02 3.00576016e-02 5.01619714e+00] [ 2.61922808e-02 9.99655830e-01 -1.47831098e-03 -4.48781743e-01] [-3.00086195e-02 2.26441494e-03 9.99547075e-01 -2.52684072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.699928851 meters 0.08283011183594675 Centerline is valid? [True, True] Translation: X:5.08, Y:-0.45, Z:-0.26 [[ 9.99261063e-01 -2.44438446e-02 2.96618772e-02 5.07719815e+00] [ 2.44979504e-02 9.99698811e-01 -1.46199906e-03 -4.50706241e-01] [-2.96172065e-02 2.18757393e-03 9.99558921e-01 -2.55418727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.759928851 meters 0.08199997389542518 Centerline is valid? [True, True] Translation: X:5.14, Y:-0.45, Z:-0.26 [[ 9.99355684e-01 -2.00878298e-02 2.97438291e-02 5.13738538e+00] [ 2.01403744e-02 9.99796084e-01 -1.46800479e-03 -4.53452489e-01] [-2.97082749e-02 2.06611079e-03 9.99556476e-01 -2.58915311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.819928851 meters 0.08149223935004302 Centerline is valid? [True, True] Translation: X:5.20, Y:-0.46, Z:-0.26 [[ 9.99419145e-01 -1.64090104e-02 2.98683241e-02 5.19805177e+00] [ 1.64603547e-02 9.99863433e-01 -1.47394029e-03 -4.55085405e-01] [-2.98400591e-02 1.96472736e-03 9.99552755e-01 -2.62631887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.879928851 meters 0.07944100659141486 Centerline is valid? [True, True] Translation: X:5.26, Y:-0.45, Z:-0.27 [[ 9.99521622e-01 -9.80858585e-03 2.93311842e-02 5.25848049e+00] [ 9.85528067e-03 9.99950387e-01 -1.44784128e-03 -4.52117912e-01] [-2.93155277e-02 1.73621572e-03 9.99568700e-01 -2.65547785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.939928851 meters 0.07813869970207099 Centerline is valid? [True, True] Translation: X:5.32, Y:-0.45, Z:-0.27 [[ 9.99591369e-01 -4.16877042e-03 2.82792434e-02 5.31893085e+00] [ 4.20992266e-03 9.99990164e-01 -1.39582765e-03 -4.50137273e-01] [-2.82731464e-02 1.51431070e-03 9.99599088e-01 -2.69257725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.999928851 meters 0.07724331207667269 Centerline is valid? [True, True] Translation: X:5.38, Y:-0.45, Z:-0.27 [[ 9.99580084e-01 -1.03137224e-03 2.89584572e-02 5.37968767e+00] [ 1.07319984e-03 9.99998403e-01 -1.42889490e-03 -4.50969223e-01] [-2.89569372e-02 1.45937310e-03 9.99579595e-01 -2.71871555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.059928850999999 meters 0.07778068876160946 Centerline is valid? [True, True] Translation: X:5.44, Y:-0.46, Z:-0.28 [[ 9.99580763e-01 1.92941875e-03 2.88890321e-02 5.43979656e+00] [-1.88901115e-03 9.99997199e-01 -1.42594402e-03 -4.55525730e-01] [-2.88917024e-02 1.37077450e-03 9.99581608e-01 -2.75716401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.119928851 meters 0.0779960248948832 Centerline is valid? [True, True] Translation: X:5.50, Y:-0.46, Z:-0.28 [[ 9.99585305e-01 2.22916422e-03 2.87097217e-02 5.50244684e+00] [-2.18955946e-03 9.99996608e-01 -1.41085324e-03 -4.59402469e-01] [-2.87127694e-02 1.34740653e-03 9.99586795e-01 -2.79891055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.179928851 meters 0.07804328572465109 Centerline is valid? [True, True] Translation: X:5.56, Y:-0.46, Z:-0.28 [[ 9.99615424e-01 2.46235904e-03 2.76213943e-02 5.56437221e+00] [-2.42558519e-03 9.99996127e-01 -1.36478047e-03 -4.64078090e-01] [-2.76246479e-02 1.29725756e-03 9.99617525e-01 -2.84298232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.239928850999998 meters 0.07685944971315943 Centerline is valid? [True, True] Translation: X:5.63, Y:-0.46, Z:-0.29 [[ 9.99598419e-01 1.37232509e-03 2.83040033e-02 5.62699631e+00] [-1.33309937e-03 9.99998125e-01 -1.40469531e-03 -4.64231488e-01] [-2.83058779e-02 1.36639916e-03 9.99598374e-01 -2.85332168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.299928850999999 meters 0.07700866239012741 Centerline is valid? [True, True] Translation: X:5.69, Y:-0.47, Z:-0.29 [[ 9.99597266e-01 -2.09829372e-04 2.83771183e-02 5.68869097e+00] [ 2.50215682e-04 9.99998961e-01 -1.41965641e-03 -4.68737297e-01] [-2.83767909e-02 1.42618507e-03 9.99596280e-01 -2.88365751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.359928851 meters 0.07836414803402798 Centerline is valid? [True, True] Translation: X:5.75, Y:-0.48, Z:-0.29 [[ 9.99596796e-01 -1.44849599e-03 2.83574902e-02 5.74916383e+00] [ 1.48925802e-03 9.99997888e-01 -1.41636686e-03 -4.77364821e-01] [-2.83553787e-02 1.45802739e-03 9.99596842e-01 -2.93943443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.419928851 meters 0.07903605176691314 Centerline is valid? [True, True] Translation: X:5.81, Y:-0.48, Z:-0.30 [[ 9.99549261e-01 -2.76000362e-03 2.98941068e-02 5.81057638e+00] [ 2.80617511e-03 9.99994934e-01 -1.50265829e-03 -4.83634318e-01] [-2.98898080e-02 1.58586908e-03 9.99551942e-01 -2.96976483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.479928850999999 meters 0.08040335142055244 Centerline is valid? [True, True] Translation: X:5.87, Y:-0.49, Z:-0.30 [[ 9.99494792e-01 -6.22351777e-03 3.11677611e-02 5.87109985e+00] [ 6.27559626e-03 9.99979070e-01 -1.57336499e-03 -4.91034837e-01] [-3.11573169e-02 1.76816640e-03 9.99512929e-01 -2.99397653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.539928850999999 meters 0.08003985158370512 Centerline is valid? [True, True] Translation: X:5.93, Y:-0.49, Z:-0.30 [[ 9.99488191e-01 -8.43823220e-03 3.08569618e-02 5.93159766e+00] [ 8.49034262e-03 9.99962742e-01 -1.55813696e-03 -4.93585277e-01] [-3.08426642e-02 1.81932567e-03 9.99522596e-01 -3.02633196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.599928851 meters 0.0800853706718276 Centerline is valid? [True, True] Translation: X:5.99, Y:-0.50, Z:-0.31 [[ 9.99446517e-01 -1.20080566e-02 3.10236330e-02 5.99265499e+00] [ 1.20624508e-02 9.99926019e-01 -1.56674758e-03 -4.97040184e-01] [-3.10025243e-02 1.94010146e-03 9.99517423e-01 -3.06247877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.659928851 meters 0.080564627063563 Centerline is valid? [True, True] Translation: X:6.05, Y:-0.50, Z:-0.31 [[ 9.99416341e-01 -1.29416458e-02 3.16147171e-02 6.05443776e+00] [ 1.29984643e-02 9.99914248e-01 -1.59234829e-03 -5.01833837e-01] [-3.15913985e-02 2.00236168e-03 9.99498861e-01 -3.09643809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.719928850999999 meters 0.0813499852868823 Centerline is valid? [True, True] Translation: X:6.12, Y:-0.51, Z:-0.31 [[ 9.99297496e-01 -1.61803098e-02 3.38040097e-02 6.11529336e+00] [ 1.62475823e-02 9.99866526e-01 -1.71631047e-03 -5.08696296e-01] [-3.37717273e-02 2.26433819e-03 9.99427007e-01 -3.12354475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.779928851 meters 0.08219799209233945 Centerline is valid? [True, True] Translation: X:6.18, Y:-0.51, Z:-0.31 [[ 9.99195457e-01 -2.16909640e-02 3.37333648e-02 6.17639892e+00] [ 2.17610886e-02 9.99761732e-01 -1.71299710e-03 -5.14646471e-01] [-3.36881706e-02 2.44569366e-03 9.99429400e-01 -3.14900616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.839928851 meters 0.08302424636595876 Centerline is valid? [True, True] Translation: X:6.24, Y:-0.52, Z:-0.32 [[ 9.99084165e-01 -2.50863520e-02 3.46627395e-02 6.23706434e+00] [ 2.51624804e-02 9.99681822e-01 -1.76170826e-03 -5.21019782e-01] [-3.46075157e-02 2.63229533e-03 9.99397514e-01 -3.19691441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.899928850999999 meters 0.08992824314159159 Centerline is valid? [True, True] Translation: X:6.30, Y:-0.54, Z:-0.33 [[ 9.99010353e-01 -2.83533458e-02 3.42695557e-02 6.29549676e+00] [ 2.84296885e-02 9.99594276e-01 -1.74239080e-03 -5.42192657e-01] [-3.42062492e-02 2.71493924e-03 9.99411107e-01 -3.27517003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.959928850999999 meters 0.08770400354462807 Centerline is valid? [True, True] Translation: X:6.36, Y:-0.54, Z:-0.33 [[ 9.98919955e-01 -3.14125809e-02 3.42370209e-02 6.35622177e+00] [ 3.14905356e-02 9.99502536e-01 -1.73993308e-03 -5.42272967e-01] [-3.41653334e-02 2.81619600e-03 9.99412227e-01 -3.28954657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.019928851 meters 0.08602576932926488 Centerline is valid? [True, True] Translation: X:6.42, Y:-0.54, Z:-0.33 [[ 9.98817771e-01 -3.33679465e-02 3.53502472e-02 6.41760501e+00] [ 3.34522570e-02 9.99438703e-01 -1.79607313e-03 -5.43030612e-01] [-3.52704739e-02 2.97649531e-03 9.99373371e-01 -3.30908681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.079928851 meters 0.08935414946566389 Centerline is valid? [True, True] Translation: X:6.48, Y:-0.56, Z:-0.33 [[ 9.98614130e-01 -3.71773728e-02 3.72513471e-02 6.47653080e+00] [ 3.72737159e-02 9.99303297e-01 -1.89491476e-03 -5.57747211e-01] [-3.71549461e-02 3.28078478e-03 9.99304131e-01 -3.34930878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.139928850999999 meters 0.0878626539767026 Centerline is valid? [True, True] Translation: X:6.54, Y:-0.56, Z:-0.34 [[ 9.98478068e-01 -3.90657734e-02 3.89283040e-02 6.53777444e+00] [ 3.91723680e-02 9.99230509e-01 -1.97896344e-03 -5.59905573e-01] [-3.88210393e-02 3.50086545e-03 9.99240047e-01 -3.37046770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.199928851 meters 0.08782320586598569 Centerline is valid? [True, True] Translation: X:6.60, Y:-0.56, Z:-0.34 [[ 9.98445797e-01 -4.05791605e-02 3.82010665e-02 6.59850708e+00] [ 4.06829649e-02 9.99170215e-01 -1.94357968e-03 -5.64596361e-01] [-3.80904990e-02 3.49469161e-03 9.99268183e-01 -3.40928509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.259928851 meters 0.08836804843253628 Centerline is valid? [True, True] Translation: X:6.66, Y:-0.57, Z:-0.35 [[ 9.98513907e-01 -3.96643911e-02 3.73726209e-02 6.66055304e+00] [ 3.97629643e-02 9.99207339e-01 -1.89770536e-03 -5.71434583e-01] [-3.72677257e-02 3.38093138e-03 9.99299598e-01 -3.45891612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.319928850999998 meters 0.08742108940865329 Centerline is valid? [True, True] Translation: X:6.72, Y:-0.57, Z:-0.35 [[ 9.98538816e-01 -3.86373282e-02 3.77808008e-02 6.72267462e+00] [ 3.87376817e-02 9.99247555e-01 -1.92751576e-03 -5.74267744e-01] [-3.76778988e-02 3.38823994e-03 9.99284192e-01 -3.48804846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.379928850999999 meters 0.08800448805853746 Centerline is valid? [True, True] Translation: X:6.78, Y:-0.58, Z:-0.35 [[ 9.98612920e-01 -3.67756547e-02 3.76800566e-02 6.78189652e+00] [ 3.68746841e-02 9.99318022e-01 -1.93634237e-03 -5.78913835e-01] [-3.75831493e-02 3.32309670e-03 9.99287978e-01 -3.52657894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.439928851 meters 0.08807666301652767 Centerline is valid? [True, True] Translation: X:6.84, Y:-0.58, Z:-0.36 [[ 9.98642815e-01 -3.55851124e-02 3.80293002e-02 6.84323469e+00] [ 3.56850703e-02 9.99361177e-01 -1.95268563e-03 -5.83050579e-01] [-3.79355197e-02 3.30711373e-03 9.99274717e-01 -3.56357046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.499928851 meters 0.08585078685960752 Centerline is valid? [True, True] Translation: X:6.91, Y:-0.58, Z:-0.36 [[ 9.98673355e-01 -3.45008085e-02 3.82259555e-02 6.90561677e+00] [ 3.46009189e-02 9.99399286e-01 -1.96024649e-03 -5.83698877e-01] [-3.81353626e-02 3.28029912e-03 9.99267198e-01 -3.58648335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.559928850999999 meters 0.08936540351258009 Centerline is valid? [True, True] Translation: X:6.97, Y:-0.60, Z:-0.36 [[ 9.98685264e-01 -3.40153087e-02 3.83497253e-02 6.96596684e+00] [ 3.41160763e-02 9.99415924e-01 -1.97606474e-03 -5.95813653e-01] [-3.82601097e-02 3.28180889e-03 9.99262425e-01 -3.63565299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.619928851 meters 0.08535348289362114 Centerline is valid? [True, True] Translation: X:7.03, Y:-0.59, Z:-0.36 [[ 9.98759528e-01 -3.21701258e-02 3.80064117e-02 7.02831998e+00] [ 3.22681961e-02 9.99477305e-01 -1.96960634e-03 -5.92541140e-01] [-3.79231834e-02 3.19356144e-03 9.99275554e-01 -3.64673586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.679928851 meters 0.08945987415968133 Centerline is valid? [True, True] Translation: X:7.09, Y:-0.61, Z:-0.37 [[ 9.98798445e-01 -3.10941723e-02 3.78790112e-02 7.08820710e+00] [ 3.11909019e-02 9.99511513e-01 -1.96523474e-03 -6.06006156e-01] [-3.77994005e-02 3.14435393e-03 9.99280400e-01 -3.71002697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.739928850999998 meters 0.0819869870357461 Centerline is valid? [True, True] Translation: X:7.15, Y:-0.59, Z:-0.37 [[ 9.98890670e-01 -2.90473972e-02 3.70631724e-02 7.15069532e+00] [ 2.91386329e-02 9.99573529e-01 -1.92371971e-03 -5.93504889e-01] [-3.69914870e-02 3.00155584e-03 9.99311073e-01 -3.70938195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.799928850999999 meters 0.08243126497553448 Centerline is valid? [True, True] Translation: X:7.21, Y:-0.60, Z:-0.38 [[ 9.98942661e-01 -2.73910584e-02 3.69227557e-02 7.21128783e+00] [ 2.74805635e-02 9.99620497e-01 -1.91870352e-03 -5.98032054e-01] [-3.68561881e-02 2.93133293e-03 9.99316281e-01 -3.75081998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.859928851 meters 0.08301093346603765 Centerline is valid? [True, True] Translation: X:7.27, Y:-0.60, Z:-0.38 [[ 9.99020609e-01 -2.57655832e-02 3.59716260e-02 7.27152084e+00] [ 2.58495291e-02 9.99664095e-01 -1.87047214e-03 -6.04738574e-01] [-3.59113492e-02 2.79848981e-03 9.99351061e-01 -3.79613597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.919928851 meters 0.08330120164327069 Centerline is valid? [True, True] Translation: X:7.33, Y:-0.61, Z:-0.38 [[ 9.99039439e-01 -2.46974607e-02 3.61971606e-02 7.33234249e+00] [ 2.47818115e-02 9.99691110e-01 -1.88344090e-03 -6.09537531e-01] [-3.61394634e-02 2.77866295e-03 9.99342893e-01 -3.83341694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.979928850999999 meters 0.0843208430872225 Centerline is valid? [True, True] Translation: X:7.39, Y:-0.62, Z:-0.39 [[ 9.99068440e-01 -2.38293036e-02 3.59779927e-02 7.39328662e+00] [ 2.39120445e-02 9.99712315e-01 -1.87116321e-03 -6.15388403e-01] [-3.59230539e-02 2.72972747e-03 9.99350831e-01 -3.86714384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.039928850999999 meters 0.08299191152676322 Centerline is valid? [True, True] Translation: X:7.46, Y:-0.62, Z:-0.39 [[ 9.99076007e-01 -2.42120106e-02 3.55092966e-02 7.45572349e+00] [ 2.42929325e-02 9.99703173e-01 -1.84915648e-03 -6.18461255e-01] [-3.54539847e-02 2.71007282e-03 9.99367635e-01 -3.88818750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.099928851 meters 0.0842917654720759 Centerline is valid? [True, True] Translation: X:7.52, Y:-0.63, Z:-0.39 [[ 9.98984474e-01 -2.78113275e-02 3.54478542e-02 7.51611657e+00] [ 2.78946864e-02 9.99609139e-01 -1.85911119e-03 -6.28999161e-01] [-3.53822947e-02 2.84602999e-03 9.99369798e-01 -3.93586579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.159928850999998 meters 0.08551113969842732 Centerline is valid? [True, True] Translation: X:7.58, Y:-0.64, Z:-0.40 [[ 9.98913349e-01 -3.00224474e-02 3.56479095e-02 7.57629407e+00] [ 3.01081462e-02 9.99544899e-01 -1.86953489e-03 -6.37076372e-01] [-3.55755581e-02 2.94079583e-03 9.99362663e-01 -3.97757707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.219928850999999 meters 0.08661191935058495 Centerline is valid? [True, True] Translation: X:7.64, Y:-0.65, Z:-0.40 [[ 9.98945543e-01 -3.00236148e-02 3.47330521e-02 7.63780423e+00] [ 3.01048248e-02 9.99545095e-01 -1.81739469e-03 -6.45204453e-01] [-3.46626871e-02 2.86111078e-03 9.99394973e-01 -4.02154508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.279928851 meters 0.083536955858995 Centerline is valid? [True, True] Translation: X:7.70, Y:-0.64, Z:-0.40 [[ 9.98944254e-01 -3.00821898e-02 3.47194434e-02 7.70012407e+00] [ 3.01636369e-02 9.99543309e-01 -1.82434185e-03 -6.42170052e-01] [-3.46487071e-02 2.86968049e-03 9.99395433e-01 -4.03862246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.339928851 meters 0.08343253260803665 Centerline is valid? [True, True] Translation: X:7.76, Y:-0.65, Z:-0.41 [[ 9.99028544e-01 -2.92255714e-02 3.29823331e-02 7.76223435e+00] [ 2.92988401e-02 9.99569182e-01 -1.74023685e-03 -6.48545790e-01] [-3.29172643e-02 2.70489039e-03 9.99454420e-01 -4.07676398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.399928850999999 meters 0.08390508474307665 Centerline is valid? [True, True] Translation: X:7.82, Y:-0.65, Z:-0.41 [[ 9.99072275e-01 -2.83609966e-02 3.24074476e-02 7.82448691e+00] [ 2.84315230e-02 9.99594267e-01 -1.71740603e-03 -6.54835901e-01] [-3.23455915e-02 2.63720585e-03 9.99473265e-01 -4.11444278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.459928850999999 meters 0.08509819033763111 Centerline is valid? [True, True] Translation: X:7.89, Y:-0.66, Z:-0.42 [[ 9.99099458e-01 -2.76380585e-02 3.21933347e-02 7.88678480e+00] [ 2.77075250e-02 9.99614604e-01 -1.71359440e-03 -6.61405508e-01] [-3.21335671e-02 2.60404886e-03 9.99480191e-01 -4.15551888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.519928851 meters 0.08415309681605737 Centerline is valid? [True, True] Translation: X:7.95, Y:-0.66, Z:-0.42 [[ 9.99117258e-01 -2.72181601e-02 3.19980728e-02 7.94987648e+00] [ 2.72867761e-02 9.99626185e-01 -1.70958309e-03 -6.64714230e-01] [-3.19395797e-02 2.58119821e-03 9.99486468e-01 -4.19221676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.579928850999998 meters 0.0830553550499839 Centerline is valid? [True, True] Translation: X:8.01, Y:-0.67, Z:-0.42 [[ 9.99170804e-01 -2.63183486e-02 3.10652268e-02 8.01220647e+00] [ 2.63828568e-02 9.99650520e-01 -1.66840715e-03 -6.65753010e-01] [-3.10104604e-02 2.48661314e-03 9.99515967e-01 -4.22523044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.639928850999999 meters 0.08223871944758873 Centerline is valid? [True, True] Translation: X:8.07, Y:-0.67, Z:-0.42 [[ 9.99203720e-01 -2.54283398e-02 3.07461320e-02 8.07474125e+00] [ 2.54913278e-02 9.99673668e-01 -1.65834902e-03 -6.66538566e-01] [-3.06939295e-02 2.44078824e-03 9.99525850e-01 -4.24380617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.699928851 meters 0.0819843350970906 Centerline is valid? [True, True] Translation: X:8.14, Y:-0.67, Z:-0.43 [[ 9.99209641e-01 -2.49409869e-02 3.09522332e-02 8.13718887e+00] [ 2.50049459e-02 9.99685914e-01 -1.68096886e-03 -6.70500519e-01] [-3.09005865e-02 2.45359920e-03 9.99519451e-01 -4.28188552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.759928851 meters 0.0829036216424062 Centerline is valid? [True, True] Translation: X:8.20, Y:-0.68, Z:-0.43 [[ 9.99232700e-01 -2.45157257e-02 3.05448827e-02 8.19977481e+00] [ 2.45777431e-02 9.99696549e-01 -1.65652248e-03 -6.76587861e-01] [-3.04950030e-02 2.40597572e-03 9.99532024e-01 -4.32912374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.819928850999998 meters 0.08337129836162575 Centerline is valid? [True, True] Translation: X:8.26, Y:-0.68, Z:-0.44 [[ 9.99293083e-01 -2.31310588e-02 2.96359423e-02 8.26225774e+00] [ 2.31890857e-02 9.99729791e-01 -1.61575300e-03 -6.78188137e-01] [-2.95905604e-02 2.30184121e-03 9.99559453e-01 -4.36285155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.879928850999999 meters 0.08368770660712403 Centerline is valid? [True, True] Translation: X:8.32, Y:-0.68, Z:-0.44 [[ 9.99289553e-01 -2.15800391e-02 3.08980747e-02 8.32272385e+00] [ 2.16427930e-02 9.99764325e-01 -1.69796244e-03 -6.82154532e-01] [-3.08541508e-02 2.36547677e-03 9.99521098e-01 -4.41459209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.939928851 meters 0.086384647464011 Centerline is valid? [True, True] Translation: X:8.38, Y:-0.69, Z:-0.45 [[ 9.99279263e-01 -2.25034851e-02 3.05703764e-02 8.38314779e+00] [ 2.25652029e-02 9.99743970e-01 -1.67533977e-03 -6.91504119e-01] [-3.05248485e-02 2.36395903e-03 9.99531213e-01 -4.45963750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.999928851 meters 0.08820025398695339 Centerline is valid? [True, True] Translation: X:8.44, Y:-0.70, Z:-0.45 [[ 9.99220333e-01 -2.32983709e-02 3.18733883e-02 8.44444686e+00] [ 2.33661726e-02 9.99725431e-01 -1.75635239e-03 -6.97435408e-01] [-3.18237168e-02 2.49974211e-03 9.99490371e-01 -4.49361789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.059928850999999 meters 0.08317722471906226 Centerline is valid? [True, True] Translation: X:8.51, Y:-0.69, Z:-0.45 [[ 9.99220274e-01 -2.43378720e-02 3.10887893e-02 8.50744815e+00] [ 2.44030228e-02 9.99700726e-01 -1.71787934e-03 -6.90067694e-01] [-3.10376757e-02 2.47520030e-03 9.99515150e-01 -4.50156596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.119928851 meters 0.08515809343536607 Centerline is valid? [True, True] Translation: X:8.57, Y:-0.70, Z:-0.45 [[ 9.99184898e-01 -2.69695577e-02 3.00363429e-02 8.56737572e+00] [ 2.70316542e-02 9.99633195e-01 -1.66316662e-03 -6.98089834e-01] [-2.99804706e-02 2.47374301e-03 9.99547424e-01 -4.54432524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.179928851 meters 0.08658180742168542 Centerline is valid? [True, True] Translation: X:8.63, Y:-0.71, Z:-0.46 [[ 9.99122692e-01 -2.87761471e-02 3.04266192e-02 8.62836301e+00] [ 2.88406891e-02 9.99582602e-01 -1.68441343e-03 -7.05166603e-01] [-3.03654482e-02 2.56046035e-03 9.99535584e-01 -4.58412563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.239928850999998 meters 0.08584893924209756 Centerline is valid? [True, True] Translation: X:8.69, Y:-0.71, Z:-0.46 [[ 9.99024202e-01 -3.13137167e-02 3.11463383e-02 8.68906567e+00] [ 3.13826199e-02 9.99505954e-01 -1.72573871e-03 -7.08243779e-01] [-3.10769113e-02 2.70150843e-03 9.99513345e-01 -4.60817306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.299928850999999 meters 0.0856978363804607 Centerline is valid? [True, True] Translation: X:8.75, Y:-0.71, Z:-0.46 [[ 9.98990588e-01 -3.19359490e-02 3.15895461e-02 8.75073659e+00] [ 3.20069922e-02 9.99486120e-01 -1.74571098e-03 -7.11442397e-01] [-3.15175619e-02 2.75503520e-03 9.99499401e-01 -4.63024046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.359928851 meters 0.08620154254970255 Centerline is valid? [True, True] Translation: X:8.81, Y:-0.72, Z:-0.47 [[ 9.99002835e-01 -3.18873542e-02 3.12495183e-02 8.81285368e+00] [ 3.19570477e-02 9.99487740e-01 -1.73319986e-03 -7.15714535e-01] [-3.11782433e-02 2.73011392e-03 9.99510112e-01 -4.66617938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.419928851 meters 0.08511741893071154 Centerline is valid? [True, True] Translation: X:8.87, Y:-0.72, Z:-0.47 [[ 9.99062985e-01 -2.98867347e-02 3.13039074e-02 8.87405563e+00] [ 2.99560999e-02 9.99549685e-01 -1.74912140e-03 -7.16537994e-01] [-3.12375352e-02 2.68522542e-03 9.99508382e-01 -4.69625350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.479928850999999 meters 0.08516846840712129 Centerline is valid? [True, True] Translation: X:8.94, Y:-0.72, Z:-0.47 [[ 9.99053699e-01 -2.97361331e-02 3.17406542e-02 8.93681992e+00] [ 2.98071882e-02 9.99554104e-01 -1.76769358e-03 -7.20204128e-01] [-3.16739368e-02 2.71212046e-03 9.99494575e-01 -4.73504394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.539928850999999 meters 0.08473749061827453 Centerline is valid? [True, True] Translation: X:9.00, Y:-0.72, Z:-0.48 [[ 9.98994111e-01 -3.10641550e-02 3.23385997e-02 8.99920309e+00] [ 3.11390547e-02 9.99513414e-01 -1.81493780e-03 -7.23580312e-01] [-3.22664847e-02 2.82010560e-03 9.99475323e-01 -4.75526293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.599928851 meters 0.08593081812945857 Centerline is valid? [True, True] Translation: X:9.06, Y:-0.73, Z:-0.48 [[ 9.98916801e-01 -3.23537929e-02 3.34433380e-02 9.06090238e+00] [ 3.24346981e-02 9.99472090e-01 -1.87935218e-03 -7.32416718e-01] [-3.33648787e-02 2.96204104e-03 9.99438848e-01 -4.79856045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.659928850999998 meters 0.08599980969809097 Centerline is valid? [True, True] Translation: X:9.12, Y:-0.74, Z:-0.48 [[ 9.98905610e-01 -3.30924387e-02 3.30525657e-02 9.12258404e+00] [ 3.31719361e-02 9.99447930e-01 -1.85957537e-03 -7.36968400e-01] [-3.29727805e-02 2.95395787e-03 9.99451885e-01 -4.83167133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.719928850999999 meters 0.08659137095486939 Centerline is valid? [True, True] Translation: X:9.18, Y:-0.74, Z:-0.49 [[ 9.98899767e-01 -3.38457602e-02 3.24610428e-02 9.18412384e+00] [ 3.39227792e-02 9.99422791e-01 -1.82471361e-03 -7.42016317e-01] [-3.23805472e-02 2.92387479e-03 9.99471336e-01 -4.85895982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.779928851 meters 0.0892305569494505 Centerline is valid? [True, True] Translation: X:9.24, Y:-0.75, Z:-0.49 [[ 9.98816608e-01 -3.65820243e-02 3.20489988e-02 9.24258305e+00] [ 3.66588971e-02 9.99326190e-01 -1.81410692e-03 -7.54142083e-01] [-3.19610402e-02 2.98684107e-03 9.99484653e-01 -4.91324086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.839928851 meters 0.09079038343981256 Centerline is valid? [True, True] Translation: X:9.30, Y:-0.76, Z:-0.50 [[ 9.98768117e-01 -3.83737167e-02 3.14596132e-02 9.30319216e+00] [ 3.84486331e-02 9.99258993e-01 -1.77965820e-03 -7.62542254e-01] [-3.13680093e-02 2.98704500e-03 9.99503439e-01 -4.95625360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.899928850999999 meters 0.09351419651163158 Centerline is valid? [True, True] Translation: X:9.36, Y:-0.77, Z:-0.50 [[ 9.98689921e-01 -3.97595119e-02 3.22121483e-02 9.36235405e+00] [ 3.98388021e-02 9.99204456e-01 -1.82318296e-03 -7.72864571e-01] [-3.21140333e-02 3.10408785e-03 9.99479391e-01 -4.99374182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.959928850999999 meters 0.09010499071003082 Centerline is valid? [True, True] Translation: X:9.42, Y:-0.77, Z:-0.50 [[ 9.98611872e-01 -4.14831207e-02 3.24573575e-02 9.42326486e+00] [ 4.15645116e-02 9.99134134e-01 -1.83665200e-03 -7.71345220e-01] [-3.23530638e-02 3.18317671e-03 9.99471434e-01 -5.00375426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.019928851 meters 0.09044242316321838 Centerline is valid? [True, True] Translation: X:9.48, Y:-0.78, Z:-0.50 [[ 9.98586023e-01 -4.24774134e-02 3.19628487e-02 9.48450325e+00] [ 4.25568491e-02 9.99092410e-01 -1.80877010e-03 -7.77921961e-01] [-3.18570077e-02 3.16645067e-03 9.99487421e-01 -5.04533256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.079928850999998 meters 0.09134310818395368 Centerline is valid? [True, True] Translation: X:9.55, Y:-0.79, Z:-0.51 [[ 9.98531383e-01 -4.33406404e-02 3.25063946e-02 9.54641860e+00] [ 4.34232650e-02 9.99055071e-01 -1.83983074e-03 -7.85112387e-01] [-3.23959390e-02 3.24866252e-03 9.99469834e-01 -5.07303019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.139928850999999 meters 0.08969913427360911 Centerline is valid? [True, True] Translation: X:9.61, Y:-0.79, Z:-0.51 [[ 9.98543430e-01 -4.32169797e-02 3.23003129e-02 9.60900089e+00] [ 4.32984293e-02 9.99060514e-01 -1.82611614e-03 -7.87809931e-01] [-3.21910480e-02 3.22200909e-03 9.99476541e-01 -5.10020096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.199928851 meters 0.08701587703060144 Centerline is valid? [True, True] Translation: X:9.67, Y:-0.79, Z:-0.51 [[ 9.98551739e-01 -4.27026729e-02 3.27247168e-02 9.67126105e+00] [ 4.27862569e-02 9.99082521e-01 -1.85783302e-03 -7.87045345e-01] [-3.26153581e-02 3.25531053e-03 9.99462676e-01 -5.13060058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.259928851 meters 0.08815378486921922 Centerline is valid? [True, True] Translation: X:9.73, Y:-0.79, Z:-0.52 [[ 9.98599357e-01 -4.22290773e-02 3.18752125e-02 9.73427001e+00] [ 4.23083444e-02 9.99102950e-01 -1.81613886e-03 -7.94167262e-01] [-3.17699250e-02 3.16218257e-03 9.99490206e-01 -5.17594554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.319928850999998 meters 0.08867257744703212 Centerline is valid? [True, True] Translation: X:9.80, Y:-0.80, Z:-0.52 [[ 9.98595802e-01 -4.20650625e-02 3.22017713e-02 9.79704451e+00] [ 4.21461661e-02 9.99109754e-01 -1.84369676e-03 -7.99858951e-01] [-3.20955486e-02 3.19828905e-03 9.99479688e-01 -5.21425083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.379928850999999 meters 0.08915013629944318 Centerline is valid? [True, True] Translation: X:9.86, Y:-0.81, Z:-0.53 [[ 9.98602116e-01 -4.26654181e-02 3.12005682e-02 9.85906531e+00] [ 4.27422566e-02 9.99084511e-01 -1.79963083e-03 -8.07290396e-01] [-3.10952225e-02 3.13069785e-03 9.99511524e-01 -5.25476114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.439928851 meters 0.08939006430923077 Centerline is valid? [True, True] Translation: X:9.92, Y:-0.81, Z:-0.53 [[ 9.98605391e-01 -4.23104252e-02 3.15768982e-02 9.92137406e+00] [ 4.23888875e-02 9.99099531e-01 -1.81922979e-03 -8.12330224e-01] [-3.14714918e-02 3.15520226e-03 9.99499670e-01 -5.28300818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.499928851 meters 0.08866818163144696 Centerline is valid? [True, True] Translation: X:9.98, Y:-0.82, Z:-0.53 [[ 9.98672194e-01 -4.11338266e-02 3.10138309e-02 9.98312931e+00] [ 4.12091724e-02 9.99148931e-01 -1.79390067e-03 -8.15539265e-01] [-3.09136460e-02 3.06957302e-03 9.99517346e-01 -5.31597751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.559928850999999 meters 0.09016107645184614 Centerline is valid? [True, True] Translation: X:10.04, Y:-0.82, Z:-0.54 [[ 9.98712227e-01 -4.08134177e-02 3.01355716e-02 1.00441815e+01] [ 4.08846294e-02 9.99162341e-01 -1.75040332e-03 -8.24026143e-01] [-3.00388883e-02 2.98023088e-03 9.99544288e-01 -5.36690718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.619928851 meters 0.08967197254050178 Centerline is valid? [True, True] Translation: X:10.11, Y:-0.83, Z:-0.54 [[ 9.98745083e-01 -3.99361584e-02 3.02218971e-02 1.01068183e+01] [ 4.00076530e-02 9.99197815e-01 -1.76443166e-03 -8.28368340e-01] [-3.01271890e-02 2.97132461e-03 9.99541657e-01 -5.39668440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.679928851 meters 0.09119278363866104 Centerline is valid? [True, True] Translation: X:10.17, Y:-0.84, Z:-0.54 [[ 9.98786077e-01 -3.87339122e-02 3.04311854e-02 1.01672481e+01] [ 3.88060431e-02 9.99245171e-01 -1.78306497e-03 -8.36018293e-01] [-3.03391499e-02 2.96181436e-03 9.99535274e-01 -5.42807706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.739928850999998 meters 0.08768701454039263 Centerline is valid? [True, True] Translation: X:10.23, Y:-0.83, Z:-0.55 [[ 9.98817341e-01 -3.84048451e-02 2.98158985e-02 1.02310638e+01] [ 3.84737774e-02 9.99258093e-01 -1.74147866e-03 -8.33032876e-01] [-2.97268966e-02 2.88654933e-03 9.99553890e-01 -5.45004832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.799928850999999 meters 0.08916433314509886 Centerline is valid? [True, True] Translation: X:10.29, Y:-0.84, Z:-0.55 [[ 9.98866108e-01 -3.73170273e-02 2.95624457e-02 1.02913999e+01] [ 3.73845967e-02 9.99299444e-01 -1.73605128e-03 -8.41768219e-01] [-2.94769513e-02 2.83926290e-03 9.99561428e-01 -5.50444638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.859928851 meters 0.0873240721085645 Centerline is valid? [True, True] Translation: X:10.35, Y:-0.84, Z:-0.55 [[ 9.98908290e-01 -3.62914766e-02 2.94135494e-02 1.03524834e+01] [ 3.63582595e-02 9.99337307e-01 -1.73866270e-03 -8.43107934e-01] [-2.93309586e-02 2.80619004e-03 9.99565816e-01 -5.52744983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.919928851 meters 0.08747149522369033 Centerline is valid? [True, True] Translation: X:10.41, Y:-0.85, Z:-0.56 [[ 9.98905046e-01 -3.64799943e-02 2.92902671e-02 1.04146003e+01] [ 3.65461637e-02 9.99330474e-01 -1.72676304e-03 -8.48110690e-01] [-2.92076642e-02 2.79531921e-03 9.99569457e-01 -5.55569910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.979928850999999 meters 0.09438282402372898 Centerline is valid? [True, True] Translation: X:10.47, Y:-0.87, Z:-0.56 [[ 9.98895681e-01 -3.69181257e-02 2.90597678e-02 1.04743301e+01] [ 3.69836527e-02 9.99314390e-01 -1.72048141e-03 -8.67201940e-01] [-2.89763272e-02 2.79331781e-03 9.99576195e-01 -5.62594998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.039928850999999 meters 0.086403193972431 Centerline is valid? [True, True] Translation: X:10.54, Y:-0.86, Z:-0.56 [[ 9.98923782e-01 -3.66424871e-02 2.84360002e-02 1.05369949e+01] [ 3.67052669e-02 9.99324708e-01 -1.68874880e-03 -8.57451990e-01] [-2.83549176e-02 2.73068231e-03 9.99594189e-01 -5.61792669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.099928851 meters 0.0865492453843241 Centerline is valid? [True, True] Translation: X:10.60, Y:-0.86, Z:-0.57 [[ 9.98944085e-01 -3.57914910e-02 2.88042251e-02 1.05993093e+01] [ 3.58558494e-02 9.99355491e-01 -1.72077403e-03 -8.62020828e-01] [-2.87240715e-02 2.75175700e-03 9.99583591e-01 -5.65593020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.159928850999998 meters 0.08498361084760432 Centerline is valid? [True, True] Translation: X:10.66, Y:-0.86, Z:-0.57 [[ 9.98960566e-01 -3.56548460e-02 2.83992842e-02 1.06619483e+01] [ 3.57173614e-02 9.99360491e-01 -1.69691568e-03 -8.63300980e-01] [-2.83206193e-02 2.70949935e-03 9.99595219e-01 -5.67391046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.219928850999999 meters 0.08476440854958796 Centerline is valid? [True, True] Translation: X:10.72, Y:-0.87, Z:-0.57 [[ 9.98941560e-01 -3.63885913e-02 2.81359148e-02 1.07233621e+01] [ 3.64504411e-02 9.99334036e-01 -1.68833029e-03 -8.67943764e-01] [-2.80557414e-02 2.71210980e-03 9.99602681e-01 -5.70080192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.279928851 meters 0.08496033291284846 Centerline is valid? [True, True] Translation: X:10.78, Y:-0.87, Z:-0.57 [[ 9.98929718e-01 -3.66191818e-02 2.82569452e-02 1.07847707e+01] [ 3.66818383e-02 9.99325545e-01 -1.70204252e-03 -8.73871467e-01] [-2.81755598e-02 2.73673755e-03 9.99599244e-01 -5.73894670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.339928851 meters 0.08702171416477336 Centerline is valid? [True, True] Translation: X:10.85, Y:-0.88, Z:-0.58 [[ 9.98952353e-01 -3.58474495e-02 2.84456754e-02 1.08459514e+01] [ 3.59108100e-02 9.99353519e-01 -1.71953600e-03 -8.83481419e-01] [-2.83656449e-02 2.73924178e-03 9.99593861e-01 -5.78672414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.399928850999999 meters 0.08621484403555833 Centerline is valid? [True, True] Translation: X:10.91, Y:-0.89, Z:-0.58 [[ 9.98977556e-01 -3.50247946e-02 2.85850712e-02 1.09077244e+01] [ 3.50886429e-02 9.99382698e-01 -1.73492804e-03 -8.86505976e-01] [-2.85066601e-02 2.73616553e-03 9.99589858e-01 -5.81415392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.459928850999999 meters 0.08725688000739304 Centerline is valid? [True, True] Translation: X:10.97, Y:-0.89, Z:-0.59 [[ 9.99049340e-01 -3.34491819e-02 2.79565460e-02 1.09678499e+01] [ 3.35099844e-02 9.99436921e-01 -1.70909337e-03 -8.93525598e-01] [-2.78836364e-02 2.64429202e-03 9.99607678e-01 -5.85453517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.519928851 meters 0.0877914235795448 Centerline is valid? [True, True] Translation: X:11.03, Y:-0.90, Z:-0.59 [[ 9.99124491e-01 -3.15548305e-02 2.74689656e-02 1.10278116e+01] [ 3.16128719e-02 9.99498774e-01 -1.68117579e-03 -9.00371067e-01] [-2.74021482e-02 2.54807680e-03 9.99621243e-01 -5.90459847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.579928850999998 meters 0.08755296918771542 Centerline is valid? [True, True] Translation: X:11.09, Y:-0.90, Z:-0.59 [[ 9.99195443e-01 -2.98475667e-02 2.67878431e-02 1.10894804e+01] [ 2.99021162e-02 9.99551490e-01 -1.63799797e-03 -9.04509355e-01] [-2.67269382e-02 2.43769330e-03 9.99639799e-01 -5.94156139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.639928850999999 meters 0.0880682907330187 Centerline is valid? [True, True] Translation: X:11.15, Y:-0.91, Z:-0.60 [[ 9.99274264e-01 -2.57913119e-02 2.80312916e-02 1.11490527e+01] [ 2.58495459e-02 9.99664370e-01 -1.71702375e-03 -9.09296797e-01] [-2.79775992e-02 2.44037381e-03 9.99605571e-01 -5.97518664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.699928851 meters 0.08891360744636348 Centerline is valid? [True, True] Translation: X:11.21, Y:-0.92, Z:-0.60 [[ 9.99322980e-01 -2.48691463e-02 2.71128563e-02 1.12104317e+01] [ 2.49231071e-02 9.99688003e-01 -1.65406426e-03 -9.16306816e-01] [-2.70632620e-02 2.32868105e-03 9.99631010e-01 -6.02946332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.759928851 meters 0.08975348561291786 Centerline is valid? [True, True] Translation: X:11.27, Y:-0.92, Z:-0.61 [[ 9.99333739e-01 -2.40790567e-02 2.74276603e-02 1.12711661e+01] [ 2.41341677e-02 9.99707317e-01 -1.68001829e-03 -9.24142676e-01] [-2.73791794e-02 2.34084271e-03 9.99622379e-01 -6.06871553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.819928850999998 meters 0.09175151535975207 Centerline is valid? [True, True] Translation: X:11.33, Y:-0.93, Z:-0.61 [[ 9.99305409e-01 -2.48032606e-02 2.78118373e-02 1.13313852e+01] [ 2.48605056e-02 9.99689460e-01 -1.71436132e-03 -9.32145902e-01] [-2.77606789e-02 2.40458688e-03 9.99611706e-01 -6.10515501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.879928850999999 meters 0.08099478732052548 Centerline is valid? [True, True] Translation: X:11.39, Y:-0.92, Z:-0.61 [[ 9.99280885e-01 -2.63773414e-02 2.72387371e-02 1.13936028e+01] [ 2.64328414e-02 9.99649181e-01 -1.67942576e-03 -9.16986156e-01] [-2.71848824e-02 2.39821528e-03 9.99627546e-01 -6.06318557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.939928851 meters 0.08323313767744876 Centerline is valid? [True, True] Translation: X:11.45, Y:-0.93, Z:-0.61 [[ 9.99209752e-01 -2.86618480e-02 2.75385215e-02 1.14524127e+01] [ 2.87195083e-02 9.99586063e-01 -1.70048920e-03 -9.29575743e-01] [-2.74783831e-02 2.49003818e-03 9.99619297e-01 -6.10833909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.999928850999998 meters 0.0838969177722471 Centerline is valid? [True, True] Translation: X:11.51, Y:-0.94, Z:-0.61 [[ 9.99191302e-01 -2.90338690e-02 2.78168321e-02 1.15144741e+01] [ 2.90926510e-02 9.99575255e-01 -1.71072201e-03 -9.36520449e-01] [-2.77553482e-02 2.51860394e-03 9.99611573e-01 -6.13224602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.059928850999999 meters 0.08468331046823933 Centerline is valid? [True, True] Translation: X:11.58, Y:-0.94, Z:-0.62 [[ 9.99204692e-01 -2.86067836e-02 2.77783309e-02 1.15767875e+01] [ 2.86654241e-02 9.99587591e-01 -1.71501536e-03 -9.43094694e-01] [-2.77178138e-02 2.50992903e-03 9.99612637e-01 -6.17189047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.119928851 meters 0.08522529515013662 Centerline is valid? [True, True] Translation: X:11.64, Y:-0.95, Z:-0.62 [[ 9.99231170e-01 -2.86000761e-02 2.68161375e-02 1.16385191e+01] [ 2.86548784e-02 9.99587984e-01 -1.66150853e-03 -9.48938667e-01] [-2.67575695e-02 2.42864427e-03 9.99639002e-01 -6.22115199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.179928851 meters 0.0878739847188889 Centerline is valid? [True, True] Translation: X:11.70, Y:-0.96, Z:-0.63 [[ 9.99178829e-01 -3.10057825e-02 2.60827365e-02 1.16968418e+01] [ 3.10587882e-02 9.99516231e-01 -1.62945888e-03 -9.62662561e-01] [-2.60195959e-02 2.43821901e-03 9.99658460e-01 -6.27292096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.239928850999998 meters 0.08886404239895115 Centerline is valid? [True, True] Translation: X:11.76, Y:-0.97, Z:-0.63 [[ 9.99101190e-01 -3.24262666e-02 2.73010965e-02 1.17585216e+01] [ 3.24847940e-02 9.99470779e-01 -1.70287643e-03 -9.69084006e-01] [-2.72314303e-02 2.58821637e-03 9.99625805e-01 -6.29558507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.299928850999999 meters 0.09013394272758021 Centerline is valid? [True, True] Translation: X:11.82, Y:-0.98, Z:-0.63 [[ 9.99088301e-01 -3.21808471e-02 2.80528074e-02 1.18198483e+01] [ 3.22424707e-02 9.99478550e-01 -1.74702174e-03 -9.76628174e-01] [-2.79819586e-02 2.64992080e-03 9.99604916e-01 -6.33657994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.359928851 meters 0.08823671811772336 Centerline is valid? [True, True] Translation: X:11.88, Y:-0.98, Z:-0.64 [[ 9.99124401e-01 -3.19967617e-02 2.69562528e-02 1.18823837e+01] [ 3.20537414e-02 9.99484728e-01 -1.68423119e-03 -9.77864140e-01] [-2.68884730e-02 2.54680523e-03 9.99635195e-01 -6.37013878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.419928850999998 meters 0.08408310472358121 Centerline is valid? [True, True] Translation: X:11.95, Y:-0.97, Z:-0.64 [[ 9.99117431e-01 -3.26442934e-02 2.64331075e-02 1.19454812e+01] [ 3.26995913e-02 9.99463843e-01 -1.66233585e-03 -9.72002141e-01] [-2.63646694e-02 2.52522054e-03 9.99649202e-01 -6.37740147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.479928850999999 meters 0.08622223531354865 Centerline is valid? [True, True] Translation: X:12.00, Y:-0.98, Z:-0.64 [[ 9.99146325e-01 -3.07104884e-02 2.76312761e-02 1.20049710e+01] [ 3.07702965e-02 9.99524965e-01 -1.74182498e-03 -9.81631772e-01] [-2.75646579e-02 2.59056059e-03 9.99616666e-01 -6.42494387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.539928850999999 meters 0.08569351424191829 Centerline is valid? [True, True] Translation: X:12.07, Y:-0.98, Z:-0.65 [[ 9.99212964e-01 -2.96898741e-02 2.63052178e-02 1.20667675e+01] [ 2.97435367e-02 9.99556200e-01 -1.65099546e-03 -9.84203768e-01] [-2.62445257e-02 2.43210628e-03 9.99652595e-01 -6.46407331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.599928851 meters 0.08606157618174286 Centerline is valid? [True, True] Translation: X:12.13, Y:-0.99, Z:-0.65 [[ 9.99213434e-01 -2.90770883e-02 2.69636058e-02 1.21288778e+01] [ 2.91334321e-02 9.99574087e-01 -1.69905487e-03 -9.87453272e-01] [-2.69027181e-02 2.48326083e-03 9.99634972e-01 -6.48074368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.659928850999998 meters 0.0846052793886582 Centerline is valid? [True, True] Translation: X:12.19, Y:-0.99, Z:-0.65 [[ 9.99172683e-01 -2.92303934e-02 2.82760322e-02 1.21920425e+01] [ 2.92925922e-02 9.99569281e-01 -1.78789468e-03 -9.90138387e-01] [-2.82115923e-02 2.61469380e-03 9.99598554e-01 -6.50596389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.719928850999999 meters 0.08591341797871153 Centerline is valid? [True, True] Translation: X:12.25, Y:-1.00, Z:-0.66 [[ 9.99126151e-01 -3.18231925e-02 2.70964642e-02 1.22516857e+01] [ 3.18816540e-02 9.99490157e-01 -1.72814302e-03 -9.98551309e-01] [-2.70276542e-02 2.59051297e-03 9.99631330e-01 -6.55296079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.779928851 meters 0.08909907798327779 Centerline is valid? [True, True] Translation: X:12.31, Y:-1.01, Z:-0.66 [[ 9.99063505e-01 -3.43324128e-02 2.63324573e-02 1.23103581e+01] [ 3.43884796e-02 9.99407131e-01 -1.67917358e-03 -1.00863477e+00] [-2.62591955e-02 2.58313422e-03 9.99651830e-01 -6.59269467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.839928851 meters 0.09046314192655652 Centerline is valid? [True, True] Translation: X:12.37, Y:-1.02, Z:-0.66 [[ 9.98943214e-01 -3.70577424e-02 2.71878359e-02 1.23704144e+01] [ 3.71185311e-02 9.99309365e-01 -1.73444219e-03 -1.01944368e+00] [-2.71047845e-02 2.74178179e-03 9.99628838e-01 -6.63549808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.899928850999999 meters 0.0900345035307762 Centerline is valid? [True, True] Translation: X:12.43, Y:-1.02, Z:-0.67 [[ 9.98865093e-01 -3.87994269e-02 2.76248298e-02 1.24314169e+01] [ 3.88628248e-02 9.99243002e-01 -1.76157641e-03 -1.02449872e+00] [-2.75355697e-02 2.83315610e-03 9.99616809e-01 -6.66580827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.959928850999999 meters 0.088753994006222 Centerline is valid? [True, True] Translation: X:12.49, Y:-1.03, Z:-0.67 [[ 9.98732622e-01 -4.10930328e-02 2.90604829e-02 1.24923097e+01] [ 4.11641993e-02 9.99150674e-01 -1.85465986e-03 -1.02749680e+00] [-2.89595874e-02 3.04856081e-03 9.99575934e-01 -6.68371235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.019928851 meters 0.09062654664949885 Centerline is valid? [True, True] Translation: X:12.55, Y:-1.04, Z:-0.67 [[ 9.98695758e-01 -4.27695841e-02 2.78845121e-02 1.25526928e+01] [ 4.28357511e-02 9.99080543e-01 -1.77961157e-03 -1.03566462e+00] [-2.77827602e-02 2.97174455e-03 9.99609567e-01 -6.72252492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.079928850999998 meters 0.09360326607901631 Centerline is valid? [True, True] Translation: X:12.61, Y:-1.05, Z:-0.68 [[ 9.98618706e-01 -4.41020952e-02 2.85601887e-02 1.26116595e+01] [ 4.41721010e-02 9.99022270e-01 -1.82460733e-03 -1.04753550e+00] [-2.84517956e-02 3.08365056e-03 9.99590409e-01 -6.77401879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.139928850999999 meters 0.09251346310667811 Centerline is valid? [True, True] Translation: X:12.67, Y:-1.05, Z:-0.68 [[ 9.98552354e-01 -4.56339962e-02 2.84734087e-02 1.26729015e+01] [ 4.57041650e-02 9.98953364e-01 -1.81810116e-03 -1.05014033e+00] [-2.83606402e-02 3.11682256e-03 9.99592897e-01 -6.79853705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.199928851 meters 0.09489261987600928 Centerline is valid? [True, True] Translation: X:12.73, Y:-1.06, Z:-0.68 [[ 9.98490493e-01 -4.73516003e-02 2.78309454e-02 1.27334542e+01] [ 4.74193348e-02 9.98873487e-01 -1.77848522e-03 -1.05881915e+00] [-2.77153794e-02 3.09552550e-03 9.99611062e-01 -6.84802278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.259928851 meters 0.09680751275568847 Centerline is valid? [True, True] Translation: X:12.79, Y:-1.07, Z:-0.69 [[ 9.98529537e-01 -4.68522923e-02 2.72695073e-02 1.27937082e+01] [ 4.69169885e-02 9.98897281e-01 -1.73715858e-03 -1.06724193e+00] [-2.71580469e-02 3.01400732e-03 9.99626608e-01 -6.89802982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.319928850999998 meters 0.09913045720860209 Centerline is valid? [True, True] Translation: X:12.85, Y:-1.07, Z:-0.69 [[ 9.98534973e-01 -4.61760208e-02 2.82078362e-02 1.28538674e+01] [ 4.62452570e-02 9.98928482e-01 -1.80673379e-03 -1.07417206e+00] [-2.80941832e-02 3.10856552e-03 9.99600447e-01 -6.93372512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.379928850999999 meters 0.10573114350845003 Centerline is valid? [True, False] Translation: X:12.85, Y:-1.07, Z:-0.69 [[ 9.98910720e-01 -4.10041951e-02 2.22717088e-02 1.28499599e+01] [ 4.12423130e-02 9.99095676e-01 -1.03393315e-02 -1.07339222e+00] [-2.18276120e-02 1.12466059e-02 9.99698489e-01 -6.92944357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.439928851 meters 0.08991480720650254 Centerline is valid? [False, True] Translation: X:12.85, Y:-1.08, Z:-0.69 [[ 9.99279945e-01 -3.72807802e-02 7.05228737e-03 1.28521423e+01] [ 3.73437571e-02 9.99261773e-01 -9.01963227e-03 -1.07594831e+00] [-6.71082225e-03 9.27649655e-03 9.99934454e-01 -6.91674055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.499928850999998 meters 0.09205213171612749 Centerline is valid? [True, True] Translation: X:12.91, Y:-1.09, Z:-0.70 [[ 9.99157197e-01 -4.02730255e-02 7.93588698e-03 1.29113953e+01] [ 4.02788118e-02 9.99188316e-01 -5.70594120e-04 -1.08900443e+00] [-7.90646600e-03 8.89761320e-04 9.99968348e-01 -6.96559633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.559928850999999 meters 0.1013972576079327 Centerline is valid? [True, False] Translation: X:12.91, Y:-1.09, Z:-0.70 [[ 9.99159730e-01 -4.01814360e-02 8.08003597e-03 1.29109997e+01] [ 4.01843227e-02 9.99192265e-01 -1.95162592e-04 -1.09030871e+00] [-8.06566753e-03 5.19689375e-04 9.99967337e-01 -6.96296868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.619928851 meters 0.09597221358754103 Centerline is valid? [False, True] Translation: X:12.91, Y:-1.09, Z:-0.70 [[ 9.99167465e-01 -3.99467228e-02 8.28467162e-03 1.29104880e+01] [ 3.99435632e-02 9.99201788e-01 5.46558314e-04 -1.09272392e+00] [-8.29989191e-03 -2.15183981e-04 9.99965532e-01 -6.96031216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.679928851 meters 0.09728243219190778 Centerline is valid? [True, True] Translation: X:12.97, Y:-1.10, Z:-0.70 [[ 9.99177426e-01 -3.98026641e-02 7.76011649e-03 1.29718605e+01] [ 3.98083286e-02 9.99207168e-01 -5.76797129e-04 -1.09986908e+00] [-7.73100595e-03 8.85239938e-04 9.99969723e-01 -6.98384407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.739928850999998 meters 0.09653106120113122 Centerline is valid? [True, True] Translation: X:13.03, Y:-1.10, Z:-0.70 [[ 9.99192373e-01 -3.94560085e-02 7.60431445e-03 1.30339272e+01] [ 3.94614413e-02 9.99220934e-01 -5.65666188e-04 -1.10424086e+00] [-7.57607125e-03 8.65286549e-04 9.99970927e-01 -6.99642290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.799928850999999 meters 0.10068427075871393 Centerline is valid? [True, False] Translation: X:13.03, Y:-1.11, Z:-0.70 [[ 9.99323236e-01 -3.41400796e-02 1.36940045e-02 1.30255732e+01] [ 3.41843159e-02 9.99411015e-01 -3.00931312e-03 -1.10771672e+00] [-1.35832008e-02 3.47539670e-03 9.99901704e-01 -7.03950859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.859928851 meters 0.09753873880627968 Centerline is valid? [False, True] Translation: X:13.03, Y:-1.11, Z:-0.70 [[ 9.99336772e-01 -3.37403724e-02 1.36968590e-02 1.30256097e+01] [ 3.37734239e-02 9.99427118e-01 -2.18891744e-03 -1.10977219e+00] [-1.36151574e-02 2.65005551e-03 9.99903798e-01 -7.04026598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.919928850999998 meters 0.09323073734903246 Centerline is valid? [True, True] Translation: X:13.09, Y:-1.11, Z:-0.70 [[ 9.99387227e-01 -3.20312718e-02 1.41126885e-02 1.30867902e+01] [ 3.20501722e-02 9.99485639e-01 -1.11506996e-03 -1.10783129e+00] [-1.40697123e-02 1.56670077e-03 9.99899789e-01 -7.04511015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.979928850999999 meters 0.08928458965314943 Centerline is valid? [True, True] Translation: X:13.15, Y:-1.11, Z:-0.71 [[ 9.99450910e-01 -3.01172008e-02 1.38142388e-02 1.31481729e+01] [ 3.01351324e-02 9.99545238e-01 -1.09169337e-03 -1.10739365e+00] [-1.37750778e-02 1.50738785e-03 9.99903983e-01 -7.06106109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.039928851 meters 0.09103567512048966 Centerline is valid? [True, True] Translation: X:13.21, Y:-1.12, Z:-0.71 [[ 9.99550157e-01 -2.66829183e-02 1.36932849e-02 1.32073391e+01] [ 2.67002295e-02 9.99642899e-01 -1.08292387e-03 -1.11733713e+00] [-1.36594994e-02 1.44805057e-03 9.99905656e-01 -7.09282742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.099928850999998 meters 0.09072386255981395 Centerline is valid? [True, True] Translation: X:13.27, Y:-1.12, Z:-0.71 [[ 9.99606269e-01 -2.40883270e-02 1.43895897e-02 1.32672543e+01] [ 2.41071771e-02 9.99708732e-01 -1.13793836e-03 -1.12164790e+00] [-1.43579875e-02 1.48438271e-03 9.99895817e-01 -7.11504286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.159928851 meters 0.08875050167015931 Centerline is valid? [True, True] Translation: X:13.33, Y:-1.12, Z:-0.71 [[ 9.99687325e-01 -2.15709342e-02 1.26469781e-02 1.33286158e+01] [ 2.15852888e-02 9.99766511e-01 -9.99603481e-04 -1.12219068e+00] [-1.26224628e-02 1.27227960e-03 9.99919524e-01 -7.13929882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.219928851 meters 0.0866147862433308 Centerline is valid? [True, True] Translation: X:13.39, Y:-1.12, Z:-0.72 [[ 9.99759731e-01 -1.73226328e-02 1.34315235e-02 1.33892011e+01] [ 1.73384484e-02 9.99849114e-01 -1.06193811e-03 -1.12485448e+00] [-1.34111013e-02 1.29456474e-03 9.99909229e-01 -7.16496445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.279928850999998 meters 0.08681103806139526 Centerline is valid? [True, True] Translation: X:13.45, Y:-1.13, Z:-0.72 [[ 9.99799385e-01 -1.47375993e-02 1.35644000e-02 1.34494828e+01] [ 1.47535012e-02 9.99890585e-01 -1.07299641e-03 -1.13086419e+00] [-1.35471024e-02 1.27290354e-03 9.99907424e-01 -7.19416556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.339928851 meters 0.08639935153517209 Centerline is valid? [True, True] Translation: X:13.51, Y:-1.13, Z:-0.72 [[ 9.99848733e-01 -1.10055231e-02 1.34680767e-02 1.35099546e+01] [ 1.10208634e-02 9.99938701e-01 -1.06532438e-03 -1.13354305e+00] [-1.34555266e-02 1.21359306e-03 9.99908734e-01 -7.21376319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.399928851 meters 0.08284659467697435 Centerline is valid? [True, True] Translation: X:13.57, Y:-1.13, Z:-0.72 [[ 9.99899849e-01 -6.52004384e-03 1.25610948e-02 1.35705582e+01] [ 6.53304055e-03 9.99978166e-01 -9.93925053e-04 -1.13194033e+00] [-1.25543401e-02 1.07588765e-03 9.99920612e-01 -7.23458282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.459928850999997 meters 0.0832155866818486 Centerline is valid? [True, True] Translation: X:13.63, Y:-1.14, Z:-0.73 [[ 9.99922689e-01 -5.78689537e-03 1.10057843e-02 1.36322605e+01] [ 5.79680363e-03 9.99982821e-01 -8.68590481e-04 -1.13768100e+00] [-1.10005688e-02 9.32321700e-04 9.99939057e-01 -7.26637912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.519928851 meters 0.08481502885553686 Centerline is valid? [True, True] Translation: X:13.69, Y:-1.15, Z:-0.73 [[ 9.99899448e-01 -6.84505288e-03 1.24193282e-02 1.36935077e+01] [ 6.85776654e-03 9.99976004e-01 -9.81402053e-04 -1.14789778e+00] [-1.24123124e-02 1.06647222e-03 9.99922396e-01 -7.29698247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.579928851 meters 0.08645991897189856 Centerline is valid? [True, True] Translation: X:13.75, Y:-1.16, Z:-0.73 [[ 9.99877820e-01 -8.54333660e-03 1.30903161e-02 1.37544828e+01] [ 8.55763281e-03 9.99962846e-01 -1.03649622e-03 -1.15661509e+00] [-1.30809746e-02 1.14839170e-03 9.99913781e-01 -7.32434828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.639928851 meters 0.08773623048500927 Centerline is valid? [True, True] Translation: X:13.81, Y:-1.16, Z:-0.74 [[ 9.99892151e-01 -8.58241589e-03 1.19176038e-02 1.38146616e+01] [ 8.59427115e-03 9.99962623e-01 -9.43910321e-04 -1.16452157e+00] [-1.19090573e-02 1.04623164e-03 9.99928537e-01 -7.36687463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.699928851 meters 0.09022924031481229 Centerline is valid? [True, True] Translation: X:13.88, Y:-1.17, Z:-0.74 [[ 9.99901734e-01 -8.35364429e-03 1.12578419e-02 1.38757203e+01] [ 8.36420639e-03 9.99964622e-01 -8.91442856e-04 -1.17258481e+00] [-1.12499968e-02 9.85518171e-04 9.99936231e-01 -7.41281613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.759928850999998 meters 0.08603408916047309 Centerline is valid? [True, True] Translation: X:13.94, Y:-1.17, Z:-0.74 [[ 9.99907659e-01 -7.41182526e-03 1.13902854e-02 1.39374561e+01] [ 7.42258875e-03 9.99972045e-01 -9.02986917e-04 -1.16762152e+00] [-1.13832742e-02 9.87448939e-04 9.99934721e-01 -7.40190998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.819928851 meters 0.0866702952669818 Centerline is valid? [True, True] Translation: X:14.00, Y:-1.17, Z:-0.74 [[ 9.99915678e-01 -6.10534117e-03 1.14612779e-02 1.39991769e+01] [ 6.11615263e-03 9.99980883e-01 -9.08489085e-04 -1.17252504e+00] [-1.14555122e-02 9.78511404e-04 9.99933905e-01 -7.43495246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.879928851 meters 0.08676349927232134 Centerline is valid? [True, True] Translation: X:14.06, Y:-1.17, Z:-0.75 [[ 9.99924648e-01 -3.38599912e-03 1.17997202e-02 1.40584879e+01] [ 3.39730148e-03 9.99993789e-01 -9.37936929e-04 -1.17233006e+00] [-1.17964711e-02 9.77953460e-04 9.99929941e-01 -7.46084949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.939928850999998 meters 0.08683207477268444 Centerline is valid? [True, True] Translation: X:14.12, Y:-1.18, Z:-0.75 [[ 9.99939112e-01 -2.19721815e-03 1.08140670e-02 1.41207919e+01] [ 2.20661369e-03 9.99997198e-01 -8.56970572e-04 -1.17594270e+00] [-1.08121538e-02 8.80780862e-04 9.99941159e-01 -7.49632299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.999928851 meters 0.08910334215555152 Centerline is valid? [True, True] Translation: X:14.18, Y:-1.18, Z:-0.75 [[ 9.99938865e-01 -3.50985833e-03 1.04855811e-02 1.41802343e+01] [ 3.51879173e-03 9.99993462e-01 -8.33642526e-04 -1.18209414e+00] [-1.04825865e-02 8.70488137e-04 9.99944677e-01 -7.53868549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.059928851 meters 0.0914590988880671 Centerline is valid? [True, True] Translation: X:14.24, Y:-1.19, Z:-0.76 [[ 9.99918510e-01 -5.44558900e-03 1.15463588e-02 1.42397888e+01] [ 5.45652272e-03 9.99984694e-01 -9.15649529e-04 -1.18911385e+00] [-1.15411958e-02 9.78577882e-04 9.99932919e-01 -7.56667860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.119928850999997 meters 0.09522983541136486 Centerline is valid? [True, True] Translation: X:14.30, Y:-1.20, Z:-0.76 [[ 9.99880673e-01 -9.70701267e-03 1.20172496e-02 1.42995620e+01] [ 9.71919016e-03 9.99952311e-01 -9.55347180e-04 -1.19808443e+00] [-1.20074029e-02 1.07203112e-03 9.99927334e-01 -7.59778483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.179928851 meters 0.0834929030516439 Centerline is valid? [True, True] Translation: X:14.36, Y:-1.18, Z:-0.75 [[ 9.99863390e-01 -1.20403867e-02 1.13239090e-02 1.43619237e+01] [ 1.20513575e-02 9.99926974e-01 -9.01079107e-04 -1.17711858e+00] [-1.13122327e-02 1.03742449e-03 9.99935476e-01 -7.53999888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.239928851 meters 0.08616891459457252 Centerline is valid? [True, True] Translation: X:14.42, Y:-1.18, Z:-0.76 [[ 9.99853921e-01 -1.41055091e-02 9.65247947e-03 1.44213036e+01] [ 1.41135733e-02 9.99900104e-01 -7.67844900e-04 -1.18254764e+00] [-9.64068438e-03 9.03963711e-04 9.99953119e-01 -7.59368157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.299928851 meters 0.08847706409827256 Centerline is valid? [True, True] Translation: X:14.48, Y:-1.19, Z:-0.76 [[ 9.99811619e-01 -1.64315670e-02 1.03310069e-02 1.44815873e+01] [ 1.64409314e-02 9.99864501e-01 -8.22156825e-04 -1.18641854e+00] [-1.03160977e-02 9.91853322e-04 9.99946296e-01 -7.61030498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.359928851 meters 0.08779828493727936 Centerline is valid? [True, True] Translation: X:14.54, Y:-1.19, Z:-0.76 [[ 9.99786804e-01 -1.71194536e-02 1.15443356e-02 1.45439869e+01] [ 1.71311766e-02 9.99852830e-01 -9.17350381e-04 -1.18629782e+00] [-1.15269320e-02 1.11492286e-03 9.99932941e-01 -7.62010704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.419928850999998 meters 0.0896058459378615 Centerline is valid? [True, True] Translation: X:14.61, Y:-1.19, Z:-0.77 [[ 9.99786177e-01 -1.73260971e-02 1.12874281e-02 1.46051631e+01] [ 1.73373315e-02 9.99849294e-01 -8.98204472e-04 -1.18909713e+00] [-1.12701646e-02 1.09370630e-03 9.99935892e-01 -7.66133598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.479928851 meters 0.08880475072482659 Centerline is valid? [True, True] Translation: X:14.67, Y:-1.19, Z:-0.77 [[ 9.99797554e-01 -1.73380493e-02 1.02099022e-02 1.46678902e+01] [ 1.73472390e-02 9.99849195e-01 -8.12196388e-04 -1.18783772e+00] [-1.01942806e-02 9.89145576e-04 9.99947548e-01 -7.68537767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.539928851 meters 0.0927383844522811 Centerline is valid? [True, True] Translation: X:14.73, Y:-1.19, Z:-0.77 [[ 9.99814411e-01 -1.64771867e-02 9.98230456e-03 1.47289269e+01] [ 1.64859128e-02 9.99863784e-01 -7.92491440e-04 -1.19424127e+00] [-9.96788678e-03 9.56911764e-04 9.99949862e-01 -7.73809283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.599928850999998 meters 0.0931617556122322 Centerline is valid? [True, True] Translation: X:14.79, Y:-1.20, Z:-0.78 [[ 9.99817025e-01 -1.59329874e-02 1.05857089e-02 1.47915107e+01] [ 1.59428069e-02 9.99872549e-01 -8.43874055e-04 -1.19594031e+00] [-1.05709143e-02 1.01248556e-03 9.99943614e-01 -7.76726409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.659928851 meters 0.0869122365549065 Centerline is valid? [True, True] Translation: X:14.85, Y:-1.18, Z:-0.78 [[ 9.99855199e-01 -1.29832530e-02 1.10007522e-02 1.48536877e+01] [ 1.29937205e-02 9.99915190e-01 -8.80585662e-04 -1.18193607e+00] [-1.09883863e-02 1.02339885e-03 9.99939102e-01 -7.75920889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.719928851 meters 0.08773241814991273 Centerline is valid? [True, True] Translation: X:14.91, Y:-1.18, Z:-0.78 [[ 9.99889014e-01 -9.35573763e-03 1.15944077e-02 1.49134230e+01] [ 9.36713027e-03 9.99955696e-01 -9.28681748e-04 -1.18229154e+00] [-1.15852055e-02 1.03718500e-03 9.99932351e-01 -7.80139525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.779928850999998 meters 0.08721105441020773 Centerline is valid? [True, True] Translation: X:14.97, Y:-1.18, Z:-0.78 [[ 9.99902861e-01 -7.61053326e-03 1.16768593e-02 1.49742050e+01] [ 7.62196139e-03 9.99970516e-01 -9.34508566e-04 -1.18206366e+00] [-1.16694029e-02 1.02341836e-03 9.99931386e-01 -7.82063677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.839928851 meters 0.08778337567154701 Centerline is valid? [True, True] Translation: X:15.03, Y:-1.19, Z:-0.79 [[ 9.99905028e-01 -5.87927940e-03 1.24647494e-02 1.50338566e+01] [ 5.89216839e-03 9.99982143e-01 -9.97564053e-04 -1.18585149e+00] [-1.24586619e-02 1.07091371e-03 9.99921814e-01 -7.85974148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.899928851 meters 0.08269221753435435 Centerline is valid? [True, True] Translation: X:15.10, Y:-1.18, Z:-0.78 [[ 9.99911835e-01 -4.73287447e-03 1.24065570e-02 1.50959132e+01] [ 4.74554257e-03 9.99988248e-01 -9.91840507e-04 -1.17720674e+00] [-1.24017169e-02 1.05062891e-03 9.99922544e-01 -7.84777844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.959928850999997 meters 0.08285318928277462 Centerline is valid? [True, True] Translation: X:15.16, Y:-1.18, Z:-0.79 [[ 9.99909156e-01 -3.38689781e-03 1.30464034e-02 1.51578600e+01] [ 3.40079288e-03 9.99993673e-01 -1.04301245e-03 -1.18004422e+00] [-1.30427883e-02 1.08728581e-03 9.99914348e-01 -7.86501353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.019928851 meters 0.08289926511891825 Centerline is valid? [True, True] Translation: X:15.22, Y:-1.18, Z:-0.79 [[ 9.99919749e-01 -1.35858226e-03 1.25956556e-02 1.52192299e+01] [ 1.37138127e-03 9.99998552e-01 -1.00756293e-03 -1.18257023e+00] [-1.25942685e-02 1.02475551e-03 9.99920164e-01 -7.90605730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.079928851 meters 0.08052841995548325 Centerline is valid? [True, True] Translation: X:15.28, Y:-1.18, Z:-0.79 [[ 9.99928848e-01 1.07078421e-03 1.18807230e-02 1.52808732e+01] [-1.05954962e-03 9.99998986e-01 -9.51869122e-04 -1.18006476e+00] [-1.18817302e-02 9.39213179e-04 9.99928969e-01 -7.91264360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.139928851 meters 0.08039668253617006 Centerline is valid? [True, True] Translation: X:15.34, Y:-1.18, Z:-0.79 [[ 9.99908273e-01 6.63176155e-03 1.18095809e-02 1.53403574e+01] [-6.62103099e-03 9.99977632e-01 -9.47497647e-04 -1.18097067e+00] [-1.18156003e-02 8.69219134e-04 9.99929816e-01 -7.94981128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.199928851 meters 0.07664800041741325 Centerline is valid? [True, True] Translation: X:15.40, Y:-1.17, Z:-0.79 [[ 9.99853039e-01 1.23866971e-02 1.18520198e-02 1.54023826e+01] [-1.23763070e-02 9.99922960e-01 -9.49599961e-04 -1.17375909e+00] [-1.18628691e-02 8.02776171e-04 9.99929311e-01 -7.94546172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.259928850999998 meters 0.07476696283639989 Centerline is valid? [True, True] Translation: X:15.46, Y:-1.17, Z:-0.80 [[ 9.99681222e-01 2.16447209e-02 1.29984611e-02 1.54631578e+01] [-2.16329923e-02 9.99765436e-01 -1.04225352e-03 -1.16940006e+00] [-1.30179714e-02 7.60725669e-04 9.99914973e-01 -7.97108300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.319928851 meters 0.07451371772687083 Centerline is valid? [True, True] Translation: X:15.52, Y:-1.17, Z:-0.80 [[ 9.99573361e-01 2.62656327e-02 1.27754386e-02 1.55226984e+01] [-2.62546726e-02 9.99654761e-01 -1.02488691e-03 -1.17210597e+00] [-1.27979473e-02 6.89034693e-04 9.99917866e-01 -8.01887424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.379928851 meters 0.07277699654537512 Centerline is valid? [True, True] Translation: X:15.58, Y:-1.17, Z:-0.80 [[ 9.99402654e-01 3.22744725e-02 1.23568898e-02 1.55834671e+01] [-3.22646861e-02 9.99478869e-01 -9.90563732e-04 -1.16813656e+00] [-1.23824202e-02 5.91280851e-04 9.99923160e-01 -8.03332377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.439928850999998 meters 0.07227893341318119 Centerline is valid? [True, True] Translation: X:15.64, Y:-1.17, Z:-0.81 [[ 9.99235333e-01 3.67505496e-02 1.33471177e-02 1.56429502e+01] [-3.67395238e-02 9.99324303e-01 -1.07042590e-03 -1.16944701e+00] [-1.33774378e-02 5.79240635e-04 9.99910350e-01 -8.06841998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.499928851 meters 0.07150207695884396 Centerline is valid? [True, True] Translation: X:15.70, Y:-1.17, Z:-0.81 [[ 9.99084840e-01 4.06027221e-02 1.34499465e-02 1.57030039e+01] [-4.05918793e-02 9.99175228e-01 -1.07828369e-03 -1.16848190e+00] [-1.34826346e-02 5.31338288e-04 9.99908964e-01 -8.08951555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.559928851 meters 0.07044798167587717 Centerline is valid? [True, True] Translation: X:15.76, Y:-1.17, Z:-0.81 [[ 9.99033983e-01 4.16857975e-02 1.39066461e-02 1.57622173e+01] [-4.16742926e-02 9.99130626e-01 -1.11618772e-03 -1.16769142e+00] [-1.39410852e-02 5.35559827e-04 9.99902675e-01 -8.08810553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.619928850999997 meters 0.07107694567502441 Centerline is valid? [True, True] Translation: X:15.82, Y:-1.17, Z:-0.81 [[ 9.98990910e-01 4.26977062e-02 1.39307958e-02 1.58199048e+01] [-4.26862663e-02 9.99087901e-01 -1.11764515e-03 -1.17314394e+00] [-1.39658104e-02 5.21863691e-04 9.99902337e-01 -8.13094398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.679928851 meters 0.07055313038733989 Centerline is valid? [True, True] Translation: X:15.88, Y:-1.17, Z:-0.81 [[ 9.99024273e-01 4.23218543e-02 1.26239220e-02 1.58792337e+01] [-4.23124457e-02 9.99103915e-01 -1.01157743e-03 -1.17298220e+00] [-1.26554217e-02 4.76441394e-04 9.99919803e-01 -8.14471888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.739928851 meters 0.07279563811450254 Centerline is valid? [True, True] Translation: X:15.94, Y:-1.18, Z:-0.82 [[ 9.99034352e-01 4.16253063e-02 1.40605207e-02 1.59358980e+01] [-4.16135768e-02 9.99133146e-01 -1.12588052e-03 -1.18403736e+00] [-1.40951974e-02 5.39684753e-04 9.99900512e-01 -8.22157717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.799928850999997 meters 0.07301644268217218 Centerline is valid? [True, True] Translation: X:15.99, Y:-1.19, Z:-0.83 [[ 9.99027332e-01 4.15866463e-02 1.46608479e-02 1.59948502e+01] [-4.15739193e-02 9.99134744e-01 -1.17193314e-03 -1.18838416e+00] [-1.46968993e-02 5.61284332e-04 9.99891837e-01 -8.25547717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.859928851 meters 0.07027469846274814 Centerline is valid? [True, True] Translation: X:16.05, Y:-1.18, Z:-0.82 [[ 9.99064116e-01 4.07096190e-02 1.46157445e-02 1.60544123e+01] [-4.06968856e-02 9.99170856e-01 -1.16770348e-03 -1.18188747e+00] [-1.46511627e-02 5.71795367e-04 9.99892502e-01 -8.19947708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.919928850999998 meters 0.07139058954354836 Centerline is valid? [True, True] Translation: X:16.11, Y:-1.19, Z:-0.82 [[ 9.99152594e-01 3.88676996e-02 1.35423518e-02 1.61122142e+01] [-3.88566078e-02 9.99244212e-01 -1.08130365e-03 -1.18982271e+00] [-1.35741444e-02 5.54177497e-04 9.99907713e-01 -8.24993964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.979928851 meters 0.07189858579230551 Centerline is valid? [True, True] Translation: X:16.17, Y:-1.19, Z:-0.83 [[ 9.99186594e-01 3.77300029e-02 1.42336809e-02 1.61694349e+01] [-3.77176462e-02 9.99287791e-01 -1.13567512e-03 -1.19427785e+00] [-1.42663926e-02 5.97890411e-04 9.99898051e-01 -8.27674990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.039928851 meters 0.07262035023134521 Centerline is valid? [True, True] Translation: X:16.23, Y:-1.20, Z:-0.83 [[ 9.99237681e-01 3.63677701e-02 1.41930512e-02 1.62277343e+01] [-3.63553700e-02 9.99338285e-01 -1.13079507e-03 -1.19964372e+00] [-1.42247839e-02 6.13939415e-04 9.99898634e-01 -8.31576688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.099928850999998 meters 0.07333248962580902 Centerline is valid? [True, True] Translation: X:16.29, Y:-1.20, Z:-0.83 [[ 9.99276228e-01 3.53662294e-02 1.40089379e-02 1.62853270e+01] [-3.53540564e-02 9.99374227e-01 -1.11571833e-03 -1.20370333e+00] [-1.40396303e-02 6.19638019e-04 9.99901248e-01 -8.34608013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.159928851 meters 0.07298350753499128 Centerline is valid? [True, True] Translation: X:16.34, Y:-1.20, Z:-0.84 [[ 9.99264344e-01 3.53581788e-02 1.48515689e-02 1.63445793e+01] [-3.53445233e-02 9.99374489e-01 -1.18102221e-03 -1.20318101e+00] [-1.48840379e-02 6.55231759e-04 9.99889012e-01 -8.35633655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.219928851 meters 0.07151579873047513 Centerline is valid? [True, True] Translation: X:16.40, Y:-1.20, Z:-0.83 [[ 9.99272106e-01 3.49736002e-02 1.52349886e-02 1.64033220e+01] [-3.49591853e-02 9.99388006e-01 -1.21154083e-03 -1.20143484e+00] [-1.52680368e-02 6.78056164e-04 9.99883207e-01 -8.34606163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.279928850999998 meters 0.07127810792473886 Centerline is valid? [True, True] Translation: X:16.46, Y:-1.20, Z:-0.84 [[ 9.99247376e-01 3.53988300e-02 1.58620279e-02 1.64625077e+01] [-3.53832999e-02 9.99373022e-01 -1.25873660e-03 -1.20253003e+00] [-1.58966405e-02 6.96538352e-04 9.99873398e-01 -8.36872722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.339928851 meters 0.07127218362887561 Centerline is valid? [True, True] Translation: X:16.52, Y:-1.20, Z:-0.84 [[ 9.99222595e-01 3.61832395e-02 1.56517764e-02 1.65203231e+01] [-3.61682235e-02 9.99344945e-01 -1.24147742e-03 -1.20262435e+00] [-1.56864443e-02 6.74415347e-04 9.99876733e-01 -8.39991532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.399928851 meters 0.071186082013377 Centerline is valid? [True, True] Translation: X:16.58, Y:-1.20, Z:-0.84 [[ 9.99155816e-01 3.74618041e-02 1.68602716e-02 1.65791847e+01] [-3.74445968e-02 9.99297813e-01 -1.33522604e-03 -1.20324011e+00] [-1.68984525e-02 7.02772788e-04 9.99856964e-01 -8.42437103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.459928850999997 meters 0.07123342825311321 Centerline is valid? [True, True] Translation: X:16.64, Y:-1.21, Z:-0.85 [[ 9.99090756e-01 3.83876189e-02 1.85486286e-02 1.66368918e+01] [-3.83669637e-02 9.99262638e-01 -1.46828076e-03 -1.20634541e+00] [-1.85913153e-02 7.55291179e-04 9.99826881e-01 -8.45411856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.519928851 meters 0.07151135656140427 Centerline is valid? [True, True] Translation: X:16.70, Y:-1.21, Z:-0.85 [[ 9.99091324e-01 3.80108476e-02 1.92795796e-02 1.66959750e+01] [-3.79885182e-02 9.99277015e-01 -1.52323941e-03 -1.20989035e+00] [-1.93235404e-02 7.89452612e-04 9.99812971e-01 -8.47723843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.579928851 meters 0.07052123838610246 Centerline is valid? [True, True] Translation: X:16.76, Y:-1.21, Z:-0.85 [[ 9.99197457e-01 3.59642875e-02 1.76355387e-02 1.67554054e+01] [-3.59453077e-02 9.99352789e-01 -1.39212871e-03 -1.20911045e+00] [-1.76741917e-02 7.57096606e-04 9.99843513e-01 -8.49500739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.639928851 meters 0.07185889493769154 Centerline is valid? [True, True] Translation: X:16.81, Y:-1.22, Z:-0.86 [[ 9.99238018e-01 3.52018101e-02 1.68586862e-02 1.68129127e+01] [-3.51843473e-02 9.99379952e-01 -1.33140904e-03 -1.21628314e+00] [-1.68951010e-02 7.37232657e-04 9.99856996e-01 -8.55193609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.699928851 meters 0.07105618550157063 Centerline is valid? [True, True] Translation: X:16.87, Y:-1.22, Z:-0.86 [[ 9.99269919e-01 3.45236426e-02 1.63629491e-02 1.68720957e+01] [-3.45071412e-02 9.99403619e-01 -1.28981533e-03 -1.21626887e+00] [-1.63977197e-02 7.24235065e-04 9.99865286e-01 -8.55560285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.759928850999998 meters 0.07139645589583639 Centerline is valid? [True, True] Translation: X:16.93, Y:-1.22, Z:-0.86 [[ 9.99294704e-01 3.34199955e-02 1.71230323e-02 1.69307847e+01] [-3.34017851e-02 9.99441095e-01 -1.34847391e-03 -1.22080852e+00] [-1.71585281e-02 7.75582997e-04 9.99852481e-01 -8.58645571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.819928851 meters 0.07197872525027063 Centerline is valid? [True, True] Translation: X:16.99, Y:-1.23, Z:-0.86 [[ 9.99309537e-01 3.26286976e-02 1.77712444e-02 1.69880289e+01] [-3.26089727e-02 9.99467207e-01 -1.39865562e-03 -1.22683940e+00] [-1.78074123e-02 8.18187877e-04 9.99841101e-01 -8.61968805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.879928851 meters 0.07152149922435536 Centerline is valid? [True, True] Translation: X:17.05, Y:-1.23, Z:-0.86 [[ 9.99329287e-01 3.20703366e-02 1.76768308e-02 1.70472456e+01] [-3.20507650e-02 9.99485276e-01 -1.38945341e-03 -1.22942251e+00] [-1.77122923e-02 8.21965535e-04 9.99842787e-01 -8.63153861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.939928850999998 meters 0.0723876450320217 Centerline is valid? [True, True] Translation: X:17.10, Y:-1.24, Z:-0.87 [[ 9.99365365e-01 3.03448884e-02 1.86562330e-02 1.71047422e+01] [-3.03228061e-02 9.99539084e-01 -1.46544950e-03 -1.23610252e+00] [-1.86921030e-02 8.98810140e-04 9.99824883e-01 -8.65834282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.999928851 meters 0.07326205865387106 Centerline is valid? [True, True] Translation: X:17.16, Y:-1.24, Z:-0.87 [[ 9.99413960e-01 2.86849190e-02 1.86791929e-02 1.71633781e+01] [-2.86625364e-02 9.99588072e-01 -1.46493616e-03 -1.24359984e+00] [-1.87135200e-02 9.28684603e-04 9.99824455e-01 -8.69499326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.059928851 meters 0.0724031006440033 Centerline is valid? [True, True] Translation: X:17.22, Y:-1.25, Z:-0.87 [[ 9.99465208e-01 2.71889480e-02 1.81675379e-02 1.72232615e+01] [-2.71675500e-02 9.99629880e-01 -1.42362817e-03 -1.24530660e+00] [-1.81995206e-02 9.29299327e-04 9.99833943e-01 -8.69849082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.119928850999997 meters 0.07170636348633581 Centerline is valid? [True, True] Translation: X:17.28, Y:-1.25, Z:-0.87 [[ 9.99494955e-01 2.56436121e-02 1.87680628e-02 1.72820474e+01] [-2.56205003e-02 9.99670659e-01 -1.47089364e-03 -1.24803085e+00] [-1.87996008e-02 9.89303609e-04 9.99822782e-01 -8.71028713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.179928851 meters 0.07385876639516246 Centerline is valid? [True, True] Translation: X:17.34, Y:-1.26, Z:-0.88 [[ 9.99534880e-01 2.44923184e-02 1.81700320e-02 1.73395085e+01] [-2.44704953e-02 9.99699541e-01 -1.42244757e-03 -1.25935947e+00] [-1.81994117e-02 9.77156280e-04 9.99833899e-01 -8.77046981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.239928851 meters 0.07455232860917234 Centerline is valid? [True, True] Translation: X:17.40, Y:-1.27, Z:-0.88 [[ 9.99607448e-01 2.22580459e-02 1.70155860e-02 1.73991386e+01] [-2.22386128e-02 9.99751806e-01 -1.33046024e-03 -1.26540219e+00] [-1.70409763e-02 9.51534933e-04 9.99854339e-01 -8.78722344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.299928850999997 meters 0.07448814695689672 Centerline is valid? [True, True] Translation: X:17.46, Y:-1.27, Z:-0.88 [[ 9.99601024e-01 2.23430271e-02 1.72795104e-02 1.74588586e+01] [-2.23229968e-02 9.99749898e-01 -1.35123075e-03 -1.27010210e+00] [-1.73053794e-02 9.64961190e-04 9.99849785e-01 -8.80513974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.359928851 meters 0.07565874400247523 Centerline is valid? [True, True] Translation: X:17.52, Y:-1.28, Z:-0.88 [[ 9.99587577e-01 2.24120345e-02 1.79548433e-02 1.75164655e+01] [-2.23904321e-02 9.99748318e-01 -1.40329547e-03 -1.27884527e+00] [-1.79817751e-02 1.00070002e-03 9.99837814e-01 -8.83697325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.419928850999998 meters 0.07348678448159125 Centerline is valid? [True, True] Translation: X:17.58, Y:-1.28, Z:-0.88 [[ 9.99642437e-01 2.06364952e-02 1.70039151e-02 1.75760512e+01] [-2.06168615e-02 9.99786566e-01 -1.32916359e-03 -1.27687869e+00] [-1.70277152e-02 9.78120964e-04 9.99854540e-01 -8.83664996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.479928851 meters 0.07619346828643271 Centerline is valid? [True, True] Translation: X:17.63, Y:-1.29, Z:-0.89 [[ 9.99659487e-01 2.00731020e-02 1.66727423e-02 1.76338233e+01] [-2.00541649e-02 9.99798047e-01 -1.30224049e-03 -1.28918621e+00] [-1.66955152e-02 9.67439138e-04 9.99860152e-01 -8.89363029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.539928851 meters 0.07451441584341346 Centerline is valid? [True, True] Translation: X:17.69, Y:-1.29, Z:-0.89 [[ 9.99695171e-01 1.81910141e-02 1.66928600e-02 1.76937664e+01] [-1.81717917e-02 9.99834031e-01 -1.30250534e-03 -1.29091381e+00] [-1.67137834e-02 9.98769120e-04 9.99859816e-01 -8.88725619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.599928850999998 meters 0.0739412805977175 Centerline is valid? [True, True] Translation: X:17.75, Y:-1.29, Z:-0.89 [[ 9.99763393e-01 1.55246065e-02 1.52363135e-02 1.77538404e+01] [-1.55082867e-02 9.99879033e-01 -1.18868390e-03 -1.29437595e+00] [-1.52529243e-02 9.52113529e-04 9.99883214e-01 -8.89472203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.659928851 meters 0.07409024777450361 Centerline is valid? [True, True] Translation: X:17.81, Y:-1.30, Z:-0.89 [[ 9.99775737e-01 1.53197885e-02 1.46212247e-02 1.78140836e+01] [-1.53047485e-02 9.99882226e-01 -1.13998882e-03 -1.30126838e+00] [-1.46369671e-02 9.15958991e-04 9.99892454e-01 -8.93049483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.719928851 meters 0.0751632014833123 Centerline is valid? [True, True] Translation: X:17.87, Y:-1.31, Z:-0.90 [[ 9.99771007e-01 1.48701720e-02 1.53886582e-02 1.78729143e+01] [-1.48534511e-02 9.99888961e-01 -1.20029805e-03 -1.30913295e+00] [-1.54047981e-02 9.71448511e-04 9.99880867e-01 -8.96528850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.779928850999998 meters 0.0756504419029589 Centerline is valid? [True, True] Translation: X:17.93, Y:-1.31, Z:-0.90 [[ 9.99776050e-01 1.36843423e-02 1.61427411e-02 1.79336292e+01] [-1.36658283e-02 9.99905829e-01 -1.25665410e-03 -1.31430220e+00] [-1.61584174e-02 1.03576874e-03 9.99868908e-01 -8.97304765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.839928851 meters 0.07740196117689334 Centerline is valid? [True, True] Translation: X:17.99, Y:-1.33, Z:-0.90 [[ 9.99799084e-01 1.18713941e-02 1.61512146e-02 1.79928158e+01] [-1.18526178e-02 9.99928964e-01 -1.25775928e-03 -1.32543066e+00] [-1.61649986e-02 1.06607240e-03 9.99868770e-01 -9.02352741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.899928851 meters 0.07778637549972824 Centerline is valid? [True, True] Translation: X:18.05, Y:-1.33, Z:-0.90 [[ 9.99827147e-01 1.03868705e-02 1.54203782e-02 1.80533426e+01] [-1.03695343e-02 9.99945510e-01 -1.20377300e-03 -1.33075350e+00] [-1.54320413e-02 1.04366279e-03 9.99880374e-01 -9.04866530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.959928850999997 meters 0.07956423596771137 Centerline is valid? [True, True] Translation: X:18.11, Y:-1.34, Z:-0.91 [[ 9.99863909e-01 7.44678100e-03 1.47210593e-02 1.81134629e+01] [-7.43065631e-03 9.99971731e-01 -1.14974213e-03 -1.33864765e+00] [-1.47292050e-02 1.04019853e-03 9.99890978e-01 -9.07398666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.019928851 meters 0.0825926753904007 Centerline is valid? [True, True] Translation: X:18.17, Y:-1.35, Z:-0.91 [[ 9.99884484e-01 4.21339968e-03 1.46036606e-02 1.81724124e+01] [-4.19719298e-03 9.99990542e-01 -1.14024105e-03 -1.35109430e+00] [-1.46083268e-02 1.07881495e-03 9.99892711e-01 -9.12904249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.079928851 meters 0.08601774929793975 Centerline is valid? [True, True] Translation: X:18.23, Y:-1.36, Z:-0.91 [[ 9.99888279e-01 7.83157786e-04 1.49270588e-02 1.82315486e+01] [-7.65828007e-04 9.99999026e-01 -1.16664480e-03 -1.36195523e+00] [-1.49279579e-02 1.15508290e-03 9.99887905e-01 -9.14451423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.139928850999997 meters 0.08663404807407285 Centerline is valid? [True, True] Translation: X:18.29, Y:-1.37, Z:-0.92 [[ 9.99878388e-01 -1.96258564e-03 1.54712129e-02 1.82918760e+01] [ 1.98151287e-03 9.99997307e-01 -1.20814943e-03 -1.36691144e+00] [-1.54688002e-02 1.23865891e-03 9.99879584e-01 -9.15726040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.199928851 meters 0.08986342710831384 Centerline is valid? [True, True] Translation: X:18.35, Y:-1.38, Z:-0.92 [[ 9.99892711e-01 -4.36547945e-03 1.39824900e-02 1.83501749e+01] [ 4.38117499e-03 9.99989806e-01 -1.09207954e-03 -1.37795199e+00] [-1.39775800e-02 1.15322211e-03 9.99901644e-01 -9.21327369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.259928850999998 meters 0.09397501145774 Centerline is valid? [True, True] Translation: X:18.41, Y:-1.39, Z:-0.92 [[ 9.99866170e-01 -7.01044608e-03 1.47816272e-02 1.84092560e+01] [ 7.02827096e-03 9.99974635e-01 -1.15427719e-03 -1.38959006e+00] [-1.47731603e-02 1.25801200e-03 9.99890080e-01 -9.24545673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.319928851 meters 0.08247609804399166 Centerline is valid? [True, True] Translation: X:18.47, Y:-1.37, Z:-0.92 [[ 9.99836671e-01 -6.63844434e-03 1.68095843e-02 1.84727298e+01] [ 6.66145351e-03 9.99976950e-01 -1.31319043e-03 -1.37181094e+00] [-1.68004793e-02 1.42495221e-03 9.99857847e-01 -9.18197886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.379928851 meters 0.08584862504557941 Centerline is valid? [True, True] Translation: X:18.53, Y:-1.38, Z:-0.92 [[ 9.99855369e-01 -4.34854879e-03 1.64417299e-02 1.85322024e+01] [ 4.37027845e-03 9.99989623e-01 -1.28591743e-03 -1.38108338e+00] [-1.64359674e-02 1.35758639e-03 9.99863999e-01 -9.24488795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.439928850999998 meters 0.08131993870225102 Centerline is valid? [True, True] Translation: X:18.59, Y:-1.38, Z:-0.92 [[ 9.99873718e-01 -4.21202032e-03 1.53234258e-02 1.85948920e+01] [ 4.23084822e-03 9.99990334e-01 -1.19649082e-03 -1.37682172e+00] [-1.53182380e-02 1.26117082e-03 9.99881874e-01 -9.24352373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.499928851 meters 0.08285630988161453 Centerline is valid? [True, True] Translation: X:18.66, Y:-1.38, Z:-0.93 [[ 9.99849718e-01 -4.46003171e-03 1.67526039e-02 1.86565644e+01] [ 4.48254926e-03 9.99989099e-01 -1.30681244e-03 -1.38463167e+00] [-1.67465928e-02 1.38171042e-03 9.99858811e-01 -9.26849124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.559928851 meters 0.08394486916444514 Centerline is valid? [True, True] Translation: X:18.72, Y:-1.39, Z:-0.93 [[ 9.99833597e-01 -4.92798978e-03 1.75639891e-02 1.87178972e+01] [ 4.95291896e-03 9.99986787e-01 -1.37611705e-03 -1.39261912e+00] [-1.75569756e-02 1.46288108e-03 9.99844794e-01 -9.29996043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.619928850999997 meters 0.08507407979545309 Centerline is valid? [True, True] Translation: X:18.78, Y:-1.40, Z:-0.93 [[ 9.99841117e-01 -5.58995819e-03 1.69260880e-02 1.87796630e+01] [ 5.61322094e-03 9.99983365e-01 -1.32717611e-03 -1.40044780e+00] [-1.69183876e-02 1.42197511e-03 9.99855863e-01 -9.33112973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.679928851 meters 0.08732221042042705 Centerline is valid? [True, True] Translation: X:18.84, Y:-1.41, Z:-0.94 [[ 9.99830755e-01 -6.07412263e-03 1.73656640e-02 1.88405276e+01] [ 6.09871123e-03 9.99980473e-01 -1.36332455e-03 -1.41138591e+00] [-1.73570439e-02 1.46900198e-03 9.99848276e-01 -9.36438839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.739928851 meters 0.0881883739824668 Centerline is valid? [True, True] Translation: X:18.90, Y:-1.42, Z:-0.94 [[ 9.99810422e-01 -5.82613331e-03 1.85789098e-02 1.89021554e+01] [ 5.85424816e-03 9.99981799e-01 -1.45923817e-03 -1.41817255e+00] [-1.85700700e-02 1.56772708e-03 9.99826332e-01 -9.39235320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.799928850999997 meters 0.08952795072547529 Centerline is valid? [True, True] Translation: X:18.96, Y:-1.43, Z:-0.94 [[ 9.99779532e-01 -5.85495352e-03 2.01645061e-02 1.89641919e+01] [ 5.88810989e-03 9.99981408e-01 -1.58531444e-03 -1.42664155e+00] [-2.01548492e-02 1.70369576e-03 9.99795419e-01 -9.42223246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.859928851 meters 0.0850030086150267 Centerline is valid? [True, True] Translation: X:19.03, Y:-1.43, Z:-0.94 [[ 9.99755929e-01 -5.86097097e-03 2.13009526e-02 1.90272226e+01] [ 5.89799450e-03 9.99981203e-01 -1.67570770e-03 -1.42599215e+00] [-2.12907310e-02 1.80093161e-03 9.99771705e-01 -9.42670355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.919928850999998 meters 0.08228202712881591 Centerline is valid? [True, True] Translation: X:19.09, Y:-1.43, Z:-0.94 [[ 9.99774799e-01 -6.46395125e-03 2.02130582e-02 1.90899798e+01] [ 6.49744789e-03 9.99977624e-01 -1.59194362e-03 -1.42560072e+00] [-2.02023156e-02 1.72291841e-03 9.99794428e-01 -9.44549093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.979928851 meters 0.08826215050574993 Centerline is valid? [True, True] Translation: X:19.15, Y:-1.44, Z:-0.95 [[ 9.99744633e-01 -9.69999263e-03 2.04102815e-02 1.91477946e+01] [ 9.73488444e-03 9.99951317e-01 -1.61085798e-03 -1.44438129e+00] [-2.03936625e-02 1.80913835e-03 9.99790391e-01 -9.50005103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.039928851 meters 0.09816326488978842 Centerline is valid? [True, True] Translation: X:19.21, Y:-1.47, Z:-0.96 [[ 9.99665292e-01 -1.17524750e-02 2.30474076e-02 1.92059866e+01] [ 1.17974855e-02 9.99928755e-01 -1.81795503e-03 -1.46963060e+00] [-2.30244001e-02 2.08924800e-03 9.99732720e-01 -9.55462287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.099928850999998 meters 0.09036686927847144 Centerline is valid? [True, True] Translation: X:19.27, Y:-1.46, Z:-0.95 [[ 9.99603639e-01 -1.43490221e-02 2.42212618e-02 1.92679717e+01] [ 1.43994991e-02 9.99894496e-01 -1.91086071e-03 -1.46251110e+00] [-2.41912874e-02 2.25887736e-03 9.99704796e-01 -9.53749629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.159928851 meters 0.08629153296694647 Centerline is valid? [True, True] Translation: X:19.33, Y:-1.46, Z:-0.96 [[ 9.99624249e-01 -1.52753181e-02 2.27601732e-02 1.93298675e+01] [ 1.53201294e-02 9.99881027e-01 -1.79577310e-03 -1.46063732e+00] [-2.27300344e-02 2.14378713e-03 9.99739341e-01 -9.55628111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.219928851 meters 0.08811332313165252 Centerline is valid? [True, True] Translation: X:19.39, Y:-1.47, Z:-0.96 [[ 9.99600529e-01 -1.70967551e-02 2.25051902e-02 1.93899627e+01] [ 1.71410410e-02 9.99851504e-01 -1.77636171e-03 -1.47203052e+00] [-2.24714782e-02 2.16141449e-03 9.99745148e-01 -9.60606949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.279928850999998 meters 0.09048979586778269 Centerline is valid? [True, True] Translation: X:19.45, Y:-1.48, Z:-0.96 [[ 9.99538700e-01 -1.77156947e-02 2.46686327e-02 1.94507581e+01] [ 1.77690355e-02 9.99840227e-01 -1.94475496e-03 -1.48246427e+00] [-2.46302387e-02 2.38219565e-03 9.99693791e-01 -9.62500211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.339928851 meters 0.09240967337853227 Centerline is valid? [True, True] Translation: X:19.51, Y:-1.49, Z:-0.96 [[ 9.99488086e-01 -1.70327535e-02 2.70823090e-02 1.95105865e+01] [ 1.70970706e-02 9.99851533e-01 -2.14507906e-03 -1.49072711e+00] [-2.70417516e-02 2.60700911e-03 9.99630905e-01 -9.64402475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.399928851 meters 0.09330132149786285 Centerline is valid? [True, True] Translation: X:19.57, Y:-1.50, Z:-0.97 [[ 9.99531293e-01 -1.73375995e-02 2.52309866e-02 1.95717284e+01] [ 1.73934818e-02 9.99846728e-01 -1.99703812e-03 -1.49819010e+00] [-2.51924956e-02 2.43495680e-03 9.99679653e-01 -9.69356503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.459928850999997 meters 0.08997601639110749 Centerline is valid? [True, True] Translation: X:19.63, Y:-1.50, Z:-0.97 [[ 9.99563083e-01 -1.74311193e-02 2.38704536e-02 1.96343631e+01] [ 1.74811622e-02 9.99845408e-01 -1.88935633e-03 -1.49816728e+00] [-2.38338298e-02 2.30581411e-03 9.99713275e-01 -9.71925101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.519928851 meters 0.09072979884037846 Centerline is valid? [True, True] Translation: X:19.70, Y:-1.50, Z:-0.97 [[ 9.99510450e-01 -1.71831136e-02 2.61457692e-02 1.96966350e+01] [ 1.72432549e-02 9.99849168e-01 -2.07649816e-03 -1.50493955e+00] [-2.61061449e-02 2.52631977e-03 9.99655984e-01 -9.72433607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.579928851 meters 0.08704562430558044 Centerline is valid? [True, True] Translation: X:19.76, Y:-1.50, Z:-0.97 [[ 9.99486430e-01 -1.65243413e-02 2.74558321e-02 1.97594811e+01] [ 1.65906006e-02 9.99859974e-01 -2.18724651e-03 -1.50398028e+00] [-2.74158448e-02 2.64163195e-03 9.99620625e-01 -9.74075070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.639928850999997 meters 0.0865549068749794 Centerline is valid? [True, True] Translation: X:19.82, Y:-1.51, Z:-0.98 [[ 9.99522829e-01 -1.56343270e-02 2.66398760e-02 1.98211912e+01] [ 1.56965540e-02 9.99874536e-01 -2.12833483e-03 -1.50830162e+00] [-2.66032586e-02 2.54547350e-03 9.99642830e-01 -9.78738624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.699928851 meters 0.0893692409118516 Centerline is valid? [True, True] Translation: X:19.88, Y:-1.52, Z:-0.98 [[ 9.99519749e-01 -1.53608175e-02 2.69131326e-02 1.98828201e+01] [ 1.54244002e-02 9.99878711e-01 -2.15649970e-03 -1.51849190e+00] [-2.68767427e-02 2.57058296e-03 9.99635450e-01 -9.82698971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.759928850999998 meters 0.09019417054526276 Centerline is valid? [True, True] Translation: X:19.94, Y:-1.53, Z:-0.99 [[ 9.99496908e-01 -1.70874726e-02 2.67198230e-02 1.99437170e+01] [ 1.71510343e-02 9.99850595e-01 -2.15144255e-03 -1.52591690e+00] [-2.66790682e-02 2.60863278e-03 9.99640647e-01 -9.85572348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.819928851 meters 0.08844100830129864 Centerline is valid? [True, True] Translation: X:20.01, Y:-1.53, Z:-0.99 [[ 9.99467028e-01 -1.69844403e-02 2.78780899e-02 2.00070434e+01] [ 1.70535165e-02 9.99852065e-01 -2.24189407e-03 -1.52861537e+00] [-2.78358885e-02 2.71611867e-03 9.99608816e-01 -9.87295813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.879928851 meters 0.09446090448625956 Centerline is valid? [True, True] Translation: X:20.07, Y:-1.54, Z:-0.99 [[ 9.99482440e-01 -1.58216575e-02 2.80094289e-02 2.00659169e+01] [ 1.58912610e-02 9.99871162e-01 -2.26413920e-03 -1.54361661e+00] [-2.79699978e-02 2.70807252e-03 9.99605095e-01 -9.92485955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.939928850999998 meters 0.08832070136462741 Centerline is valid? [True, True] Translation: X:20.13, Y:-1.54, Z:-0.99 [[ 9.99510600e-01 -1.48969351e-02 2.75071160e-02 2.01286021e+01] [ 1.49636311e-02 9.99885573e-01 -2.22042289e-03 -1.53806321e+00] [-2.74708910e-02 2.63094255e-03 9.99619142e-01 -9.94646488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.999928851 meters 0.08721551844958325 Centerline is valid? [True, True] Translation: X:20.19, Y:-1.54, Z:-1.00 [[ 9.99500576e-01 -1.48687737e-02 2.78839967e-02 2.01906450e+01] [ 1.49374851e-02 9.99885881e-01 -2.25749773e-03 -1.54121709e+00] [-2.78472483e-02 2.67288707e-03 9.99608617e-01 -9.97132500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.059928851 meters 0.08652348189558502 Centerline is valid? [True, True] Translation: X:20.25, Y:-1.54, Z:-1.00 [[ 9.99487250e-01 -1.35246109e-02 2.90227996e-02 2.02517620e+01] [ 1.35987902e-02 9.99904747e-01 -2.36003284e-03 -1.54420404e+00] [-2.89881165e-02 2.75349770e-03 9.99575964e-01 -9.97785235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.119928850999997 meters 0.08552717548053244 Centerline is valid? [True, True] Translation: X:20.31, Y:-1.55, Z:-1.00 [[ 9.99509724e-01 -1.20875734e-02 2.88825701e-02 2.03129475e+01] [ 1.21604710e-02 9.99923298e-01 -2.34960689e-03 -1.54683688e+00] [-2.88519538e-02 2.69968059e-03 9.99580050e-01 -1.00150616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.179928851 meters 0.08697210157547776 Centerline is valid? [True, True] Translation: X:20.37, Y:-1.56, Z:-1.01 [[ 9.99507336e-01 -1.31982492e-02 2.84761461e-02 2.03734094e+01] [ 1.32695828e-02 9.99909270e-01 -2.31750416e-03 -1.55604304e+00] [-2.84429755e-02 2.69422899e-03 9.99591786e-01 -1.00525191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.239928851 meters 0.08929062523465127 Centerline is valid? [True, True] Translation: X:20.43, Y:-1.57, Z:-1.01 [[ 9.99470983e-01 -1.59130940e-02 2.83642071e-02 2.04329930e+01] [ 1.59849906e-02 9.99869564e-01 -2.30980825e-03 -1.56745430e+00] [-2.83237511e-02 2.76198791e-03 9.99594986e-01 -1.00895165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.299928850999997 meters 0.08860932404098397 Centerline is valid? [True, True] Translation: X:20.49, Y:-1.57, Z:-1.01 [[ 9.99451502e-01 -1.77067586e-02 2.79850827e-02 2.04934542e+01] [ 1.77774375e-02 9.99839372e-01 -2.27879531e-03 -1.57213764e+00] [-2.79402375e-02 2.77504846e-03 9.99605743e-01 -1.01081938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.359928851 meters 0.09045920493849291 Centerline is valid? [True, True] Translation: X:20.55, Y:-1.58, Z:-1.01 [[ 9.99402697e-01 -1.91894515e-02 2.87404781e-02 2.05537386e+01] [ 1.92646206e-02 9.99811680e-01 -2.34081421e-03 -1.58208891e+00] [-2.86901468e-02 2.89309044e-03 9.99584166e-01 -1.01423573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.419928850999998 meters 0.09089348778353579 Centerline is valid? [True, True] Translation: X:20.62, Y:-1.59, Z:-1.02 [[ 9.99431096e-01 -1.89977288e-02 2.78670321e-02 2.06153713e+01] [ 1.90682387e-02 9.99815615e-01 -2.26664965e-03 -1.59041839e+00] [-2.78188326e-02 2.79673536e-03 9.99609069e-01 -1.01734951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.479928851 meters 0.09060087380772838 Centerline is valid? [True, True] Translation: X:20.68, Y:-1.60, Z:-1.02 [[ 9.99454736e-01 -1.79246415e-02 2.77297164e-02 2.06766310e+01] [ 1.79943171e-02 9.99835523e-01 -2.26515498e-03 -1.59592222e+00] [-2.76845534e-02 2.76289718e-03 9.99612891e-01 -1.01974076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.539928851 meters 0.09296891956353315 Centerline is valid? [True, True] Translation: X:20.74, Y:-1.61, Z:-1.02 [[ 9.99452089e-01 -1.63828524e-02 2.87597632e-02 2.07351861e+01] [ 1.64572214e-02 9.99861807e-01 -2.35105924e-03 -1.60743340e+00] [-2.87172718e-02 2.82307686e-03 9.99583588e-01 -1.02374710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.599928850999998 meters 0.09329908449380621 Centerline is valid? [True, True] Translation: X:20.80, Y:-1.61, Z:-1.03 [[ 9.99464350e-01 -1.58930875e-02 2.86080959e-02 2.07970876e+01] [ 1.59663570e-02 9.99869804e-01 -2.33452595e-03 -1.61334421e+00] [-2.85672685e-02 2.79004253e-03 9.99587979e-01 -1.02642117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.659928851 meters 0.08810766069262073 Centerline is valid? [True, True] Translation: X:20.86, Y:-1.61, Z:-1.03 [[ 9.99492404e-01 -1.38121524e-02 2.87081795e-02 2.08579933e+01] [ 1.38853696e-02 9.99900826e-01 -2.35259861e-03 -1.60950216e+00] [-2.86728379e-02 2.75002812e-03 9.99585067e-01 -1.02869711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.719928851 meters 0.08650321264725126 Centerline is valid? [True, True] Translation: X:20.92, Y:-1.61, Z:-1.03 [[ 9.99546476e-01 -1.09441223e-02 2.80547378e-02 2.09186592e+01] [ 1.10129226e-02 9.99936713e-01 -2.29901551e-03 -1.61282240e+00] [-2.80278016e-02 2.60693751e-03 9.99603745e-01 -1.03266482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.779928850999998 meters 0.08411526527604453 Centerline is valid? [True, True] Translation: X:20.98, Y:-1.61, Z:-1.03 [[ 9.99614784e-01 -8.92838137e-03 2.62786625e-02 2.09804466e+01] [ 8.98803164e-03 9.99957290e-01 -2.15266915e-03 -1.61321702e+00] [-2.62583203e-02 2.38803336e-03 9.99652339e-01 -1.03490937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.839928851 meters 0.08438242968068795 Centerline is valid? [True, True] Translation: X:21.04, Y:-1.62, Z:-1.04 [[ 9.99617654e-01 -6.18821929e-03 2.69490759e-02 2.10407531e+01] [ 6.25002570e-03 9.99978027e-01 -2.20982406e-03 -1.61927286e+00] [-2.69348089e-02 2.37741156e-03 9.99634365e-01 -1.03721391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.899928851 meters 0.0825910629644144 Centerline is valid? [True, True] Translation: X:21.10, Y:-1.62, Z:-1.04 [[ 9.99616752e-01 -4.08080494e-04 2.76800088e-02 2.11015305e+01] [ 4.71088802e-04 9.99997313e-01 -2.26982804e-03 -1.61929124e+00] [-2.76790081e-02 2.28199787e-03 9.99614258e-01 -1.03898547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.959928850999997 meters 0.08116937745929331 Centerline is valid? [True, True] Translation: X:21.16, Y:-1.62, Z:-1.04 [[ 9.99664366e-01 2.66399023e-03 2.57693477e-02 2.11627118e+01] [-2.61040425e-03 9.99994361e-01 -2.11286269e-03 -1.62003881e+00] [-2.57748310e-02 2.04488512e-03 9.99665682e-01 -1.04141585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.019928851 meters 0.0808634490498739 Centerline is valid? [True, True] Translation: X:21.22, Y:-1.63, Z:-1.05 [[ 9.99679599e-01 5.16398944e-03 2.47796855e-02 2.12235838e+01] [-5.11518841e-03 9.99984852e-01 -2.03237948e-03 -1.62573982e+00] [-2.47898053e-02 1.90497554e-03 9.99690871e-01 -1.04587868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.079928851 meters 0.08162673362116593 Centerline is valid? [True, True] Translation: X:21.28, Y:-1.63, Z:-1.05 [[ 9.99641594e-01 7.32782158e-03 2.57485326e-02 2.12834159e+01] [-7.27582249e-03 9.99971299e-01 -2.11260484e-03 -1.63253715e+00] [-2.57632744e-02 1.92450591e-03 9.99666219e-01 -1.04879657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.139928850999997 meters 0.079712764205978 Centerline is valid? [True, True] Translation: X:21.34, Y:-1.63, Z:-1.05 [[ 9.99613387e-01 1.09376482e-02 2.55625430e-02 2.13443287e+01] [-1.08875727e-02 9.99938529e-01 -2.09730273e-03 -1.63165212e+00] [-2.55839112e-02 1.81817784e-03 9.99671025e-01 -1.05069230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.199928851 meters 0.07818298414221794 Centerline is valid? [True, True] Translation: X:21.40, Y:-1.63, Z:-1.05 [[ 9.99592437e-01 1.50207951e-02 2.42762283e-02 2.14048310e+01] [-1.49768308e-02 9.99885857e-01 -1.99181595e-03 -1.63191085e+00] [-2.43033760e-02 1.62742319e-03 9.99703305e-01 -1.05393185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.259928850999998 meters 0.07676279263895604 Centerline is valid? [True, True] Translation: X:21.47, Y:-1.63, Z:-1.06 [[ 9.99550023e-01 1.85509612e-02 2.35714386e-02 2.14656641e+01] [-1.85104962e-02 9.99826796e-01 -1.93374725e-03 -1.63093667e+00] [-2.36032288e-02 1.49655809e-03 9.99720285e-01 -1.05626071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.319928851 meters 0.07738794183540863 Centerline is valid? [True, True] Translation: X:21.53, Y:-1.64, Z:-1.06 [[ 9.99490413e-01 2.02085746e-02 2.47088601e-02 2.15259664e+01] [-2.01646101e-02 9.99794618e-01 -2.02719357e-03 -1.63670041e+00] [-2.47447520e-02 1.52791601e-03 9.99692634e-01 -1.05947514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.379928851 meters 0.07717550396411378 Centerline is valid? [True, True] Translation: X:21.59, Y:-1.64, Z:-1.06 [[ 9.99489666e-01 2.06382137e-02 2.43818018e-02 2.15888290e+01] [-2.05956234e-02 9.99785894e-01 -1.99666077e-03 -1.63988367e+00] [-2.44177890e-02 1.49348340e-03 9.99700726e-01 -1.06296946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.439928850999998 meters 0.0767389659463707 Centerline is valid? [True, True] Translation: X:21.65, Y:-1.64, Z:-1.07 [[ 9.99536913e-01 2.03998183e-02 2.25789195e-02 2.16505249e+01] [-2.03630962e-02 9.99790930e-01 -1.85514048e-03 -1.64229323e+00] [-2.26120434e-02 1.39450468e-03 9.99743342e-01 -1.06632165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.499928851 meters 0.07650411327449445 Centerline is valid? [True, True] Translation: X:21.71, Y:-1.64, Z:-1.07 [[ 9.99562226e-01 1.91467795e-02 2.25556356e-02 2.17124876e+01] [-1.91096326e-02 9.99815662e-01 -1.86131109e-03 -1.64485740e+00] [-2.25871159e-02 1.42946635e-03 9.99743857e-01 -1.06925621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.559928851 meters 0.07700547346833499 Centerline is valid? [True, True] Translation: X:21.77, Y:-1.65, Z:-1.07 [[ 9.99555264e-01 1.83062852e-02 2.35404810e-02 2.17746414e+01] [-1.82656305e-02 9.99831286e-01 -1.94089297e-03 -1.65049392e+00] [-2.35720399e-02 1.51004806e-03 9.99721000e-01 -1.07108173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.619928850999997 meters 0.0771725564689775 Centerline is valid? [True, True] Translation: X:21.84, Y:-1.65, Z:-1.07 [[ 9.99540538e-01 1.78611355e-02 2.44886284e-02 2.18370934e+01] [-1.78168529e-02 9.99839216e-01 -2.02530661e-03 -1.65413684e+00] [-2.45208653e-02 1.58806577e-03 9.99698057e-01 -1.07265069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.679928851 meters 0.07755145146847857 Centerline is valid? [True, True] Translation: X:21.90, Y:-1.66, Z:-1.08 [[ 9.99554825e-01 1.77570824e-02 2.39757724e-02 2.18987977e+01] [-1.77144745e-02 9.99841109e-01 -1.98836248e-03 -1.65846485e+00] [-2.40072704e-02 1.56275910e-03 9.99710562e-01 -1.07674819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.739928851 meters 0.07756052257507731 Centerline is valid? [True, True] Translation: X:21.96, Y:-1.66, Z:-1.08 [[ 9.99595477e-01 1.77922127e-02 2.21882884e-02 2.19607128e+01] [-1.77556325e-02 9.99840655e-01 -1.84456200e-03 -1.66080952e+00] [-2.22175717e-02 1.44984874e-03 9.99752108e-01 -1.07986883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.799928850999997 meters 0.07782020608728378 Centerline is valid? [True, True] Translation: X:22.02, Y:-1.66, Z:-1.08 [[ 9.99598381e-01 1.71631627e-02 2.25500141e-02 2.20224747e+01] [-1.71250968e-02 9.99851587e-01 -1.88010932e-03 -1.66454853e+00] [-2.25789360e-02 1.49318306e-03 9.99743948e-01 -1.08275179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.859928851 meters 0.07926541366817291 Centerline is valid? [True, True] Translation: X:22.08, Y:-1.67, Z:-1.09 [[ 9.99562418e-01 1.61196643e-02 2.48017920e-02 2.20833456e+01] [-1.60731145e-02 9.99868666e-01 -2.07509198e-03 -1.66910707e+00] [-2.48319845e-02 1.67554192e-03 9.99690235e-01 -1.08524565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.919928850999998 meters 0.07934759270782477 Centerline is valid? [True, True] Translation: X:22.15, Y:-1.67, Z:-1.09 [[ 9.99577256e-01 1.59426316e-02 2.43134049e-02 2.21458365e+01] [-1.58977305e-02 9.99871544e-01 -2.03895291e-03 -1.67011254e+00] [-2.43427880e-02 1.65156300e-03 9.99702306e-01 -1.08896522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.979928851 meters 0.07997402179826889 Centerline is valid? [True, True] Translation: X:22.21, Y:-1.67, Z:-1.09 [[ 9.99596071e-01 1.54045595e-02 2.38829474e-02 2.22077347e+01] [-1.53609531e-02 9.99879997e-01 -2.00823366e-03 -1.67368682e+00] [-2.39110173e-02 1.64055764e-03 9.99712745e-01 -1.09202534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.039928851 meters 0.07891563426153843 Centerline is valid? [True, True] Translation: X:22.27, Y:-1.67, Z:-1.09 [[ 9.99581314e-01 1.44204005e-02 2.50848163e-02 2.22705784e+01] [-1.43718303e-02 9.99894482e-01 -2.11545901e-03 -1.67335480e+00] [-2.51126751e-02 1.75405858e-03 9.99683088e-01 -1.09320972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.099928850999998 meters 0.08371447329808589 Centerline is valid? [True, True] Translation: X:22.33, Y:-1.69, Z:-1.10 [[ 9.99631487e-01 1.09088569e-02 2.48573163e-02 2.23288512e+01] [-1.08598220e-02 9.99938811e-01 -2.10680188e-03 -1.68733690e+00] [-2.48787781e-02 1.83607947e-03 9.99688789e-01 -1.09735160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.159928851 meters 0.08141291045427322 Centerline is valid? [True, True] Translation: X:22.39, Y:-1.68, Z:-1.10 [[ 9.99623961e-01 9.90995190e-03 2.55681368e-02 2.23910081e+01] [-9.85781637e-03 9.99949068e-01 -2.16432364e-03 -1.68494903e+00] [-2.55882829e-02 1.91146377e-03 9.99670739e-01 -1.09939903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.219928851 meters 0.08226042892229603 Centerline is valid? [True, True] Translation: X:22.45, Y:-1.69, Z:-1.10 [[ 9.99631080e-01 1.16453412e-02 2.45375268e-02 2.24516627e+01] [-1.15977412e-02 9.99930578e-01 -2.08130786e-03 -1.68899913e+00] [-2.45600609e-02 1.79596013e-03 9.99696743e-01 -1.10411907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.279928850999998 meters 0.08207933217924633 Centerline is valid? [True, True] Translation: X:22.51, Y:-1.69, Z:-1.11 [[ 9.99607342e-01 1.28586364e-02 2.48961253e-02 2.25138360e+01] [-1.28100801e-02 9.99915724e-01 -2.10886440e-03 -1.69116955e+00] [-2.49211442e-02 1.78911498e-03 9.99687819e-01 -1.10672462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.339928851 meters 0.07948863673692015 Centerline is valid? [True, True] Translation: X:22.58, Y:-1.69, Z:-1.11 [[ 9.99539872e-01 1.41804104e-02 2.68134156e-02 2.25765474e+01] [-1.41243027e-02 9.99897646e-01 -2.28076828e-03 -1.68704221e+00] [-2.68430134e-02 1.90099804e-03 9.99637854e-01 -1.10569645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.399928851 meters 0.0801099158893499 Centerline is valid? [True, True] Translation: X:22.64, Y:-1.69, Z:-1.11 [[ 9.99532417e-01 1.51031898e-02 2.65864864e-02 2.26379822e+01] [-1.50483729e-02 9.99884211e-01 -2.26071233e-03 -1.69265051e+00] [-2.66175519e-02 1.85957189e-03 9.99643961e-01 -1.10975074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.459928850999997 meters 0.07938222816654622 Centerline is valid? [True, True] Translation: X:22.70, Y:-1.69, Z:-1.11 [[ 9.99496680e-01 1.98526632e-02 2.47438383e-02 2.26983052e+01] [-1.98063951e-02 9.99801600e-01 -2.11358857e-03 -1.69253920e+00] [-2.47808895e-02 1.62243853e-03 9.99691590e-01 -1.11430689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.519928851 meters 0.07841674572516626 Centerline is valid? [True, True] Translation: X:22.76, Y:-1.69, Z:-1.12 [[ 9.99467981e-01 2.14727412e-02 2.45494627e-02 2.27599425e+01] [-2.14276998e-02 9.99768203e-01 -2.09634042e-03 -1.69374551e+00] [-2.45887864e-02 1.56918661e-03 9.99696419e-01 -1.11676536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.579928851 meters 0.07643416124726013 Centerline is valid? [True, True] Translation: X:22.82, Y:-1.69, Z:-1.12 [[ 9.99350873e-01 2.62913417e-02 2.46292028e-02 2.28213925e+01] [-2.62474296e-02 9.99653262e-01 -2.10456511e-03 -1.69146746e+00] [-2.46759948e-02 1.45674571e-03 9.99694440e-01 -1.11833158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.639928850999997 meters 0.07520812893050786 Centerline is valid? [True, True] Translation: X:22.88, Y:-1.69, Z:-1.12 [[ 9.99204124e-01 3.03079046e-02 2.59335441e-02 2.28818009e+01] [-3.02605583e-02 9.99539587e-01 -2.21627322e-03 -1.69167550e+00] [-2.59887746e-02 1.42974582e-03 9.99661212e-01 -1.11982215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.699928851 meters 0.07414014306593214 Centerline is valid? [True, True] Translation: X:22.94, Y:-1.69, Z:-1.12 [[ 9.98968447e-01 3.76082291e-02 2.54492277e-02 2.29425662e+01] [-3.75649981e-02 9.99291820e-01 -2.17483289e-03 -1.68970493e+00] [-2.55129966e-02 1.21658924e-03 9.99673750e-01 -1.12303706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.759928850999998 meters 0.07308131702380789 Centerline is valid? [True, True] Translation: X:23.00, Y:-1.69, Z:-1.13 [[ 9.98791288e-01 4.26988730e-02 2.43468383e-02 2.30029189e+01] [-4.26608118e-02 9.99087446e-01 -2.08079268e-03 -1.68991104e+00] [-2.44134680e-02 1.03962172e-03 9.99701406e-01 -1.12655410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.819928851 meters 0.07188650657205836 Centerline is valid? [True, True] Translation: X:23.06, Y:-1.69, Z:-1.13 [[ 9.98469798e-01 5.04184351e-02 2.27166043e-02 2.30633847e+01] [-5.03873231e-02 9.98727867e-01 -1.94024844e-03 -1.68815004e+00] [-2.27855300e-02 7.92650586e-04 9.99740062e-01 -1.13014175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.879928851 meters 0.07139531486316199 Centerline is valid? [True, True] Translation: X:23.12, Y:-1.69, Z:-1.13 [[ 9.98256633e-01 5.43243118e-02 2.30773229e-02 2.31232223e+01] [-5.42932327e-02 9.98523088e-01 -1.97162705e-03 -1.68933430e+00] [-2.31503470e-02 7.15247314e-04 9.99731739e-01 -1.13149742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.939928850999998 meters 0.07073438742761803 Centerline is valid? [True, True] Translation: X:23.18, Y:-1.69, Z:-1.14 [[ 9.97839226e-01 6.10488493e-02 2.42882079e-02 2.31824233e+01] [-6.10164341e-02 9.98134606e-01 -2.07417015e-03 -1.69127427e+00] [-2.43695265e-02 5.87708501e-04 9.99702846e-01 -1.13530088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.999928851 meters 0.07034316315566816 Centerline is valid? [True, True] Translation: X:23.24, Y:-1.69, Z:-1.14 [[ 9.97503850e-01 6.61123944e-02 2.48036394e-02 2.32427822e+01] [-6.60801803e-02 9.97812070e-01 -2.11706284e-03 -1.69285271e+00] [-2.48893348e-02 4.72749371e-04 9.99690101e-01 -1.13760734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.059928851 meters 0.07048728182433309 Centerline is valid? [True, True] Translation: X:23.30, Y:-1.70, Z:-1.14 [[ 9.97336531e-01 6.92253262e-02 2.29716747e-02 2.33002055e+01] [-6.91984971e-02 9.97600982e-01 -1.96173370e-03 -1.69621958e+00] [-2.30523669e-02 3.66903319e-04 9.99734192e-01 -1.14182902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.119928850999997 meters 0.0705502961107445 Centerline is valid? [True, True] Translation: X:23.36, Y:-1.70, Z:-1.14 [[ 9.97385839e-01 6.87040712e-02 2.23883594e-02 2.33586314e+01] [-6.86784225e-02 9.97637015e-01 -1.91342409e-03 -1.70189932e+00] [-2.24669161e-02 3.70824887e-04 9.99747518e-01 -1.14301799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.179928851 meters 0.07097445164250898 Centerline is valid? [True, True] Translation: X:23.42, Y:-1.71, Z:-1.15 [[ 9.97569017e-01 6.52185107e-02 2.45479392e-02 2.34158397e+01] [-6.51868568e-02 9.97870890e-01 -2.08834699e-03 -1.71265846e+00] [-2.46318728e-02 4.83067263e-04 9.99696473e-01 -1.14556116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.239928851 meters 0.07127205612368216 Centerline is valid? [True, True] Translation: X:23.47, Y:-1.72, Z:-1.15 [[ 9.97789702e-01 6.18733432e-02 2.42363250e-02 2.34749523e+01] [-6.18415723e-02 9.98083855e-01 -2.05892791e-03 -1.72080349e+00] [-2.43172775e-02 5.55564618e-04 9.99704137e-01 -1.14888286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.299928850999997 meters 0.07175897145016591 Centerline is valid? [True, True] Translation: X:23.53, Y:-1.73, Z:-1.15 [[ 9.98115229e-01 5.69792791e-02 2.27892761e-02 2.35349659e+01] [-5.69499452e-02 9.98375160e-01 -1.93464955e-03 -1.72997588e+00] [-2.28624821e-02 6.33155157e-04 9.99738419e-01 -1.15151507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.359928851 meters 0.07235156761205641 Centerline is valid? [True, True] Translation: X:23.59, Y:-1.74, Z:-1.16 [[ 9.98316361e-01 5.31380016e-02 2.32550398e-02 2.35941010e+01] [-5.31063991e-02 9.98586907e-01 -1.97486785e-03 -1.73993893e+00] [-2.33271188e-02 7.36551459e-04 9.99727614e-01 -1.15528034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.419928850999998 meters 0.07331418676511846 Centerline is valid? [True, True] Translation: X:23.65, Y:-1.75, Z:-1.16 [[ 9.98687322e-01 4.57609456e-02 2.30123413e-02 2.36537558e+01] [-4.57280753e-02 9.98952016e-01 -1.95285551e-03 -1.75105866e+00] [-2.30775892e-02 8.97981968e-04 9.99733274e-01 -1.15743109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.479928850999997 meters 0.0747683108470784 Centerline is valid? [True, True] Translation: X:23.71, Y:-1.76, Z:-1.16 [[ 9.98862913e-01 4.12892208e-02 2.38344371e-02 2.37122028e+01] [-4.12526744e-02 9.99146698e-01 -2.02320652e-03 -1.76288679e+00] [-2.38976357e-02 1.03767169e-03 9.99713872e-01 -1.16154866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.539928851 meters 0.07656461117683096 Centerline is valid? [True, True] Translation: X:23.77, Y:-1.77, Z:-1.17 [[ 9.99085356e-01 3.60655340e-02 2.29723545e-02 2.37703451e+01] [-3.60302601e-02 9.99348801e-01 -1.94768461e-03 -1.77398610e+00] [-2.30276393e-02 1.11820326e-03 9.99734203e-01 -1.16644685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.599928850999998 meters 0.07802515890267385 Centerline is valid? [True, True] Translation: X:23.83, Y:-1.78, Z:-1.17 [[ 9.99261591e-01 3.13761177e-02 2.21768346e-02 2.38304242e+01] [-3.13420487e-02 9.99506945e-01 -1.88223865e-03 -1.78288481e+00] [-2.22249575e-02 1.18578136e-03 9.99752292e-01 -1.16970061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.659928851 meters 0.08037249189353668 Centerline is valid? [True, True] Translation: X:23.89, Y:-1.79, Z:-1.17 [[ 9.99427720e-01 2.46140351e-02 2.32030421e-02 2.38905364e+01] [-2.45749250e-02 9.99696051e-01 -1.96924612e-03 -1.79280157e+00] [-2.32444606e-02 1.39790614e-03 9.99728834e-01 -1.17066091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.719928851 meters 0.08259789924459338 Centerline is valid? [True, True] Translation: X:23.95, Y:-1.80, Z:-1.17 [[ 9.99514507e-01 2.02102107e-02 2.37128351e-02 2.39505784e+01] [-2.01681277e-02 9.99794577e-01 -2.01253283e-03 -1.80262017e+00] [-2.37486376e-02 1.53331228e-03 9.99716785e-01 -1.17361103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.779928850999998 meters 0.08396964071847308 Centerline is valid? [True, True] Translation: X:24.01, Y:-1.81, Z:-1.18 [[ 9.99556222e-01 1.88027027e-02 2.31044835e-02 2.40113538e+01] [-1.87623899e-02 9.99822049e-01 -1.96036244e-03 -1.80890931e+00] [-2.31372321e-02 1.52599715e-03 9.99731134e-01 -1.17777342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.839928851 meters 0.08181039207400319 Centerline is valid? [True, True] Translation: X:24.07, Y:-1.81, Z:-1.18 [[ 9.99595404e-01 1.71255451e-02 2.27100197e-02 2.40734308e+01] [-1.70861522e-02 9.99852163e-01 -1.92752518e-03 -1.80616066e+00] [-2.27396722e-02 1.53871846e-03 9.99740236e-01 -1.17832921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.899928851 meters 0.08079549001789832 Centerline is valid? [True, True] Translation: X:24.13, Y:-1.81, Z:-1.18 [[ 9.99629636e-01 1.30553507e-02 2.38777940e-02 2.41337674e+01] [-1.30106179e-02 9.99913302e-01 -2.02780563e-03 -1.80635914e+00] [-2.39021976e-02 1.71638975e-03 9.99712828e-01 -1.17871683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.959928850999997 meters 0.08350031525867062 Centerline is valid? [True, True] Translation: X:24.19, Y:-1.81, Z:-1.18 [[ 9.99627146e-01 1.07466344e-02 2.51013690e-02 2.41929737e+01] [-1.06964922e-02 9.99940520e-01 -2.13100772e-03 -1.81493723e+00] [-2.51227772e-02 1.86171657e-03 9.99682640e-01 -1.18152132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.019928851 meters 0.08197282509542463 Centerline is valid? [True, True] Translation: X:24.26, Y:-1.81, Z:-1.18 [[ 9.99629419e-01 1.04662714e-02 2.51292857e-02 2.42555483e+01] [-1.04159557e-02 9.99943479e-01 -2.13233538e-03 -1.81357948e+00] [-2.51501830e-02 1.86979965e-03 9.99681935e-01 -1.18279621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.079928851 meters 0.08304198010371099 Centerline is valid? [True, True] Translation: X:24.32, Y:-1.82, Z:-1.19 [[ 9.99655016e-01 1.02198092e-02 2.41951360e-02 2.43175521e+01] [-1.01729629e-02 9.99946135e-01 -2.05848474e-03 -1.81979327e+00] [-2.42148701e-02 1.81163838e-03 9.99705136e-01 -1.18850498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.139928850999997 meters 0.08359597284412654 Centerline is valid? [True, True] Translation: X:24.38, Y:-1.82, Z:-1.19 [[ 9.99661539e-01 9.83044828e-03 2.40866958e-02 2.43796472e+01] [-9.78377174e-03 9.99950026e-01 -2.05493907e-03 -1.82396452e+00] [-2.41056930e-02 1.81858482e-03 9.99707761e-01 -1.19070876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.199928851 meters 0.08565934193375477 Centerline is valid? [True, True] Translation: X:24.44, Y:-1.83, Z:-1.19 [[ 9.99638924e-01 1.00147605e-02 2.49344180e-02 2.44401424e+01] [-9.96459387e-03 9.99948072e-01 -2.13538562e-03 -1.82972613e+00] [-2.49545086e-02 1.88615323e-03 9.99686808e-01 -1.19269710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.259928850999998 meters 0.0813942368921393 Centerline is valid? [True, True] Translation: X:24.50, Y:-1.82, Z:-1.20 [[ 9.99646599e-01 1.09664637e-02 2.42159658e-02 2.45029652e+01] [-1.09194039e-02 9.99938229e-01 -2.07471621e-03 -1.82469602e+00] [-2.42372223e-02 1.80955909e-03 9.99704598e-01 -1.19546556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.319928851 meters 0.08233280943680024 Centerline is valid? [True, True] Translation: X:24.56, Y:-1.83, Z:-1.20 [[ 9.99661819e-01 1.08136239e-02 2.36498105e-02 2.45636466e+01] [-1.07685415e-02 9.99939951e-01 -2.03277817e-03 -1.82861922e+00] [-2.36703721e-02 1.77741676e-03 9.99718237e-01 -1.19798600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.379928851 meters 0.08285023716476421 Centerline is valid? [True, True] Translation: X:24.63, Y:-1.83, Z:-1.20 [[ 9.99684766e-01 1.02961970e-02 2.28988429e-02 2.46257680e+01] [-1.02537257e-02 9.99945486e-01 -1.97138316e-03 -1.83326431e+00] [-2.29178923e-02 1.73596326e-03 9.99735843e-01 -1.20110312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.439928850999998 meters 0.08534364000560825 Centerline is valid? [True, True] Translation: X:24.69, Y:-1.84, Z:-1.21 [[ 9.99723703e-01 8.25489420e-03 2.20085181e-02 2.46852931e+01] [-8.21496388e-03 9.99964444e-01 -1.90410722e-03 -1.84299549e+00] [-2.20234538e-02 1.72278194e-03 9.99755970e-01 -1.20523022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.499928851 meters 0.08838466145500483 Centerline is valid? [True, True] Translation: X:24.74, Y:-1.85, Z:-1.21 [[ 9.99739472e-01 6.15371209e-03 2.19800095e-02 2.47443548e+01] [-6.11336435e-03 9.99979504e-01 -1.90237904e-03 -1.85297521e+00] [-2.19912657e-02 1.76751161e-03 9.99756600e-01 -1.20840519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.559928851 meters 0.08678764143370497 Centerline is valid? [True, True] Translation: X:24.81, Y:-1.85, Z:-1.21 [[ 9.99726091e-01 4.26588203e-03 2.30118679e-02 2.48064137e+01] [-4.22117549e-03 9.99989109e-01 -1.99098536e-03 -1.85159773e+00] [-2.30201105e-02 1.89330288e-03 9.99733209e-01 -1.20799651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.619928850999997 meters 0.08523954801677172 Centerline is valid? [True, True] Translation: X:24.87, Y:-1.85, Z:-1.21 [[ 9.99711917e-01 3.76240535e-03 2.37049922e-02 2.48691475e+01] [-3.71490297e-03 9.99991003e-01 -2.04761623e-03 -1.85223926e+00] [-2.37124829e-02 1.95896460e-03 9.99716900e-01 -1.21063479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.679928851 meters 0.09087834690151458 Centerline is valid? [True, True] Translation: X:24.93, Y:-1.87, Z:-1.21 [[ 9.99703091e-01 1.99771025e-03 2.42845237e-02 2.49283792e+01] [-1.94708366e-03 9.99995882e-01 -2.10819303e-03 -1.86663613e+00] [-2.42886353e-02 2.06028309e-03 9.99702865e-01 -1.21485894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.739928851 meters 0.0865079486729256 Centerline is valid? [True, True] Translation: X:24.99, Y:-1.86, Z:-1.22 [[ 9.99731525e-01 1.67862173e-04 2.31700258e-02 2.49904807e+01] [-1.21289514e-04 9.99997970e-01 -2.01142985e-03 -1.86126215e+00] [-2.31703164e-02 2.00807955e-03 9.99729515e-01 -1.21560931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.799928850999997 meters 0.08900078865535939 Centerline is valid? [True, True] Translation: X:25.05, Y:-1.87, Z:-1.22 [[ 9.99753375e-01 -1.57674978e-03 2.21518249e-02 2.50500999e+01] [ 1.61974205e-03 9.99996839e-01 -1.92299215e-03 -1.86855905e+00] [-2.21487228e-02 1.95839814e-03 9.99752769e-01 -1.21965566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.859928851 meters 0.09162201297158419 Centerline is valid? [True, True] Translation: X:25.11, Y:-1.88, Z:-1.23 [[ 9.99765576e-01 -3.37105723e-03 2.13875830e-02 2.51102664e+01] [ 3.41159586e-03 9.99992452e-01 -1.85922457e-03 -1.87828070e+00] [-2.13811540e-02 1.93175451e-03 9.99769531e-01 -1.22559400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.919928850999998 meters 0.0945815470120008 Centerline is valid? [True, True] Translation: X:25.17, Y:-1.89, Z:-1.23 [[ 9.99708040e-01 -7.22448219e-03 2.30573534e-02 2.51699097e+01] [ 7.27263126e-03 9.99971544e-01 -2.00505805e-03 -1.88686529e+00] [-2.30422117e-02 2.17216028e-03 9.99732133e-01 -1.22749130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.979928850999997 meters 0.09320254369774553 Centerline is valid? [True, True] Translation: X:25.23, Y:-1.89, Z:-1.23 [[ 9.99633666e-01 -8.51917682e-03 2.56896206e-02 2.52324645e+01] [ 8.57934932e-03 9.99960704e-01 -2.23297849e-03 -1.88833951e+00] [-2.56695879e-02 2.45256071e-03 9.99667473e-01 -1.22672551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.039928851 meters 0.0961946759767602 Centerline is valid? [True, True] Translation: X:25.29, Y:-1.90, Z:-1.23 [[ 9.99568704e-01 -1.05591247e-02 2.74027524e-02 2.52923854e+01] [ 1.06284338e-02 9.99940673e-01 -2.38485456e-03 -1.89731090e+00] [-2.73759447e-02 2.67507432e-03 9.99621629e-01 -1.22899590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.099928850999998 meters 0.09733034583352848 Centerline is valid? [True, True] Translation: X:25.35, Y:-1.90, Z:-1.23 [[ 9.99597306e-01 -1.23341425e-02 2.55557194e-02 2.53525919e+01] [ 1.23950045e-02 9.99920705e-01 -2.22449833e-03 -1.90323685e+00] [-2.55262557e-02 2.54036580e-03 9.99670924e-01 -1.23334182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.159928851 meters 0.1013408410114382 Centerline is valid? [True, False] Translation: X:25.35, Y:-1.90, Z:-1.23 [[ 9.99592188e-01 -1.23504226e-02 2.57473282e-02 2.53526280e+01] [ 1.24072220e-02 9.99920931e-01 -2.04744341e-03 -1.90303693e+00] [-2.57200056e-02 2.36606126e-03 9.99666386e-01 -1.23407699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.219928851 meters 0.10310329072540823 Centerline is valid? [False, False] Translation: X:25.35, Y:-1.90, Z:-1.24 [[ 9.99592525e-01 -1.19803030e-02 2.59086253e-02 2.53531152e+01] [ 1.20161454e-02 9.99927049e-01 -1.22816732e-03 -1.90418461e+00] [-2.58920214e-02 1.53898868e-03 9.99663561e-01 -1.23547698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.279928850999998 meters 0.10794954506362384 Centerline is valid? [False, False] Translation: X:25.36, Y:-1.90, Z:-1.23 [[ 9.99684236e-01 -1.77749811e-02 1.77617003e-02 2.53625097e+01] [ 1.77584368e-02 9.99841714e-01 1.08875803e-03 -1.90356604e+00] [-1.77782415e-02 -7.72994210e-04 9.99841656e-01 -1.23011588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.339928851 meters 0.1139622599194242 Centerline is valid? [False, False] Translation: X:25.36, Y:-1.91, Z:-1.23 [[ 9.99673856e-01 -1.78291595e-02 1.82839354e-02 2.53614867e+01] [ 1.77992761e-02 9.99839968e-01 1.79585505e-03 -1.90576770e+00] [-1.83130280e-02 -1.46982853e-03 9.99831222e-01 -1.23020618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.399928851 meters 0.11624193541318822 Centerline is valid? [False, False] Translation: X:25.36, Y:-1.91, Z:-1.23 [[ 9.99671668e-01 -1.76098640e-02 1.86131363e-02 2.53612231e+01] [ 1.75631498e-02 9.99842190e-01 2.67024786e-03 -1.90777290e+00] [-1.86572217e-02 -2.34246583e-03 9.99823195e-01 -1.23094945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.459928850999997 meters 0.10843029682681656 Centerline is valid? [False, False] Translation: X:25.36, Y:-1.91, Z:-1.23 [[ 9.99799572e-01 -1.98424887e-02 2.66297424e-03 2.53637022e+01] [ 1.98472705e-02 9.99801437e-01 -1.78139330e-03 -1.91037170e+00] [-2.62709820e-03 1.83388903e-03 9.99994868e-01 -1.22612626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.519928851 meters 0.10933393840125517 Centerline is valid? [False, False] Translation: X:25.36, Y:-1.91, Z:-1.23 [[ 9.99803529e-01 -1.96028414e-02 2.93794504e-03 2.53632450e+01] [ 1.96054143e-02 9.99807434e-01 -8.49509553e-04 -1.91306743e+00] [-2.92072649e-03 9.06942279e-04 9.99995323e-01 -1.22635363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.579928851 meters 0.11318506463431208 Centerline is valid? [False, False] Translation: X:25.36, Y:-1.92, Z:-1.23 [[ 9.99812668e-01 -1.91105091e-02 3.06878519e-03 2.53631931e+01] [ 1.91096779e-02 9.99817348e-01 2.99932075e-04 -1.91609448e+00] [-3.07395653e-03 -2.41232392e-04 9.99995246e-01 -1.22671392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.639928850999997 meters 0.11187266442520648 Centerline is valid? [False, False] Translation: X:25.36, Y:-1.92, Z:-1.23 [[ 9.99828559e-01 -1.82780755e-02 2.96057858e-03 2.53637957e+01] [ 1.82729288e-02 9.99831494e-01 1.75621391e-03 -1.91981717e+00] [-2.99217992e-03 -1.70181438e-03 9.99994075e-01 -1.22731663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.699928851 meters 0.11119639942114118 Centerline is valid? [False, False] Translation: X:25.35, Y:-1.92, Z:-1.23 [[ 9.99873621e-01 -1.17384234e-02 1.07215770e-02 2.53549671e+01] [ 1.17315105e-02 9.99930933e-01 7.07436900e-04 -1.92450047e+00] [-1.07291407e-02 -5.81567202e-04 9.99942272e-01 -1.23327310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.759928850999998 meters 0.11124517018979375 Centerline is valid? [False, False] Translation: X:25.36, Y:-1.93, Z:-1.23 [[ 9.99887808e-01 -1.08520143e-02 1.03249885e-02 2.53562834e+01] [ 1.08328795e-02 9.99939503e-01 1.90737730e-03 -1.92713072e+00] [-1.03450627e-02 -1.79531395e-03 9.99944877e-01 -1.23400035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.819928850999997 meters 0.10875299932327938 Centerline is valid? [False, False] Translation: X:25.36, Y:-1.93, Z:-1.23 [[ 9.99904042e-01 -9.72852575e-03 9.86222222e-03 2.53575716e+01] [ 9.69507939e-03 9.99947107e-01 3.43351720e-03 -1.93103086e+00] [-9.89510363e-03 -3.33757270e-03 9.99945472e-01 -1.23444817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.879928851 meters 0.10101585605758742 Centerline is valid? [False, False] Translation: X:25.36, Y:-1.93, Z:-1.23 [[ 9.99922656e-01 -8.40658116e-03 9.16578145e-03 2.53593913e+01] [ 8.36101269e-03 9.99952552e-01 4.99862218e-03 -1.93494287e+00] [-9.20736788e-03 -4.92160035e-03 9.99945500e-01 -1.23490605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.939928850999998 meters 0.10091700017294271 Centerline is valid? [False, False] Translation: X:25.36, Y:-1.94, Z:-1.23 [[ 9.99934086e-01 -7.65132303e-03 8.56048498e-03 2.53606794e+01] [ 7.60283089e-03 9.99954950e-01 5.68292259e-03 -1.93668278e+00] [-8.60358120e-03 -5.61746409e-03 9.99947210e-01 -1.23488016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.999928851 meters 0.09592448525732329 Centerline is valid? [False, True] Translation: X:25.36, Y:-1.94, Z:-1.24 [[ 9.99949641e-01 -6.26761001e-03 7.83792599e-03 2.53626237e+01] [ 6.21026335e-03 9.99953927e-01 7.31961943e-03 -1.94086367e+00] [-7.88344139e-03 -7.27057523e-03 9.99942493e-01 -1.23545148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.059928851 meters 0.097615020610933 Centerline is valid? [True, True] Translation: X:25.42, Y:-1.95, Z:-1.23 [[ 9.99979045e-01 -2.96801579e-03 5.75333994e-03 2.54216066e+01] [ 2.97137815e-03 9.99995420e-01 -5.75959371e-04 -1.94803755e+00] [-5.75160413e-03 5.93042650e-04 9.99983284e-01 -1.23449862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.119928850999997 meters 0.0942020925156602 Centerline is valid? [True, True] Translation: X:25.48, Y:-1.95, Z:-1.24 [[ 9.99986325e-01 1.01644933e-03 5.12995928e-03 2.54823015e+01] [-1.01383074e-03 9.99999354e-01 -5.13025867e-04 -1.95303952e+00] [-5.13047743e-03 5.07817941e-04 9.99986710e-01 -1.23662025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.179928851 meters 0.09222482294779341 Centerline is valid? [True, True] Translation: X:25.54, Y:-1.96, Z:-1.24 [[ 9.99983298e-01 3.81154759e-03 4.34452431e-03 2.55421790e+01] [-3.80969498e-03 9.99992649e-01 -4.34621845e-04 -1.95869520e+00] [-4.34614895e-03 4.18063273e-04 9.99990468e-01 -1.23772194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.239928851 meters 0.08996650804780194 Centerline is valid? [True, True] Translation: X:25.60, Y:-1.96, Z:-1.24 [[ 9.99964334e-01 7.31230322e-03 4.22619533e-03 2.56026482e+01] [-7.31058077e-03 9.99973188e-01 -4.22870111e-04 -1.96383175e+00] [-4.22917417e-03 3.91959087e-04 9.99990980e-01 -1.23710521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.299928850999997 meters 0.09097342043219822 Centerline is valid? [True, True] Translation: X:25.66, Y:-1.98, Z:-1.24 [[ 9.99955690e-01 8.47403185e-03 4.09988517e-03 2.56609826e+01] [-8.47241805e-03 9.99964024e-01 -4.10827592e-04 -1.97507269e+00] [-4.10321904e-03 3.76073447e-04 9.99991511e-01 -1.23844584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.359928851 meters 0.09159761531624568 Centerline is valid? [True, True] Translation: X:25.72, Y:-1.98, Z:-1.24 [[ 9.99955529e-01 8.56523490e-03 3.94668768e-03 2.57196119e+01] [-8.56373820e-03 9.99963252e-01 -3.95972723e-04 -1.98378118e+00] [-3.94993424e-03 3.62156713e-04 9.99992133e-01 -1.24089316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.419928850999998 meters 0.08842914071882653 Centerline is valid? [True, True] Translation: X:25.78, Y:-1.99, Z:-1.24 [[ 9.99972438e-01 6.77615189e-03 3.03425125e-03 2.57792774e+01] [-6.77526152e-03 9.99977002e-01 -3.03620778e-04 -1.98814660e+00] [-3.03623885e-03 2.83054564e-04 9.99995351e-01 -1.24173334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.479928850999997 meters 0.09547786258093019 Centerline is valid? [True, True] Translation: X:25.84, Y:-2.01, Z:-1.25 [[ 9.99974487e-01 6.52264995e-03 2.91226872e-03 2.58360767e+01] [-6.52182689e-03 9.99978690e-01 -2.92026422e-04 -2.01010070e+00] [-2.91411145e-03 2.73025659e-04 9.99995717e-01 -1.24575572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.539928851 meters 0.08874976587694228 Centerline is valid? [True, True] Translation: X:25.90, Y:-2.01, Z:-1.24 [[ 9.99985583e-01 4.78922121e-03 2.42838815e-03 2.58964157e+01] [-4.78864532e-03 9.99988505e-01 -2.42906979e-04 -2.00866763e+00] [-2.42952357e-03 2.31274787e-04 9.99997022e-01 -1.24431910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.599928850999998 meters 0.09560287959566427 Centerline is valid? [True, True] Translation: X:25.95, Y:-2.03, Z:-1.25 [[ 9.99994145e-01 2.24190225e-03 2.58516923e-03 2.59541726e+01] [-2.24124316e-03 9.99997455e-01 -2.57817699e-04 -2.02988930e+00] [-2.58574065e-03 2.52022197e-04 9.99996625e-01 -1.24629837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.659928851 meters 0.09340935096786354 Centerline is valid? [True, True] Translation: X:26.01, Y:-2.04, Z:-1.25 [[ 9.99997299e-01 -4.17836230e-04 2.28649791e-03 2.60145358e+01] [ 4.18359400e-04 9.99999886e-01 -2.28335054e-04 -2.03512121e+00] [-2.28640224e-03 2.29291015e-04 9.99997360e-01 -1.24869189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.719928851 meters 0.09863191164277184 Centerline is valid? [True, True] Translation: X:26.07, Y:-2.05, Z:-1.25 [[ 9.99993275e-01 -3.43844953e-03 1.27578572e-03 2.60728930e+01] [ 3.43861526e-03 9.99994080e-01 -1.27727444e-04 -2.05349325e+00] [-1.27533899e-03 1.32113521e-04 9.99999178e-01 -1.25147646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.779928850999998 meters 0.0916816737625536 Centerline is valid? [True, True] Translation: X:26.14, Y:-2.05, Z:-1.25 [[ 9.99989631e-01 -4.45915997e-03 9.24392060e-04 2.61353413e+01] [ 4.45924651e-03 9.99990053e-01 -9.15784395e-05 -2.04682697e+00] [-9.23974503e-04 9.56995820e-05 9.99999569e-01 -1.24896710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.839928851 meters 0.09366304155795958 Centerline is valid? [True, True] Translation: X:26.20, Y:-2.06, Z:-1.25 [[ 9.99991505e-01 -4.03147150e-03 8.58920589e-04 2.61956537e+01] [ 4.03154572e-03 9.99991870e-01 -8.47022271e-05 -2.05813061e+00] [-8.58572131e-04 8.81642852e-05 9.99999628e-01 -1.25186354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.899928851 meters 0.09588772091343988 Centerline is valid? [True, True] Translation: X:26.26, Y:-2.07, Z:-1.25 [[ 9.99989237e-01 -4.39034106e-03 1.50023129e-03 2.62556641e+01] [ 4.39056774e-03 9.99990350e-01 -1.47836597e-04 -2.07002545e+00] [-1.49956776e-03 1.54421873e-04 9.99998864e-01 -1.25484197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.959928850999997 meters 0.0939973020945252 Centerline is valid? [True, True] Translation: X:26.32, Y:-2.07, Z:-1.25 [[ 9.99987340e-01 -4.78440016e-03 1.55894461e-03 2.63177257e+01] [ 4.78464689e-03 9.99988542e-01 -1.54576800e-04 -2.07210579e+00] [-1.55818719e-03 1.62033843e-04 9.99998773e-01 -1.25497545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.019928851 meters 0.09576279800078093 Centerline is valid? [True, True] Translation: X:26.38, Y:-2.08, Z:-1.26 [[ 9.99992666e-01 -3.55275449e-03 1.43051056e-03 2.63777396e+01] [ 3.55296198e-03 9.99993678e-01 -1.42535740e-04 -2.08149499e+00] [-1.42999512e-03 1.47617244e-04 9.99998967e-01 -1.25689571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.079928851 meters 0.09126422745929254 Centerline is valid? [True, True] Translation: X:26.44, Y:-2.08, Z:-1.26 [[ 9.99996118e-01 -2.20856976e-03 1.69902486e-03 2.64399305e+01] [ 2.20886025e-03 9.99997546e-01 -1.69118561e-04 -2.07978556e+00] [-1.69864718e-03 1.72870813e-04 9.99998542e-01 -1.25774786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.139928850999997 meters 0.09745586206860035 Centerline is valid? [True, True] Translation: X:26.50, Y:-2.10, Z:-1.26 [[ 9.99994976e-01 -2.74440839e-03 1.58644576e-03 2.64991451e+01] [ 2.74466293e-03 9.99996221e-01 -1.58288378e-04 -2.09651093e+00] [-1.58600535e-03 1.62641842e-04 9.99998729e-01 -1.25996191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.199928851 meters 0.09922185086799314 Centerline is valid? [True, True] Translation: X:26.56, Y:-2.11, Z:-1.26 [[ 9.99989512e-01 -3.63096908e-03 2.79139876e-03 2.65609865e+01] [ 3.63176074e-03 9.99993366e-01 -2.78587984e-04 -2.10628410e+00] [-2.79036870e-03 2.88722754e-04 9.99996065e-01 -1.26187488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.259928850999998 meters 0.09526887224681418 Centerline is valid? [True, True] Translation: X:26.62, Y:-2.11, Z:-1.26 [[ 9.99969827e-01 -7.23352752e-03 2.83211024e-03 2.66223666e+01] [ 7.23435922e-03 9.99973791e-01 -2.83534412e-04 -2.10773284e+00] [-2.82998506e-03 3.04014360e-04 9.99995949e-01 -1.26294864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.319928850999997 meters 0.10123145174143411 Centerline is valid? [True, False] Translation: X:26.62, Y:-2.11, Z:-1.26 [[ 9.99968105e-01 -7.15692445e-03 3.54506757e-03 2.66212827e+01] [ 7.15383498e-03 9.99974021e-01 8.83398700e-04 -2.11116119e+00] [-3.55129789e-03 -8.58009696e-04 9.99993326e-01 -1.26344838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.379928851 meters 0.10593181034916115 Centerline is valid? [False, False] Translation: X:26.62, Y:-2.11, Z:-1.26 [[ 9.99968974e-01 -6.94696128e-03 3.71356339e-03 2.66209819e+01] [ 6.94141173e-03 9.99974775e-01 1.50520555e-03 -2.11290821e+00] [-3.72392633e-03 -1.47938148e-03 9.99991972e-01 -1.26348859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.439928850999998 meters 0.101194658261051 Centerline is valid? [False, False] Translation: X:26.62, Y:-2.11, Z:-1.26 [[ 9.99971183e-01 -6.58698719e-03 3.77428414e-03 2.66210099e+01] [ 6.57899437e-03 9.99976098e-01 2.12622358e-03 -2.11461107e+00] [-3.78819933e-03 -2.10133132e-03 9.99990617e-01 -1.26368286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.499928851 meters 0.10308691832069188 Centerline is valid? [False, False] Translation: X:26.62, Y:-2.12, Z:-1.26 [[ 9.99973201e-01 -6.26650220e-03 3.78531067e-03 2.66213878e+01] [ 6.25650495e-03 9.99976924e-01 2.64715789e-03 -2.11562469e+00] [-3.80181174e-03 -2.62340413e-03 9.99989332e-01 -1.26425931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.559928851 meters 0.1003391972491163 Centerline is valid? [False, False] Translation: X:26.62, Y:-2.12, Z:-1.27 [[ 9.99976392e-01 -5.81876330e-03 3.65469786e-03 2.66221779e+01] [ 5.80675143e-03 9.99977733e-01 3.28874764e-03 -2.11675141e+00] [-3.67375293e-03 -3.26744808e-03 9.99987914e-01 -1.26502593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.619928850999997 meters 0.10173162505527787 Centerline is valid? [False, False] Translation: X:26.62, Y:-2.12, Z:-1.27 [[ 9.99978349e-01 -5.64626271e-03 3.37946352e-03 2.66227797e+01] [ 5.63528514e-03 9.99978843e-01 3.24907359e-03 -2.11640441e+00] [-3.39773715e-03 -3.22995900e-03 9.99989011e-01 -1.26507447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.679928851 meters 0.10010591872811332 Centerline is valid? [False, False] Translation: X:26.62, Y:-2.11, Z:-1.27 [[ 9.99983802e-01 -5.08712481e-03 2.55283666e-03 2.66249211e+01] [ 5.07946587e-03 9.99982606e-01 2.99773673e-03 -2.11421748e+00] [-2.56804212e-03 -2.98472112e-03 9.99992248e-01 -1.26587246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.739928851 meters 0.09538908507631717 Centerline is valid? [False, True] Translation: X:26.63, Y:-2.11, Z:-1.27 [[ 9.99997209e-01 -7.72899805e-04 2.23277836e-03 2.66258281e+01] [ 7.57492138e-04 9.99975954e-01 6.89329301e-03 -2.11252276e+00] [-2.23805250e-03 -6.89158246e-03 9.99973748e-01 -1.26628959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.799928850999997 meters 0.0986587427468356 Centerline is valid? [True, True] Translation: X:26.69, Y:-2.12, Z:-1.27 [[ 9.99997578e-01 2.17286504e-03 3.51451636e-04 2.66851108e+01] [-2.17285181e-03 9.99997639e-01 -3.80300158e-05 -2.12116468e+00] [-3.51533440e-04 3.72662714e-05 9.99999938e-01 -1.26744123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.859928851 meters 0.09195778890678298 Centerline is valid? [True, True] Translation: X:26.75, Y:-2.11, Z:-1.27 [[ 9.99957989e-01 9.11803726e-03 9.38586184e-04 2.67471716e+01] [-9.11794674e-03 9.99958426e-01 -1.00681016e-04 -2.11329288e+00] [-9.39465176e-04 9.21188074e-05 9.99999554e-01 -1.26855886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.919928850999998 meters 0.08700388249145112 Centerline is valid? [True, True] Translation: X:26.81, Y:-2.11, Z:-1.27 [[ 9.99899894e-01 1.40709497e-02 1.48689103e-03 2.68089444e+01] [-1.40707277e-02 9.99900990e-01 -1.59651044e-04 -2.10668494e+00] [-1.48899026e-03 1.38713423e-04 9.99998882e-01 -1.26713512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.979928850999997 meters 0.08503445342079875 Centerline is valid? [True, True] Translation: X:26.87, Y:-2.10, Z:-1.27 [[ 9.99705090e-01 2.42036923e-02 1.97827628e-03 2.68693788e+01] [-2.42033192e-02 9.99707034e-01 -2.12327285e-04 -2.10465881e+00] [-1.98283582e-03 1.64383815e-04 9.99998021e-01 -1.27045953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.039928851 meters 0.08282674041552604 Centerline is valid? [True, True] Translation: X:26.93, Y:-2.10, Z:-1.27 [[ 9.99524491e-01 3.07498501e-02 2.28866053e-03 2.69299694e+01] [-3.07493680e-02 9.99527096e-01 -2.45581218e-04 -2.10303593e+00] [-2.29512980e-03 1.75089577e-04 9.99997351e-01 -1.27097987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.099928850999998 meters 0.07986188879869933 Centerline is valid? [True, True] Translation: X:26.99, Y:-2.10, Z:-1.27 [[ 9.99275784e-01 3.78928018e-02 3.47032910e-03 2.69917197e+01] [-3.78917373e-02 9.99281781e-01 -3.72015266e-04 -2.09863213e+00] [-3.48193335e-03 2.40249048e-04 9.99993909e-01 -1.27153588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.159928851 meters 0.08058847530467668 Centerline is valid? [True, True] Translation: X:27.05, Y:-2.10, Z:-1.27 [[ 9.99114298e-01 4.18680816e-02 4.20515037e-03 2.70514772e+01] [-4.18665521e-02 9.99123110e-01 -4.51145580e-04 -2.10285005e+00] [-4.22035152e-03 2.74690853e-04 9.99991057e-01 -1.27329052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.219928851 meters 0.08047614407496023 Centerline is valid? [True, True] Translation: X:27.11, Y:-2.11, Z:-1.28 [[ 9.99093803e-01 4.23599213e-02 4.14857718e-03 2.71101429e+01] [-4.23584326e-02 9.99102379e-01 -4.46081967e-04 -2.10851980e+00] [-4.16374933e-03 2.69950502e-04 9.99991295e-01 -1.27557067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.279928850999998 meters 0.08138480054193183 Centerline is valid? [True, True] Translation: X:27.17, Y:-2.12, Z:-1.28 [[ 9.99113069e-01 4.19642650e-02 3.47513860e-03 2.71687844e+01] [-4.19632181e-02 9.99119086e-01 -3.73648752e-04 -2.11553999e+00] [-3.48775720e-03 2.27489353e-04 9.99993892e-01 -1.27893622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.339928851 meters 0.0808373567268843 Centerline is valid? [True, True] Translation: X:27.23, Y:-2.12, Z:-1.28 [[ 9.99253127e-01 3.85108348e-02 3.17853500e-03 2.72291026e+01] [-3.85099450e-02 9.99258159e-01 -3.40675955e-04 -2.11808750e+00] [-3.18929675e-03 2.18016305e-04 9.99994890e-01 -1.27916988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.399928851 meters 0.08087996618846076 Centerline is valid? [True, True] Translation: X:27.29, Y:-2.12, Z:-1.28 [[ 9.99409016e-01 3.42278541e-02 3.17388288e-03 2.72891076e+01] [-3.42269456e-02 9.99414029e-01 -3.40133870e-04 -2.12388338e+00] [-3.18366513e-03 2.31300539e-04 9.99994905e-01 -1.27909187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.459928850999997 meters 0.08420713695781286 Centerline is valid? [True, True] Translation: X:27.35, Y:-2.14, Z:-1.28 [[ 9.99544870e-01 2.99826214e-02 3.33100364e-03 2.73472645e+01] [-2.99815967e-02 9.99550387e-01 -3.57139954e-04 -2.13848411e+00] [-3.34021397e-03 2.57108601e-04 9.99994388e-01 -1.28233820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.519928851 meters 0.08658265613294328 Centerline is valid? [True, True] Translation: X:27.41, Y:-2.15, Z:-1.28 [[ 9.99738547e-01 2.26579357e-02 3.07510374e-03 2.74063799e+01] [-2.26570288e-02 9.99743242e-01 -3.29464119e-04 -2.14991048e+00] [-3.08177916e-03 2.59705266e-04 9.99995218e-01 -1.28387370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.579928851 meters 0.08643342290223831 Centerline is valid? [True, True] Translation: X:27.47, Y:-2.16, Z:-1.28 [[ 9.99820262e-01 1.86421616e-02 3.45164503e-03 2.74664624e+01] [-1.86409955e-02 9.99826173e-01 -3.69701747e-04 -2.15517573e+00] [-3.45793708e-03 3.05293198e-04 9.99993975e-01 -1.28351283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.639928850999997 meters 0.08936384217151794 Centerline is valid? [True, True] Translation: X:27.53, Y:-2.17, Z:-1.29 [[ 9.99901671e-01 1.37518833e-02 2.74485100e-03 2.75253745e+01] [-1.37511267e-02 9.99905405e-01 -2.94331421e-04 -2.16922008e+00] [-2.74863897e-03 2.56557686e-04 9.99996190e-01 -1.28681870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.699928851 meters 0.09125748099414385 Centerline is valid? [True, True] Translation: X:27.59, Y:-2.18, Z:-1.29 [[ 9.99928231e-01 1.19159417e-02 1.24251501e-03 2.75851454e+01] [-1.19157850e-02 9.99928996e-01 -1.33397002e-04 -2.17708920e+00] [-1.24401634e-03 1.18581886e-04 9.99999219e-01 -1.28828407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.759928850999998 meters 0.09152530891221916 Centerline is valid? [True, True] Translation: X:27.65, Y:-2.18, Z:-1.29 [[ 9.99895242e-01 1.43117479e-02 2.16300908e-03 2.76453174e+01] [-1.43112799e-02 9.99897562e-01 -2.31675192e-04 -2.18207341e+00] [-2.16610318e-03 2.00695494e-04 9.99997634e-01 -1.28859914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.819928850999997 meters 0.08730027514224545 Centerline is valid? [True, True] Translation: X:27.71, Y:-2.18, Z:-1.29 [[ 9.99809386e-01 1.94722522e-02 1.42254686e-03 2.77062819e+01] [-1.94720546e-02 9.99810390e-01 -1.52587173e-04 -2.17815105e+00] [-1.42524835e-03 1.24858177e-04 9.99998977e-01 -1.28970278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.879928851 meters 0.08843983616352756 Centerline is valid? [True, True] Translation: X:27.77, Y:-2.19, Z:-1.29 [[ 9.99754708e-01 2.21248825e-02 1.00659786e-03 2.77650479e+01] [-2.21247846e-02 9.99755211e-01 -1.08272604e-04 -2.18511599e+00] [-1.00874697e-03 8.59752852e-05 9.99999488e-01 -1.29133119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.939928850999998 meters 0.08981872343237778 Centerline is valid? [True, True] Translation: X:27.82, Y:-2.19, Z:-1.29 [[ 9.99717523e-01 2.37576211e-02 6.71150365e-04 2.78237423e+01] [-2.37575777e-02 9.99717746e-01 -7.24851079e-05 -2.19266929e+00] [-6.72683005e-04 5.65197255e-05 9.99999772e-01 -1.29268806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.999928851 meters 0.08567054972235344 Centerline is valid? [True, True] Translation: X:27.88, Y:-2.19, Z:-1.29 [[ 9.99658991e-01 2.60590536e-02 1.68133480e-03 2.78846660e+01] [-2.60587871e-02 9.99660396e-01 -1.80217380e-04 -2.18968512e+00] [-1.68546011e-03 1.36342379e-04 9.99998570e-01 -1.29196940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.059928851 meters 0.08643407736898141 Centerline is valid? [True, True] Translation: X:27.94, Y:-2.20, Z:-1.29 [[ 9.99663540e-01 2.59378587e-02 1.82801892e-04 2.79429503e+01] [-2.59378553e-02 9.99663557e-01 -2.09056646e-05 -2.19577307e+00] [-1.83282638e-04 1.61571417e-05 9.99999983e-01 -1.29394844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.119928851000004 meters 0.08811032852796404 Centerline is valid? [True, True] Translation: X:28.00, Y:-2.20, Z:-1.30 [[ 9.99691152e-01 2.47436731e-02 -2.31339667e-03 2.80018083e+01] [-2.47431691e-02 9.99693811e-01 2.46231260e-04 -2.20432908e+00] [ 2.31878100e-03 -1.88914447e-04 9.99997294e-01 -1.29722370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.179928851 meters 0.08811847437243586 Centerline is valid? [True, True] Translation: X:28.06, Y:-2.21, Z:-1.30 [[ 9.99733953e-01 2.29226608e-02 -2.56414918e-03 2.80621366e+01] [-2.29220328e-02 9.99737218e-01 2.74024506e-04 -2.21111054e+00] [ 2.56975674e-03 -2.15176091e-04 9.99996675e-01 -1.29849689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.239928851 meters 0.09236071116467727 Centerline is valid? [True, True] Translation: X:28.12, Y:-2.23, Z:-1.30 [[ 9.99796044e-01 2.01381276e-02 -1.52521866e-03 2.81204889e+01] [-2.01379027e-02 9.99797199e-01 1.62633370e-04 -2.22585330e+00] [ 1.52818447e-03 -1.31885495e-04 9.99998824e-01 -1.30134831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.299928851000004 meters 0.09125432301624027 Centerline is valid? [True, True] Translation: X:28.18, Y:-2.23, Z:-1.30 [[ 9.99866498e-01 1.62927320e-02 -1.23788694e-03 2.81806493e+01] [-1.62925806e-02 9.99867258e-01 1.32289071e-04 -2.23032258e+00] [ 1.23987797e-03 -1.12103037e-04 9.99999225e-01 -1.29995392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.359928851 meters 0.0926312626417436 Centerline is valid? [True, True] Translation: X:28.24, Y:-2.24, Z:-1.30 [[ 9.99899049e-01 1.42088208e-02 -1.68038727e-05 2.82404113e+01] [-1.42088208e-02 9.99899050e-01 1.79552682e-06 -2.23979629e+00] [ 1.68276887e-05 -1.55658235e-06 1.00000000e+00 -1.30100334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.419928851 meters 0.09514824156254756 Centerline is valid? [True, True] Translation: X:28.30, Y:-2.25, Z:-1.30 [[ 9.99949862e-01 1.00130655e-02 -1.07275043e-04 2.83001392e+01] [-1.00130643e-02 9.99949868e-01 1.14981497e-05 -2.25102147e+00] [ 1.07384797e-04 -1.04234213e-05 9.99999994e-01 -1.30296752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.479928851000004 meters 0.09240948149812532 Centerline is valid? [True, True] Translation: X:28.36, Y:-2.25, Z:-1.30 [[ 9.99974113e-01 7.15228652e-03 -7.85840915e-04 2.83611507e+01] [-7.15222279e-03 9.99974419e-01 8.38796391e-05 -2.25297403e+00] [ 7.86420744e-04 -7.82569584e-05 9.99999688e-01 -1.30426179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.539928851 meters 0.09689338449409599 Centerline is valid? [True, True] Translation: X:28.42, Y:-2.27, Z:-1.31 [[ 9.99997440e-01 1.83741497e-03 -1.32026960e-03 2.84194392e+01] [-1.83723029e-03 9.99998302e-01 1.41080067e-04 -2.26906789e+00] [ 1.32052658e-03 -1.38654067e-04 9.99999118e-01 -1.30719839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.599928851 meters 0.09738448548454913 Centerline is valid? [True, True] Translation: X:28.48, Y:-2.28, Z:-1.31 [[ 9.99999677e-01 -7.97572696e-04 9.54998949e-05 2.84791806e+01] [ 7.97573686e-04 9.99999682e-01 -1.03340862e-05 -2.27607085e+00] [-9.54916224e-05 1.04102511e-05 9.99999995e-01 -1.30693628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.659928851000004 meters 0.10357442955362034 Centerline is valid? [True, False] Translation: X:28.48, Y:-2.28, Z:-1.31 [[ 9.99999490e-01 -9.13414326e-04 4.30061841e-04 2.84781999e+01] [ 9.13344381e-04 9.99999570e-01 1.62806177e-04 -2.27723966e+00] [-4.30210366e-04 -1.62413300e-04 9.99999894e-01 -1.30656363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.719928851 meters 0.09906660914202964 Centerline is valid? [False, True] Translation: X:28.48, Y:-2.28, Z:-1.31 [[ 9.99999735e-01 -5.06714748e-04 5.22938306e-04 2.84784230e+01] [ 5.06262621e-04 9.99999498e-01 8.64360261e-04 -2.27899353e+00] [-5.23376028e-04 -8.64095288e-04 9.99999490e-01 -1.30714437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.779928851 meters 0.10067571417124517 Centerline is valid? [True, False] Translation: X:28.48, Y:-2.28, Z:-1.31 [[ 9.99999526e-01 -7.40643711e-04 6.32643488e-04 2.84779388e+01] [ 7.40225075e-04 9.99999507e-01 6.61702354e-04 -2.27855093e+00] [-6.33133261e-04 -6.61233742e-04 9.99999581e-01 -1.30677960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.839928851 meters 0.09856088990696486 Centerline is valid? [False, True] Translation: X:28.48, Y:-2.28, Z:-1.31 [[ 9.99999812e-01 -3.81056723e-04 4.81050908e-04 2.84787950e+01] [ 3.80554723e-04 9.99999383e-01 1.04320762e-03 -2.27886496e+00] [-4.81448133e-04 -1.04302436e-03 9.99999340e-01 -1.30753451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.899928851 meters 0.10375404625537461 Centerline is valid? [True, False] Translation: X:28.48, Y:-2.28, Z:-1.31 [[ 9.99999759e-01 -2.69409226e-04 6.40198142e-04 2.84788323e+01] [ 2.68584424e-04 9.99999134e-01 1.28809181e-03 -2.27984088e+00] [-6.40544611e-04 -1.28791955e-03 9.99998965e-01 -1.30802480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.959928851 meters 0.09962127229519611 Centerline is valid? [False, True] Translation: X:28.48, Y:-2.28, Z:-1.31 [[ 9.99999778e-01 -2.27024775e-04 6.26837274e-04 2.84790553e+01] [ 2.26180721e-04 9.99999068e-01 1.34627114e-03 -2.27959263e+00] [-6.27142327e-04 -1.34612906e-03 9.99998897e-01 -1.30829582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.019928851 meters 0.10608433892337825 Centerline is valid? [True, False] Translation: X:28.48, Y:-2.28, Z:-1.31 [[ 9.99999792e-01 -1.48867708e-04 6.27512599e-04 2.84789906e+01] [ 1.47989604e-04 9.99999010e-01 1.39915472e-03 -2.27989095e+00] [-6.27720267e-04 -1.39906157e-03 9.99998824e-01 -1.30815987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.079928851000005 meters 0.10888176505199114 Centerline is valid? [False, False] Translation: X:28.48, Y:-2.28, Z:-1.31 [[ 9.99999711e-01 3.29962049e-05 7.60045606e-04 2.84787424e+01] [-3.43006823e-05 9.99998526e-01 1.71636552e-03 -2.28124312e+00] [-7.59987853e-04 -1.71639110e-03 9.99998238e-01 -1.30809013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.139928851 meters 0.09985087329427227 Centerline is valid? [False, True] Translation: X:28.48, Y:-2.28, Z:-1.31 [[ 9.99999545e-01 -6.96107423e-05 9.51912882e-04 2.84782136e+01] [ 6.79593963e-05 9.99998493e-01 1.73468821e-03 -2.28165943e+00] [-9.52032200e-04 -1.73462272e-03 9.99998042e-01 -1.30789749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.199928851 meters 0.10088334643381922 Centerline is valid? [True, False] Translation: X:28.48, Y:-2.28, Z:-1.31 [[ 9.99999476e-01 6.36802374e-05 1.02153550e-03 2.84782260e+01] [-6.57229986e-05 9.99997998e-01 1.99978781e-03 -2.28266363e+00] [-1.02140611e-03 -1.99985390e-03 9.99997479e-01 -1.30806448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.259928851000005 meters 0.10555845487544556 Centerline is valid? [False, False] Translation: X:28.48, Y:-2.28, Z:-1.31 [[ 9.99999263e-01 1.17071460e-04 1.20869488e-03 2.84778815e+01] [-1.19805001e-04 9.99997435e-01 2.26173921e-03 -2.28379456e+00] [-1.20842699e-03 -2.26188235e-03 9.99996712e-01 -1.30809264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.319928851 meters 0.10289051617701513 Centerline is valid? [False, False] Translation: X:28.48, Y:-2.29, Z:-1.31 [[ 9.99998983e-01 3.99135354e-04 1.36927538e-03 2.84778317e+01] [-4.03017218e-04 9.99995898e-01 2.83587290e-03 -2.28565724e+00] [-1.36813787e-03 -2.83642186e-03 9.99995041e-01 -1.30845146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.379928851 meters 0.10701063722440333 Centerline is valid? [False, False] Translation: X:28.48, Y:-2.29, Z:-1.31 [[ 9.99998528e-01 2.39371813e-04 1.69882605e-03 2.84767091e+01] [-2.44412476e-04 9.99995567e-01 2.96755779e-03 -2.28712806e+00] [-1.69810817e-03 -2.96796864e-03 9.99994154e-01 -1.30781945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.439928851000005 meters 0.10102829209478491 Centerline is valid? [False, False] Translation: X:28.48, Y:-2.29, Z:-1.31 [[ 9.99998617e-01 4.92153006e-04 1.58857552e-03 2.84770669e+01] [-4.97279371e-04 9.99994666e-01 3.22823989e-03 -2.28812419e+00] [-1.58697825e-03 -3.22902539e-03 9.99993527e-01 -1.30790002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.499928851 meters 0.10293857744196118 Centerline is valid? [False, False] Translation: X:28.48, Y:-2.29, Z:-1.31 [[ 9.99998589e-01 4.15420571e-04 1.62748448e-03 2.84769278e+01] [-4.20494640e-04 9.99995049e-01 3.11863652e-03 -2.28810807e+00] [-1.62618088e-03 -3.11931647e-03 9.99993813e-01 -1.30779784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.559928851 meters 0.10277211947902518 Centerline is valid? [False, False] Translation: X:28.48, Y:-2.29, Z:-1.31 [[ 9.99998426e-01 4.18975315e-04 1.72425740e-03 2.84766654e+01] [-4.24404206e-04 9.99994951e-01 3.14937853e-03 -2.28867796e+00] [-1.72292919e-03 -3.15010535e-03 9.99993554e-01 -1.30766240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.619928851000004 meters 0.10376388705065798 Centerline is valid? [False, False] Translation: X:28.48, Y:-2.29, Z:-1.31 [[ 9.99998554e-01 3.00451447e-04 1.67357298e-03 2.84764671e+01] [-3.05304049e-04 9.99995748e-01 2.90004528e-03 -2.28856026e+00] [-1.67269454e-03 -2.90055204e-03 9.99994394e-01 -1.30720210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.679928851 meters 0.10144794459420489 Centerline is valid? [False, False] Translation: X:28.48, Y:-2.29, Z:-1.31 [[ 9.99998803e-01 4.16270593e-04 1.48998900e-03 2.84769457e+01] [-4.20597800e-04 9.99995692e-01 2.90505301e-03 -2.28848420e+00] [-1.48877330e-03 -2.90567622e-03 9.99994670e-01 -1.30731832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.739928851 meters 0.09878930195770406 Centerline is valid? [False, True] Translation: X:28.48, Y:-2.29, Z:-1.31 [[ 9.99999214e-01 7.54264626e-04 1.00136643e-03 2.84781633e+01] [-7.57172061e-04 9.99995490e-01 2.90627038e-03 -2.28812043e+00] [-9.99169822e-04 -2.90702631e-03 9.99995275e-01 -1.30760765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.799928851000004 meters 0.09985707233603137 Centerline is valid? [True, True] Translation: X:28.54, Y:-2.30, Z:-1.31 [[ 9.99998761e-01 1.57250978e-03 -7.68366617e-05 2.85385353e+01] [-1.57250912e-03 9.99998764e-01 8.71693702e-06 -2.29675322e+00] [ 7.68502742e-05 -8.59609987e-06 9.99999997e-01 -1.30749542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.859928851 meters 0.0984582025788054 Centerline is valid? [True, True] Translation: X:28.60, Y:-2.30, Z:-1.31 [[ 9.99997493e-01 2.23848889e-03 5.15472455e-05 2.85979750e+01] [-2.23848858e-03 9.99997495e-01 -6.05328664e-06 -2.30175680e+00] [-5.15606666e-05 5.93788354e-06 9.99999999e-01 -1.30787301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.919928851 meters 0.10542925983906483 Centerline is valid? [True, False] Translation: X:28.60, Y:-2.30, Z:-1.31 [[ 9.99997150e-01 2.38712307e-03 -4.00082195e-05 2.85982568e+01] [-2.38711880e-03 9.99997145e-01 1.06519703e-04 -2.30210715e+00] [ 4.02623809e-05 -1.06423895e-04 9.99999994e-01 -1.30795035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.979928851000004 meters 0.0990471893153785 Centerline is valid? [False, True] Translation: X:28.60, Y:-2.30, Z:-1.31 [[ 9.99997068e-01 2.42134771e-03 2.77713049e-05 2.85981832e+01] [-2.42135323e-03 9.99997048e-01 2.00470908e-04 -2.30269286e+00] [-2.72858132e-05 -2.00537564e-04 9.99999980e-01 -1.30797210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.039928851 meters 0.10138283115946847 Centerline is valid? [True, False] Translation: X:28.60, Y:-2.30, Z:-1.31 [[ 9.99997433e-01 2.25021157e-03 2.63776283e-04 2.85975220e+01] [-2.25025255e-03 9.99997456e-01 1.55185115e-04 -2.30318316e+00] [-2.63426413e-04 -1.55778280e-04 9.99999953e-01 -1.30771561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.099928851 meters 0.10244693452555315 Centerline is valid? [False, False] Translation: X:28.60, Y:-2.31, Z:-1.31 [[ 9.99997016e-01 2.32739604e-03 7.42235395e-04 2.85967967e+01] [-2.32799901e-03 9.99996960e-01 8.12541016e-04 -2.30581037e+00] [-7.40342034e-04 -8.14266515e-04 9.99999394e-01 -1.30803712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.159928851000004 meters 0.0988669971466376 Centerline is valid? [False, True] Translation: X:28.60, Y:-2.31, Z:-1.31 [[ 9.99997441e-01 2.08803443e-03 8.70624432e-04 2.85963924e+01] [-2.08856092e-03 9.99997636e-01 6.04266024e-04 -2.30551174e+00] [-8.69360646e-04 -6.06082829e-04 9.99999438e-01 -1.30785173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.219928851 meters 0.1005093989418343 Centerline is valid? [True, False] Translation: X:28.60, Y:-2.31, Z:-1.31 [[ 9.99997041e-01 2.28059005e-03 8.47072054e-04 2.85966592e+01] [-2.28133649e-03 9.99997009e-01 8.81276492e-04 -2.30638275e+00] [-8.45059690e-04 -8.83206340e-04 9.99999253e-01 -1.30812258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.279928851 meters 0.10168072911054937 Centerline is valid? [False, False] Translation: X:28.60, Y:-2.31, Z:-1.31 [[ 9.99996549e-01 2.44392075e-03 9.63966507e-04 2.85965625e+01] [-2.44512455e-03 9.99996230e-01 1.24960762e-03 -2.30760801e+00] [-9.60908931e-04 -1.25196033e-03 9.99998755e-01 -1.30828251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.339928851 meters 0.10593602984020094 Centerline is valid? [False, False] Translation: X:28.60, Y:-2.31, Z:-1.31 [[ 9.99997105e-01 1.98257052e-03 1.36388182e-03 2.85950554e+01] [-1.98390913e-03 9.99997551e-01 9.80817116e-04 -2.30824574e+00] [-1.36193394e-03 -9.83520094e-04 9.99998589e-01 -1.30722633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.399928851 meters 0.10213095117076386 Centerline is valid? [False, False] Translation: X:28.59, Y:-2.31, Z:-1.31 [[ 9.99996498e-01 2.16716246e-03 1.51927175e-03 2.85948949e+01] [-2.16932685e-03 9.99996633e-01 1.42442296e-03 -2.30993279e+00] [-1.51617968e-03 -1.42771377e-03 9.99997831e-01 -1.30739726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.459928851 meters 0.11227702645221269 Centerline is valid? [False, False] Translation: X:28.59, Y:-2.31, Z:-1.31 [[ 9.99995787e-01 2.14254340e-03 1.95849597e-03 2.85939784e+01] [-2.14629132e-03 9.99995866e-01 1.91357633e-03 -2.31208588e+00] [-1.95438795e-03 -1.91777177e-03 9.99996251e-01 -1.30733176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.519928851 meters 0.10395939755875835 Centerline is valid? [False, False] Translation: X:28.59, Y:-2.31, Z:-1.31 [[ 9.99995776e-01 1.99413675e-03 2.11467518e-03 2.85934114e+01] [-1.99805420e-03 9.99996289e-01 1.85201413e-03 -2.31270163e+00] [-2.11097416e-03 -1.85623154e-03 9.99996049e-01 -1.30692522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.579928851000005 meters 0.10414214636894531 Centerline is valid? [False, False] Translation: X:28.59, Y:-2.31, Z:-1.31 [[ 9.99995852e-01 2.32693823e-03 1.69736449e-03 2.85943140e+01] [-2.33027341e-03 9.99995353e-01 1.96559389e-03 -2.31284076e+00] [-1.69278279e-03 -1.96954106e-03 9.99996628e-01 -1.30702197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.639928851 meters 0.101069831614118 Centerline is valid? [False, False] Translation: X:28.59, Y:-2.31, Z:-1.31 [[ 9.99996693e-01 2.26794523e-03 1.21259849e-03 2.85949816e+01] [-2.26955455e-03 9.99996543e-01 1.32744515e-03 -2.31100265e+00] [-1.20958373e-03 -1.33019281e-03 9.99998384e-01 -1.30658704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.699928851 meters 0.09560398987540593 Centerline is valid? [False, True] Translation: X:28.60, Y:-2.31, Z:-1.31 [[ 9.99995464e-01 3.00769246e-03 1.60368165e-04 2.85974522e+01] [-3.00789464e-03 9.99994663e-01 1.27572204e-03 -2.30930981e+00] [-1.56530329e-04 -1.27619862e-03 9.99999173e-01 -1.30725602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.759928851000005 meters 0.09406568942872665 Centerline is valid? [True, True] Translation: X:28.66, Y:-2.31, Z:-1.31 [[ 9.99968322e-01 7.85232951e-03 -1.30231727e-03 2.86572931e+01] [-7.85215222e-03 9.99969161e-01 1.41196655e-04 -2.31311300e+00] [ 1.30338583e-03 -1.30966189e-04 9.99999142e-01 -1.30863508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.819928851 meters 0.09507611369489563 Centerline is valid? [True, True] Translation: X:28.72, Y:-2.32, Z:-1.31 [[ 9.99943722e-01 1.05873512e-02 -6.79081226e-04 2.87163154e+01] [-1.05873037e-02 9.99943950e-01 7.34527167e-05 -2.32114610e+00] [ 6.79820834e-04 -6.62589437e-05 9.99999767e-01 -1.30928180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.879928851 meters 0.0916401737929603 Centerline is valid? [True, True] Translation: X:28.78, Y:-2.32, Z:-1.31 [[ 9.99924311e-01 1.23026339e-02 1.31414631e-04 2.87768956e+01] [-1.23026321e-02 9.99924320e-01 -1.45397178e-05 -2.32181640e+00] [-1.31583563e-04 1.29218715e-05 9.99999991e-01 -1.30863116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.939928851000005 meters 0.09255275815968986 Centerline is valid? [True, True] Translation: X:28.83, Y:-2.33, Z:-1.31 [[ 9.99924580e-01 1.22791034e-02 2.40370396e-04 2.88343953e+01] [-1.22790972e-02 9.99924609e-01 -2.71456067e-05 -2.33347017e+00] [-2.40685598e-04 2.41920279e-05 9.99999971e-01 -1.31092285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.999928851 meters 0.09289136116519153 Centerline is valid? [True, True] Translation: X:28.89, Y:-2.34, Z:-1.31 [[ 9.99950320e-01 9.95657954e-03 -4.73810535e-04 2.88936502e+01] [-9.95655635e-03 9.99950431e-01 5.12710015e-05 -2.34250407e+00] [ 4.74297532e-04 -4.65509331e-05 9.99999886e-01 -1.31077003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.059928851 meters 0.0925681179277404 Centerline is valid? [True, True] Translation: X:28.95, Y:-2.35, Z:-1.31 [[ 9.99959762e-01 8.95897329e-03 -4.58911551e-04 2.89525973e+01] [-8.95895174e-03 9.99959867e-01 4.89784927e-05 -2.34885330e+00] [ 4.59331930e-04 -4.48651555e-05 9.99999894e-01 -1.31150667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.119928851000004 meters 0.09552913211530344 Centerline is valid? [True, True] Translation: X:29.01, Y:-2.37, Z:-1.32 [[ 9.99982185e-01 5.47069480e-03 -2.38751976e-03 2.90106773e+01] [-5.47009255e-03 9.99985005e-01 2.58704977e-04 -2.36584241e+00] [ 2.38889925e-03 -2.45640414e-04 9.99997116e-01 -1.31579880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.179928851 meters 0.09604138384238224 Centerline is valid? [True, True] Translation: X:29.07, Y:-2.38, Z:-1.32 [[ 9.99987654e-01 2.72659425e-03 -4.15433249e-03 2.90703992e+01] [-2.72474610e-03 9.99996186e-01 4.50468898e-04 -2.37518210e+00] [ 4.15554490e-03 -4.39143835e-04 9.99991269e-01 -1.31830385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.239928851 meters 0.09811110259225413 Centerline is valid? [True, True] Translation: X:29.13, Y:-2.39, Z:-1.32 [[ 9.99993999e-01 1.78817790e-04 -3.45970039e-03 2.91303499e+01] [-1.77521020e-04 9.99999914e-01 3.75125045e-04 -2.38684481e+00] [ 3.45976717e-03 -3.74508624e-04 9.99993945e-01 -1.31710985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.299928851000004 meters 0.0958963229792628 Centerline is valid? [True, True] Translation: X:29.19, Y:-2.39, Z:-1.32 [[ 9.99997526e-01 -2.06059677e-04 -2.21494085e-03 2.91888181e+01] [ 2.06589507e-04 9.99999950e-01 2.38981108e-04 -2.39076077e+00] [ 2.21489150e-03 -2.39438100e-04 9.99997518e-01 -1.31739014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.359928851 meters 0.09980897146015529 Centerline is valid? [True, True] Translation: X:29.25, Y:-2.41, Z:-1.32 [[ 9.99995123e-01 -1.05800325e-03 -2.93854341e-03 2.92473582e+01] [ 1.05894271e-03 9.99999389e-01 3.18166094e-04 -2.40533149e+00] [ 2.93820500e-03 -3.21276291e-04 9.99995632e-01 -1.31955747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.419928851 meters 0.10058361579226587 Centerline is valid? [True, False] Translation: X:29.25, Y:-2.40, Z:-1.32 [[ 9.99994924e-01 -1.29834186e-03 -2.90977626e-03 2.92469053e+01] [ 1.29841097e-03 9.99999157e-01 2.18626896e-05 -2.40489477e+00] [ 2.90974543e-03 -2.56406641e-05 9.99995766e-01 -1.31899958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.479928851000004 meters 0.10252468362443029 Centerline is valid? [False, False] Translation: X:29.25, Y:-2.41, Z:-1.32 [[ 9.99995368e-01 -1.14042237e-03 -2.82208160e-03 2.92467251e+01] [ 1.14131088e-03 9.99999300e-01 3.13253937e-04 -2.40617220e+00] [ 2.82172238e-03 -3.16473359e-04 9.99995969e-01 -1.31897600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.539928851 meters 0.0965180664396163 Centerline is valid? [False, True] Translation: X:29.25, Y:-2.40, Z:-1.32 [[ 9.99994623e-01 -8.77330081e-04 -3.15989263e-03 2.92479303e+01] [ 8.78414752e-04 9.99999556e-01 3.41890543e-04 -2.40495372e+00] [ 3.15959128e-03 -3.44664400e-04 9.99994949e-01 -1.31978926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.599928851 meters 0.09274348539779285 Centerline is valid? [True, True] Translation: X:29.31, Y:-2.40, Z:-1.32 [[ 9.99992224e-01 1.94971034e-03 -3.42782384e-03 2.93091200e+01] [-1.94849143e-03 9.99998037e-01 3.58897023e-04 -2.40278851e+00] [ 3.42851685e-03 -3.52215147e-04 9.99994061e-01 -1.32000302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.659928851000004 meters 0.0925616810688284 Centerline is valid? [True, True] Translation: X:29.37, Y:-2.41, Z:-1.32 [[ 9.99972974e-01 5.90744954e-03 -4.37648186e-03 2.93674829e+01] [-5.90550382e-03 9.99982458e-01 4.57376591e-04 -2.40835544e+00] [ 4.37910702e-03 -4.31518900e-04 9.99990319e-01 -1.32254248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.719928851 meters 0.09750086552370771 Centerline is valid? [True, True] Translation: X:29.42, Y:-2.42, Z:-1.32 [[ 9.99967288e-01 7.25198351e-03 -3.58202167e-03 2.94248069e+01] [-7.25068995e-03 9.99973643e-01 3.73981698e-04 -2.42154062e+00] [ 3.58463937e-03 -3.47997336e-04 9.99993515e-01 -1.32444577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.779928851 meters 0.09301944301292549 Centerline is valid? [True, True] Translation: X:29.49, Y:-2.42, Z:-1.32 [[ 9.99940994e-01 1.01652109e-02 -3.83104864e-03 2.94864261e+01] [-1.01637482e-02 9.99948267e-01 4.01058695e-04 -2.41818175e+00] [ 3.83492729e-03 -3.62097217e-04 9.99992581e-01 -1.32434976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.839928851 meters 0.0889025518860852 Centerline is valid? [True, True] Translation: X:29.55, Y:-2.41, Z:-1.32 [[ 9.99933121e-01 1.09540999e-02 -3.70961128e-03 2.95457469e+01] [-1.09527394e-02 9.99939942e-01 3.86852202e-04 -2.41396179e+00] [ 3.71362610e-03 -3.46195924e-04 9.99993045e-01 -1.32422104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.899928851 meters 0.09013720185930589 Centerline is valid? [True, True] Translation: X:29.60, Y:-2.42, Z:-1.33 [[ 9.99935881e-01 1.07898234e-02 -3.43719398e-03 2.96032730e+01] [-1.07886576e-02 9.99941737e-01 3.57526825e-04 -2.42083106e+00] [ 3.44085137e-03 -3.20421191e-04 9.99994029e-01 -1.32552048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.959928851 meters 0.09011015991856544 Centerline is valid? [True, True] Translation: X:29.66, Y:-2.42, Z:-1.33 [[ 9.99949488e-01 9.63894565e-03 -2.84819895e-03 2.96629030e+01] [-9.63813867e-03 9.99953508e-01 2.96920283e-04 -2.42465097e+00] [ 2.85092853e-03 -2.69453949e-04 9.99995900e-01 -1.32558593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.019928851 meters 0.09119663507831909 Centerline is valid? [True, True] Translation: X:29.72, Y:-2.43, Z:-1.33 [[ 9.99964275e-01 7.83936354e-03 -3.16103942e-03 2.97231481e+01] [-7.83835883e-03 9.99969225e-01 3.30106198e-04 -2.43147521e+00] [ 3.16352996e-03 -3.05317044e-04 9.99994949e-01 -1.32682497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.079928851 meters 0.09742814682128077 Centerline is valid? [True, True] Translation: X:29.78, Y:-2.45, Z:-1.33 [[ 9.99972326e-01 5.94153834e-03 -4.47715199e-03 2.97810317e+01] [-5.93950694e-03 9.99982252e-01 4.66886016e-04 -2.44622350e+00] [ 4.47984655e-03 -4.40281020e-04 9.99989869e-01 -1.33084572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.139928851 meters 0.09582038653203385 Centerline is valid? [True, True] Translation: X:29.84, Y:-2.45, Z:-1.33 [[ 9.99976339e-01 5.54978591e-03 -4.06474845e-03 2.98400884e+01] [-5.54811162e-03 9.99984520e-01 4.23065231e-04 -2.44696776e+00] [ 4.06703345e-03 -4.00503542e-04 9.99991649e-01 -1.33136345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.199928851 meters 0.09241237532356376 Centerline is valid? [True, True] Translation: X:29.90, Y:-2.44, Z:-1.33 [[ 9.99979078e-01 6.12279205e-03 -2.08672712e-03 2.98997438e+01] [-6.12235345e-03 9.99981235e-01 2.16509729e-04 -2.44333590e+00] [ 2.08801360e-03 -2.03729518e-04 9.99997799e-01 -1.33043334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.259928851000005 meters 0.09650164235257193 Centerline is valid? [True, True] Translation: X:29.96, Y:-2.45, Z:-1.33 [[ 9.99983412e-01 5.43992899e-03 -1.89307776e-03 2.99564271e+01] [-5.43956776e-03 9.99985186e-01 1.95912389e-04 -2.45419345e+00] [ 1.89411546e-03 -1.85611614e-04 9.99998189e-01 -1.33223742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.319928851 meters 0.09770095289515758 Centerline is valid? [True, True] Translation: X:30.02, Y:-2.46, Z:-1.33 [[ 9.99991423e-01 3.54661336e-03 -2.13925181e-03 3.00163114e+01] [-3.54614526e-03 9.99993688e-01 2.22568443e-04 -2.45867371e+00] [ 2.14002767e-03 -2.14980436e-04 9.99997687e-01 -1.33368357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.379928851 meters 0.0965495865832055 Centerline is valid? [True, True] Translation: X:30.08, Y:-2.46, Z:-1.33 [[ 9.99996383e-01 1.24335618e-03 -2.38507392e-03 3.00771956e+01] [-1.24276675e-03 9.99999197e-01 2.48598514e-04 -2.46084081e+00] [ 2.38538110e-03 -2.45633524e-04 9.99997125e-01 -1.33480705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.439928851000005 meters 0.0993365727096073 Centerline is valid? [True, True] Translation: X:30.14, Y:-2.47, Z:-1.34 [[ 9.99997730e-01 -3.07457776e-04 -2.10865568e-03 3.01365686e+01] [ 3.07921059e-04 9.99999929e-01 2.19384287e-04 -2.46790759e+00] [ 2.10858808e-03 -2.20033089e-04 9.99997753e-01 -1.33608269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.499928851 meters 0.09576567652887033 Centerline is valid? [True, True] Translation: X:30.20, Y:-2.47, Z:-1.34 [[ 9.99996126e-01 -8.96727890e-04 -2.63520292e-03 3.01966310e+01] [ 8.97452594e-04 9.99999560e-01 2.73838981e-04 -2.46517967e+00] [ 2.63495620e-03 -2.76202890e-04 9.99996490e-01 -1.33641265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.559928851 meters 0.10057383046355502 Centerline is valid? [True, False] Translation: X:30.20, Y:-2.46, Z:-1.34 [[ 9.99995608e-01 -1.16825673e-03 -2.72399051e-03 3.01971283e+01] [ 1.16736489e-03 9.99999265e-01 -3.28971510e-04 -2.46259722e+00] [ 2.72437283e-03 3.25790174e-04 9.99996236e-01 -1.33690591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.619928851000004 meters 0.10256402764173236 Centerline is valid? [False, False] Translation: X:30.20, Y:-2.46, Z:-1.34 [[ 9.99995818e-01 -1.62492464e-03 -2.39241009e-03 3.01965950e+01] [ 1.62313904e-03 9.99998403e-01 -7.48112805e-04 -2.46100643e+00] [ 2.39362190e-03 7.44226463e-04 9.99996858e-01 -1.33720898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.679928851 meters 0.1042869972690874 Centerline is valid? [False, False] Translation: X:30.20, Y:-2.46, Z:-1.34 [[ 9.99996346e-01 -1.60137307e-03 -2.17796712e-03 3.01966603e+01] [ 1.60017495e-03 9.99998568e-01 -5.51740565e-04 -2.46093785e+00] [ 2.17884754e-03 5.48253421e-04 9.99997476e-01 -1.33798336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.739928851 meters 0.1038035391831257 Centerline is valid? [False, False] Translation: X:30.20, Y:-2.46, Z:-1.34 [[ 9.99996295e-01 -1.80135662e-03 -2.04102721e-03 3.01968687e+01] [ 1.79979978e-03 9.99998088e-01 -7.64350103e-04 -2.45943645e+00] [ 2.04240017e-03 7.60673830e-04 9.99997625e-01 -1.33873562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.799928851000004 meters 0.10524595400544086 Centerline is valid? [False, False] Translation: X:30.20, Y:-2.46, Z:-1.34 [[ 9.99995937e-01 -1.81836957e-03 -2.19538138e-03 3.01973114e+01] [ 1.81631465e-03 9.99997911e-01 -9.37651329e-04 -2.45838444e+00] [ 2.19708179e-03 9.33660016e-04 9.99997151e-01 -1.33892512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.859928851 meters 0.10469504726474282 Centerline is valid? [False, False] Translation: X:30.20, Y:-2.46, Z:-1.34 [[ 9.99996298e-01 -1.39727913e-03 -2.33478537e-03 3.01984970e+01] [ 1.39607629e-03 9.99998892e-01 -5.16734062e-04 -2.45836367e+00] [ 2.33550480e-03 5.13472611e-04 9.99997141e-01 -1.34019464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.919928851 meters 0.10519381116258868 Centerline is valid? [False, False] Translation: X:30.20, Y:-2.46, Z:-1.34 [[ 9.99995545e-01 -1.38387804e-03 -2.64472277e-03 3.01992968e+01] [ 1.38179085e-03 9.99998733e-01 -7.90856018e-04 -2.45684444e+00] [ 2.64581386e-03 7.87198041e-04 9.99996190e-01 -1.34044755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.979928851000004 meters 0.10498326182374972 Centerline is valid? [False, False] Translation: X:30.20, Y:-2.46, Z:-1.34 [[ 9.99994393e-01 -8.52352817e-04 -3.23843002e-03 3.02012012e+01] [ 8.50205540e-04 9.99999418e-01 -6.64379954e-04 -2.45565696e+00] [ 3.23899442e-03 6.61622898e-04 9.99994536e-01 -1.34143475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.039928851 meters 0.10239686431390488 Centerline is valid? [False, False] Translation: X:30.20, Y:-2.45, Z:-1.34 [[ 9.99993219e-01 -4.35799752e-04 -3.65683338e-03 3.02025437e+01] [ 4.34007069e-04 9.99999785e-01 -4.91007605e-04 -2.45498029e+00] [ 3.65704657e-03 4.89417183e-04 9.99993193e-01 -1.34213610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.099928851 meters 0.09510458226490097 Centerline is valid? [False, True] Translation: X:30.20, Y:-2.45, Z:-1.34 [[ 9.99986381e-01 3.78323353e-03 -3.59524155e-03 3.02025587e+01] [-3.77020862e-03 9.99986331e-01 3.62271799e-03 -2.45441273e+00] [ 3.60889799e-03 -3.60911384e-03 9.99986975e-01 -1.34229771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.159928851000004 meters 0.09859345533244866 Centerline is valid? [True, True] Translation: X:30.26, Y:-2.47, Z:-1.34 [[ 9.99975286e-01 6.67208434e-03 -2.21601198e-03 3.02616575e+01] [-6.67158643e-03 9.99977718e-01 2.32001921e-04 -2.46609244e+00] [ 2.21751054e-03 -2.17211872e-04 9.99997518e-01 -1.34318646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.219928851 meters 0.09652297490660625 Centerline is valid? [True, True] Translation: X:30.32, Y:-2.47, Z:-1.34 [[ 9.99957208e-01 8.89555172e-03 -2.53975900e-03 3.03216371e+01] [-8.89490547e-03 9.99960404e-01 2.65636269e-04 -2.46888680e+00] [ 2.54202142e-03 -2.43033985e-04 9.99996740e-01 -1.34421163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.279928851 meters 0.09406637489124595 Centerline is valid? [True, True] Translation: X:30.38, Y:-2.47, Z:-1.34 [[ 9.99957259e-01 8.77257539e-03 -2.91940028e-03 3.03803866e+01] [-8.77172404e-03 9.99961481e-01 3.04294631e-04 -2.47138519e+00] [ 2.92195727e-03 -2.78673451e-04 9.99995692e-01 -1.34335319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.339928851 meters 0.09514835106425656 Centerline is valid? [True, True] Translation: X:30.44, Y:-2.48, Z:-1.34 [[ 9.99969771e-01 7.41617364e-03 -2.33606749e-03 3.04396373e+01] [-7.41562422e-03 9.99972474e-01 2.43763572e-04 -2.48050381e+00] [ 2.33781098e-03 -2.26432805e-04 9.99997242e-01 -1.34401338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.399928851 meters 0.10159120344661635 Centerline is valid? [True, False] Translation: X:30.44, Y:-2.48, Z:-1.34 [[ 9.99991578e-01 3.29510190e-03 -2.44687388e-03 3.04395908e+01] [-3.30436590e-03 9.99987352e-01 -3.79171178e-03 -2.48185061e+00] [ 2.43434886e-03 3.79976521e-03 9.99989818e-01 -1.34358507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.459928851 meters 0.0959551437529393 Centerline is valid? [False, True] Translation: X:30.44, Y:-2.48, Z:-1.34 [[ 9.99992568e-01 3.31387286e-03 -1.97042208e-03 3.04387449e+01] [-3.32006123e-03 9.99989541e-01 -3.14570143e-03 -2.48402374e+00] [ 1.95997701e-03 3.15221997e-03 9.99993111e-01 -1.34381761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.519928851 meters 0.10607695780724756 Centerline is valid? [True, False] Translation: X:30.44, Y:-2.49, Z:-1.34 [[ 9.99994237e-01 3.14416855e-03 -1.28082738e-03 3.04373432e+01] [-3.14747196e-03 9.99991705e-01 -2.58532339e-03 -2.48681433e+00] [ 1.27268806e-03 2.58933986e-03 9.99995838e-01 -1.34381091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.579928851 meters 0.10290207026147902 Centerline is valid? [False, False] Translation: X:30.44, Y:-2.49, Z:-1.34 [[ 9.99994429e-01 3.17741964e-03 -1.02299768e-03 3.04368083e+01] [-3.17970709e-03 9.99992431e-01 -2.24222153e-03 -2.48815941e+00] [ 1.01586546e-03 2.24546188e-03 9.99996963e-01 -1.34377964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.639928851 meters 0.10587871607442452 Centerline is valid? [False, False] Translation: X:30.44, Y:-2.49, Z:-1.34 [[ 9.99995386e-01 2.94741799e-03 -7.35908254e-04 3.04356251e+01] [-2.94908477e-03 9.99993065e-01 -2.27421025e-03 -2.48918299e+00] [ 7.29200103e-04 2.27637001e-03 9.99997143e-01 -1.34291236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.699928851 meters 0.105924627718829 Centerline is valid? [False, False] Translation: X:30.44, Y:-2.49, Z:-1.34 [[ 9.99995120e-01 3.04629072e-03 -6.93199746e-04 3.04355697e+01] [-3.04768721e-03 9.99993311e-01 -2.02249157e-03 -2.48983932e+00] [ 6.87034012e-04 2.02459436e-03 9.99997714e-01 -1.34296938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.759928851000005 meters 0.10282704754394309 Centerline is valid? [False, False] Translation: X:30.44, Y:-2.49, Z:-1.34 [[ 9.99994242e-01 3.37100486e-03 -3.90255434e-04 3.04352459e+01] [-3.37144601e-03 9.99993672e-01 -1.13533369e-03 -2.49288194e+00] [ 3.86425749e-04 1.13664288e-03 9.99999279e-01 -1.34332587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.819928851 meters 0.10321665498845606 Centerline is valid? [False, False] Translation: X:30.43, Y:-2.49, Z:-1.34 [[ 9.99993906e-01 3.48733377e-03 -1.59639288e-04 3.04348816e+01] [-3.48743792e-03 9.99993703e-01 -6.56823085e-04 -2.49466146e+00] [ 1.57347721e-04 6.57375815e-04 9.99999772e-01 -1.34350763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.879928851 meters 0.1035159001134109 Centerline is valid? [False, False] Translation: X:30.43, Y:-2.50, Z:-1.34 [[ 9.99993665e-01 3.55846827e-03 -8.14923185e-05 3.04345315e+01] [-3.55850033e-03 9.99993590e-01 -3.96647750e-04 -2.49605040e+00] [ 8.00803377e-05 3.96935228e-04 9.99999918e-01 -1.34316535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.939928851000005 meters 0.10537690326174201 Centerline is valid? [False, False] Translation: X:30.43, Y:-2.50, Z:-1.34 [[ 9.99993884e-01 3.49678922e-03 6.08956733e-05 3.04339259e+01] [-3.49677040e-03 9.99993839e-01 -3.06507660e-04 -2.49698994e+00] [-6.19670908e-05 3.06292847e-04 9.99999951e-01 -1.34271029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.999928851 meters 0.10836916687140515 Centerline is valid? [False, False] Translation: X:30.43, Y:-2.50, Z:-1.34 [[ 9.99993026e-01 3.72878833e-03 2.10851070e-04 3.04335242e+01] [-3.72884596e-03 9.99993010e-01 2.73555158e-04 -2.49935232e+00] [-2.09829567e-04 -2.74339481e-04 9.99999940e-01 -1.34253385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.059928851 meters 0.1016655822730728 Centerline is valid? [False, False] Translation: X:30.43, Y:-2.50, Z:-1.34 [[ 9.99992461e-01 3.86257718e-03 3.96889469e-04 3.04331103e+01] [-3.86287050e-03 9.99992265e-01 7.40960346e-04 -2.50121835e+00] [-3.94024382e-04 -7.42487893e-04 9.99999647e-01 -1.34248097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.119928851000004 meters 0.10294617483354264 Centerline is valid? [False, False] Translation: X:30.43, Y:-2.50, Z:-1.34 [[ 9.99999962e-01 9.77800911e-05 -2.58277310e-04 3.04343680e+01] [-9.86021364e-05 9.99994924e-01 -3.18470849e-03 -2.50178089e+00] [ 2.57964598e-04 3.18473384e-03 9.99994895e-01 -1.34235151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.179928851 meters 0.10914478712522234 Centerline is valid? [False, False] Translation: X:30.43, Y:-2.50, Z:-1.34 [[ 9.99999981e-01 1.52860922e-04 -1.18595516e-04 3.04337396e+01] [-1.53205211e-04 9.99995759e-01 -2.90849545e-03 -2.50344602e+00] [ 1.18150418e-04 2.90851356e-03 9.99995763e-01 -1.34181187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.239928851 meters 0.10286659919023064 Centerline is valid? [False, False] Translation: X:30.43, Y:-2.51, Z:-1.34 [[ 9.99999922e-01 3.76727013e-04 1.19955228e-04 3.04330444e+01] [-3.76459942e-04 9.99997468e-01 -2.21871028e-03 -2.50625535e+00] [-1.20790772e-04 2.21866495e-03 9.99997531e-01 -1.34147112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.299928851000004 meters 0.11053957017941779 Centerline is valid? [False, False] Translation: X:30.43, Y:-2.51, Z:-1.34 [[ 9.99999794e-01 3.54294932e-04 5.34586200e-04 3.04317764e+01] [-3.53401635e-04 9.99998543e-01 -1.67017603e-03 -2.50926876e+00] [-5.35177156e-04 1.66998676e-03 9.99998462e-01 -1.34081564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.359928851 meters 0.10511843902287998 Centerline is valid? [False, False] Translation: X:30.43, Y:-2.51, Z:-1.34 [[ 9.99999443e-01 6.73278563e-04 8.13168245e-04 3.04313136e+01] [-6.72655108e-04 9.99999480e-01 -7.66729563e-04 -2.51228392e+00] [-8.13684044e-04 7.66182154e-04 9.99999375e-01 -1.34096510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.419928851 meters 0.10343464625654643 Centerline is valid? [False, False] Translation: X:30.43, Y:-2.52, Z:-1.34 [[ 9.99999064e-01 7.92674535e-04 1.11546354e-03 3.04305240e+01] [-7.92551553e-04 9.99999680e-01 -1.10689669e-04 -2.51514896e+00] [-1.11555093e-03 1.09805503e-04 9.99999372e-01 -1.34071452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.479928851000004 meters 0.10540422176067747 Centerline is valid? [False, False] Translation: X:30.43, Y:-2.52, Z:-1.34 [[ 9.99998779e-01 1.16559315e-03 1.04059231e-03 3.04304450e+01] [-1.16612132e-03 9.99999192e-01 5.07100104e-04 -2.51745597e+00] [-1.04000039e-03 -5.08312941e-04 9.99999330e-01 -1.34031178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.539928851 meters 0.10488353899111463 Centerline is valid? [False, False] Translation: X:30.43, Y:-2.52, Z:-1.34 [[ 9.99998352e-01 1.60847360e-03 8.42176505e-04 3.04309160e+01] [-1.60936934e-03 9.99998139e-01 1.06401528e-03 -2.51913409e+00] [-8.40463497e-04 -1.06536890e-03 9.99999079e-01 -1.34034667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.599928851 meters 0.1024964679995227 Centerline is valid? [False, False] Translation: X:30.43, Y:-2.52, Z:-1.34 [[ 9.99997686e-01 2.04972676e-03 6.53599156e-04 3.04310224e+01] [-2.05083818e-03 9.99996445e-01 1.70435802e-03 -2.52142912e+00] [-6.50103364e-04 -1.70569450e-03 9.99998334e-01 -1.33994663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.659928851000004 meters 0.1018222173054131 Centerline is valid? [False, False] Translation: X:30.43, Y:-2.52, Z:-1.34 [[ 9.99997361e-01 2.26401442e-03 3.91012478e-04 3.04312626e+01] [-2.26476472e-03 9.99995575e-01 1.92919891e-03 -2.52239063e+00] [-3.86643014e-04 -1.93007937e-03 9.99998063e-01 -1.33950898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.719928851 meters 0.10044102698677987 Centerline is valid? [False, False] Translation: X:30.43, Y:-2.53, Z:-1.34 [[ 9.99995169e-01 3.10337461e-03 1.75146920e-04 3.04319140e+01] [-3.10392088e-03 9.99990031e-01 3.20995213e-03 -2.52592717e+00] [-1.65183490e-04 -3.21048026e-03 9.99994833e-01 -1.33984726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.779928851 meters 0.10514704443848118 Centerline is valid? [False, False] Translation: X:30.43, Y:-2.53, Z:-1.34 [[ 9.99994720e-01 3.24876441e-03 7.19265949e-05 3.04319805e+01] [-3.24898903e-03 9.99989006e-01 3.38097974e-03 -2.52660094e+00] [-6.09417975e-05 -3.38119558e-03 9.99994282e-01 -1.33963349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.839928851 meters 0.09783509487364306 Centerline is valid? [False, True] Translation: X:30.43, Y:-2.53, Z:-1.34 [[ 9.99993205e-01 3.67256305e-03 -3.18870151e-04 3.04326160e+01] [-3.67133383e-03 9.99986141e-01 3.77352999e-03 -2.52776051e+00] [ 3.32724259e-04 -3.77233367e-03 9.99992829e-01 -1.33944578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.899928851 meters 0.09784868628943201 Centerline is valid? [True, True] Translation: X:30.49, Y:-2.53, Z:-1.34 [[ 9.99990738e-01 4.29905178e-03 -2.04262564e-04 3.04908138e+01] [-4.29904756e-03 9.99990759e-01 2.11102720e-05 -2.53361411e+00] [ 2.04351431e-04 -2.02319420e-05 9.99999979e-01 -1.33985634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.959928851 meters 0.094998230679834 Centerline is valid? [True, True] Translation: X:30.55, Y:-2.54, Z:-1.34 [[ 9.99983044e-01 5.56344780e-03 -1.72021722e-03 3.05502093e+01] [-5.56312684e-03 9.99984507e-01 1.91307510e-04 -2.53760075e+00] [ 1.72125490e-03 -1.81734480e-04 9.99998502e-01 -1.34034539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.019928851 meters 0.09608354967471877 Centerline is valid? [True, True] Translation: X:30.61, Y:-2.55, Z:-1.34 [[ 9.99979767e-01 6.16036973e-03 -1.58622534e-03 3.06084215e+01] [-6.16009919e-03 9.99981011e-01 1.75379845e-04 -2.54777871e+00] [ 1.58727563e-03 -1.65604991e-04 9.99998727e-01 -1.34145241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.079928851 meters 0.09194588330501675 Centerline is valid? [True, True] Translation: X:30.67, Y:-2.55, Z:-1.34 [[ 9.99962622e-01 8.64027733e-03 3.16513753e-04 3.06695497e+01] [-8.64026651e-03 9.99962672e-01 -3.55275395e-05 -2.54962379e+00] [-3.16808906e-04 3.27914483e-05 9.99999949e-01 -1.34120148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.139928851 meters 0.09143456405019268 Centerline is valid? [True, True] Translation: X:30.73, Y:-2.56, Z:-1.34 [[ 9.99937938e-01 1.11176331e-02 7.20116504e-04 3.07292500e+01] [-1.11175780e-02 9.99938195e-01 -8.04733591e-05 -2.55602175e+00] [-7.20966671e-04 7.24624133e-05 9.99999737e-01 -1.34289723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.199928851 meters 0.09053202676497857 Centerline is valid? [True, True] Translation: X:30.79, Y:-2.56, Z:-1.34 [[ 9.99867617e-01 1.62690856e-02 2.54518960e-04 3.07895596e+01] [-1.62690789e-02 9.99867649e-01 -2.85716260e-05 -2.56036352e+00] [-2.54950108e-04 2.44270546e-05 9.99999967e-01 -1.34461958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.259928851000005 meters 0.08958123746898283 Centerline is valid? [True, True] Translation: X:30.85, Y:-2.57, Z:-1.35 [[ 9.99781517e-01 2.09001418e-02 -3.19716985e-04 3.08494636e+01] [-2.09001316e-02 9.99781568e-01 3.53449755e-05 -2.56569907e+00] [ 3.20385864e-04 -2.86551262e-05 9.99999948e-01 -1.34716062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.319928851 meters 0.08554438148806463 Centerline is valid? [True, True] Translation: X:30.91, Y:-2.56, Z:-1.35 [[ 9.99588155e-01 2.86754578e-02 -1.11317210e-03 3.09104587e+01] [-2.86753373e-02 9.99588770e-01 1.24023731e-04 -2.56236332e+00] [ 1.11627077e-03 -9.20520673e-05 9.99999373e-01 -1.34698231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.379928851 meters 0.08368258371262413 Centerline is valid? [True, True] Translation: X:30.97, Y:-2.56, Z:-1.35 [[ 9.99371691e-01 3.54179724e-02 -1.33833895e-03 3.09714317e+01] [-3.54178040e-02 9.99372582e-01 1.49285055e-04 -2.56304145e+00] [ 1.34278663e-03 -1.01790231e-04 9.99999093e-01 -1.34940080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.439928851000005 meters 0.07948728456078466 Centerline is valid? [True, True] Translation: X:31.03, Y:-2.56, Z:-1.35 [[ 9.98859465e-01 4.77406797e-02 -7.72201068e-04 3.10329834e+01] [-4.77406273e-02 9.98859762e-01 8.61372466e-05 -2.55643223e+00] [ 7.75432826e-04 -4.91736407e-05 9.99999698e-01 -1.34978404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.499928851 meters 0.07727610386005873 Centerline is valid? [True, True] Translation: X:31.09, Y:-2.55, Z:-1.35 [[ 9.98104185e-01 6.15462730e-02 -3.02183819e-04 3.10932077e+01] [-6.15462657e-02 9.98104231e-01 3.34851641e-05 -2.55174620e+00] [ 3.03671835e-04 -1.48233969e-05 9.99999954e-01 -1.35133553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.559928851 meters 0.07599705642895604 Centerline is valid? [True, True] Translation: X:31.15, Y:-2.55, Z:-1.35 [[ 9.97600213e-01 6.92358805e-02 -4.55934242e-04 3.11535538e+01] [-6.92358648e-02 9.97600317e-01 5.01916841e-05 -2.54921351e+00] [ 4.58315209e-04 -1.85042332e-05 9.99999895e-01 -1.35254154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.619928851000004 meters 0.07456934541858752 Centerline is valid? [True, True] Translation: X:31.21, Y:-2.55, Z:-1.35 [[ 9.96820773e-01 7.96760166e-02 2.79317529e-04 3.12142823e+01] [-7.96760110e-02 9.96820813e-01 -3.13595208e-05 -2.54731471e+00] [-2.80928128e-04 9.00491528e-06 9.99999960e-01 -1.35401479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.679928851 meters 0.07398312619244009 Centerline is valid? [True, True] Translation: X:31.27, Y:-2.55, Z:-1.36 [[ 9.96418859e-01 8.45543547e-02 -1.33054765e-04 3.12745636e+01] [-8.45543536e-02 9.96418868e-01 1.44194767e-05 -2.54922346e+00] [ 1.33797508e-04 -3.11747890e-06 9.99999991e-01 -1.35612114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.739928851 meters 0.07364270498137224 Centerline is valid? [True, True] Translation: X:31.33, Y:-2.55, Z:-1.36 [[ 9.96118142e-01 8.79642564e-02 -3.30718893e-03 3.13323733e+01] [-8.79635413e-02 9.96123629e-01 3.61329609e-04 -2.55057828e+00] [ 3.32615313e-03 -6.90149285e-05 9.99994466e-01 -1.35892244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.799928851000004 meters 0.07406319856485062 Centerline is valid? [True, True] Translation: X:31.39, Y:-2.56, Z:-1.36 [[ 9.96292085e-01 8.59728033e-02 -3.28004431e-03 3.13900534e+01] [-8.59720750e-02 9.96297481e-01 3.62666755e-04 -2.55922288e+00] [ 3.29907936e-03 -7.93298018e-05 9.99994555e-01 -1.36163835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.859928851 meters 0.07468161356978228 Centerline is valid? [True, True] Translation: X:31.45, Y:-2.57, Z:-1.36 [[ 9.96672981e-01 8.14356728e-02 -3.34668696e-03 3.14483022e+01] [-8.14348866e-02 9.96678595e-01 3.70764280e-04 -2.56931426e+00] [ 3.36576470e-03 -9.69936674e-05 9.99994331e-01 -1.36315155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.919928851 meters 0.07656412409816665 Centerline is valid? [True, True] Translation: X:31.51, Y:-2.59, Z:-1.36 [[ 9.97488739e-01 7.07922562e-02 -2.16161871e-03 3.15074885e+01] [-7.07919014e-02 9.97491077e-01 2.40293000e-04 -2.58576465e+00] [ 2.17320626e-03 -8.66644632e-05 9.99997635e-01 -1.36457268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.979928851000004 meters 0.07719535031829443 Centerline is valid? [True, True] Translation: X:31.57, Y:-2.60, Z:-1.36 [[ 9.98012290e-01 6.30030357e-02 -1.44417815e-03 3.15672747e+01] [-6.30028694e-02 9.98013333e-01 1.60352943e-04 -2.59573671e+00] [ 1.45141177e-03 -6.90468409e-05 9.99998944e-01 -1.36297600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.039928851 meters 0.07870327084847412 Centerline is valid? [True, True] Translation: X:31.63, Y:-2.61, Z:-1.36 [[ 9.98608238e-01 5.27237879e-02 -1.33795113e-03 3.16265454e+01] [-5.27236360e-02 9.98609131e-01 1.48552296e-04 -2.60846933e+00] [ 1.34392245e-03 -7.78038982e-05 9.99999094e-01 -1.36364611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.099928851 meters 0.08018732929536877 Centerline is valid? [True, True] Translation: X:31.69, Y:-2.62, Z:-1.37 [[ 9.98914340e-01 4.64846306e-02 -3.05307675e-03 3.16860792e+01] [-4.64838111e-02 9.98918986e-01 3.38894052e-04 -2.61838435e+00] [ 3.06552970e-03 -1.96607485e-04 9.99995282e-01 -1.36546177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.159928851000004 meters 0.0825992418375602 Centerline is valid? [True, True] Translation: X:31.74, Y:-2.63, Z:-1.37 [[ 9.99187363e-01 4.02067831e-02 -2.83337549e-03 3.17444529e+01] [-4.02060536e-02 9.99191360e-01 3.13970661e-04 -2.62886861e+00] [ 2.84370806e-03 -1.99796669e-04 9.99995937e-01 -1.36735902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.219928851 meters 0.08410117842713523 Centerline is valid? [True, True] Translation: X:31.80, Y:-2.63, Z:-1.37 [[ 9.99279546e-01 3.77853773e-02 -3.55737427e-03 3.18039470e+01] [-3.77842102e-02 9.99285844e-01 3.94735725e-04 -2.63474316e+00] [ 3.56974899e-03 -2.60038759e-04 9.99993595e-01 -1.36985158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.279928851 meters 0.08415457018024326 Centerline is valid? [True, True] Translation: X:31.86, Y:-2.64, Z:-1.37 [[ 9.99256289e-01 3.83916545e-02 -3.59861028e-03 3.18633912e+01] [-3.83904846e-02 9.99262736e-01 3.93628592e-04 -2.63612282e+00] [ 3.61106920e-03 -2.55183453e-04 9.99993448e-01 -1.37057218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.339928851 meters 0.08119539317931995 Centerline is valid? [True, True] Translation: X:31.92, Y:-2.63, Z:-1.37 [[ 9.99200210e-01 3.97974271e-02 -3.88656739e-03 3.19229569e+01] [-3.97960583e-02 9.99207731e-01 4.28924033e-04 -2.63064262e+00] [ 3.90055825e-03 -2.73910921e-04 9.99992355e-01 -1.36874501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.399928851 meters 0.08216516242107025 Centerline is valid? [True, True] Translation: X:31.98, Y:-2.63, Z:-1.37 [[ 9.99137128e-01 4.12950246e-02 -4.44079542e-03 3.19810101e+01] [-4.12932546e-02 9.99146950e-01 4.89565886e-04 -2.63255013e+00] [ 4.45722384e-03 -3.05768557e-04 9.99990020e-01 -1.37289213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.459928851 meters 0.08376294169873434 Centerline is valid? [True, True] Translation: X:32.04, Y:-2.64, Z:-1.38 [[ 9.99172366e-01 4.02803845e-02 -5.66332429e-03 3.20394119e+01] [-4.02774829e-02 9.99188337e-01 6.25505121e-04 -2.63586255e+00] [ 5.68392316e-03 -3.96882985e-04 9.99983768e-01 -1.37712871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.519928851 meters 0.08568465141179656 Centerline is valid? [True, True] Translation: X:32.10, Y:-2.64, Z:-1.38 [[ 9.99236281e-01 3.88356145e-02 -4.31852220e-03 3.20968698e+01] [-3.88339203e-02 9.99245566e-01 4.75514549e-04 -2.64195918e+00] [ 4.33373106e-03 -3.07446243e-04 9.99990562e-01 -1.37941358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.579928851 meters 0.08610522093202132 Centerline is valid? [True, True] Translation: X:32.16, Y:-2.64, Z:-1.38 [[ 9.99396205e-01 3.47069988e-02 -1.62777703e-03 3.21576118e+01] [-3.47067519e-02 9.99397523e-01 1.79721645e-04 -2.64310028e+00] [ 1.63303393e-03 -1.23118277e-04 9.99998659e-01 -1.37823418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.639928851 meters 0.08916456111620781 Centerline is valid? [True, True] Translation: X:32.22, Y:-2.65, Z:-1.38 [[ 9.99528415e-01 3.06775635e-02 -1.35430855e-03 3.22162294e+01] [-3.06773887e-02 9.99529327e-01 1.49695214e-04 -2.65161652e+00] [ 1.35826340e-03 -1.08077971e-04 9.99999072e-01 -1.38011242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.699928851 meters 0.09215389387952334 Centerline is valid? [True, True] Translation: X:32.28, Y:-2.66, Z:-1.38 [[ 9.99692970e-01 2.47044997e-02 -1.91134457e-03 3.22762417e+01] [-2.47041405e-02 9.99694784e-01 2.11307615e-04 -2.65851295e+00] [ 1.91598145e-03 -1.64024612e-04 9.99998151e-01 -1.38354137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.759928851000005 meters 0.08948190249996993 Centerline is valid? [True, True] Translation: X:32.34, Y:-2.66, Z:-1.38 [[ 9.99759338e-01 2.18420550e-02 -2.04728015e-03 3.23374864e+01] [-2.18416371e-02 9.99761417e-01 2.26231495e-04 -2.65604216e+00] [ 2.05173307e-03 -1.81461099e-04 9.99997879e-01 -1.38387043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.819928851 meters 0.09664193046901125 Centerline is valid? [True, True] Translation: X:32.39, Y:-2.67, Z:-1.39 [[ 9.99808823e-01 1.94880886e-02 -1.59102704e-03 3.23946767e+01] [-1.94878338e-02 9.99810079e-01 1.75512200e-04 -2.67177585e+00] [ 1.59414527e-03 -1.44472976e-04 9.99998719e-01 -1.38916869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.879928851 meters 0.09339565815160294 Centerline is valid? [True, True] Translation: X:32.45, Y:-2.67, Z:-1.39 [[ 9.99828769e-01 1.85049414e-02 -1.70597439e-05 3.24543329e+01] [-1.85049414e-02 9.99828769e-01 1.57291944e-07 -2.66889400e+00] [ 1.70597334e-05 1.58424550e-07 1.00000000e+00 -1.38731723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.939928851000005 meters 0.0969090625321712 Centerline is valid? [True, True] Translation: X:32.51, Y:-2.68, Z:-1.39 [[ 9.99852041e-01 1.71621985e-02 1.16418919e-03 3.25125223e+01] [-1.71620589e-02 9.99852713e-01 -1.29850343e-04 -2.67686815e+00] [-1.16624624e-03 1.09851247e-04 9.99999314e-01 -1.39086841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.999928851 meters 0.09274531010560515 Centerline is valid? [True, True] Translation: X:32.57, Y:-2.67, Z:-1.39 [[ 9.99890054e-01 1.47190060e-02 1.79755962e-03 3.25733172e+01] [-1.47186716e-02 9.99891655e-01 -1.99072700e-04 -2.67318208e+00] [-1.80029502e-03 1.72593123e-04 9.99998365e-01 -1.39015203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.059928851 meters 0.09446166729498454 Centerline is valid? [True, True] Translation: X:32.63, Y:-2.68, Z:-1.39 [[ 9.99917688e-01 1.24970199e-02 2.90558164e-03 3.26333961e+01] [-1.24961399e-02 9.99921869e-01 -3.20809167e-04 -2.68066535e+00] [-2.90936378e-03 2.84474206e-04 9.99995727e-01 -1.39209811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.119928851000004 meters 0.0970402038658923 Centerline is valid? [True, True] Translation: X:32.69, Y:-2.69, Z:-1.40 [[ 9.99939442e-01 1.04505743e-02 3.44923628e-03 3.26923795e+01] [-1.04493209e-02 9.99945332e-01 -3.81220722e-04 -2.69109833e+00] [-3.45303169e-03 3.45155460e-04 9.99993979e-01 -1.39515450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.179928851 meters 0.10051814529504188 Centerline is valid? [True, False] Translation: X:32.70, Y:-2.69, Z:-1.39 [[ 9.99982021e-01 3.96863977e-03 -4.49537864e-03 3.27024938e+01] [-3.96518360e-03 9.99991836e-01 7.77478657e-04 -2.68691115e+00] [ 4.49842748e-03 -7.59639677e-04 9.99989593e-01 -1.38972248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.239928851 meters 0.10180798586878734 Centerline is valid? [False, False] Translation: X:32.70, Y:-2.68, Z:-1.39 [[ 9.99985086e-01 3.38762243e-03 -4.28378277e-03 3.27019543e+01] [-3.38763613e-03 9.99994262e-01 4.05597812e-06 -2.68470004e+00] [ 4.28377193e-03 1.04559797e-05 9.99990825e-01 -1.38963669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.299928851000004 meters 0.10418130593589067 Centerline is valid? [False, False] Translation: X:32.70, Y:-2.68, Z:-1.39 [[ 9.99986722e-01 3.15952094e-03 -4.07107371e-03 3.27017370e+01] [-3.16022546e-03 9.99994993e-01 -1.66632290e-04 -2.68391526e+00] [ 4.07052685e-03 1.79495588e-04 9.99991699e-01 -1.39003104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.359928851 meters 0.10052591343489495 Centerline is valid? [False, False] Translation: X:32.70, Y:-2.68, Z:-1.39 [[ 9.99989537e-01 2.55183308e-03 -3.79654769e-03 3.27008532e+01] [-2.55513226e-03 9.99996362e-01 -8.64398475e-04 -2.68217961e+00] [ 3.79432807e-03 8.74090112e-04 9.99992419e-01 -1.38964285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.419928851 meters 0.09929914821435833 Centerline is valid? [False, True] Translation: X:32.70, Y:-2.68, Z:-1.39 [[ 9.99991044e-01 2.09977253e-03 -3.67464977e-03 3.27001136e+01] [-2.10510301e-03 9.99996737e-01 -1.44734363e-03 -2.68096943e+00] [ 3.67159868e-03 1.45506618e-03 9.99992201e-01 -1.38896757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.479928851000004 meters 0.1063232614840494 Centerline is valid? [True, False] Translation: X:32.70, Y:-2.68, Z:-1.39 [[ 9.99991137e-01 1.95540962e-03 -3.72847347e-03 3.27001055e+01] [-1.96215289e-03 9.99996445e-01 -1.80578791e-03 -2.67976425e+00] [ 3.72492915e-03 1.81308774e-03 9.99991419e-01 -1.38877244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.539928851 meters 0.1030709185525698 Centerline is valid? [False, False] Translation: X:32.70, Y:-2.68, Z:-1.39 [[ 9.99992105e-01 1.61978019e-03 -3.62864633e-03 3.26996487e+01] [-1.62798064e-03 9.99996125e-01 -2.25810689e-03 -2.67874759e+00] [ 3.62497463e-03 2.26399643e-03 9.99990867e-01 -1.38840509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.599928851 meters 0.10795702971601834 Centerline is valid? [False, False] Translation: X:32.70, Y:-2.68, Z:-1.39 [[ 9.99992724e-01 1.73756577e-03 -3.39607273e-03 3.26995332e+01] [-1.74371004e-03 9.99996847e-01 -1.80710446e-03 -2.67966324e+00] [ 3.39292206e-03 1.81301308e-03 9.99992601e-01 -1.38903563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.659928851000004 meters 0.10429685777833847 Centerline is valid? [False, False] Translation: X:32.70, Y:-2.68, Z:-1.39 [[ 9.99992710e-01 2.20589949e-03 -3.11665928e-03 3.26996150e+01] [-2.20787502e-03 9.99997364e-01 -6.30564393e-04 -2.68234107e+00] [ 3.11526011e-03 6.37440990e-04 9.99994944e-01 -1.39013507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.719928851 meters 0.10407160423738855 Centerline is valid? [False, False] Translation: X:32.70, Y:-2.68, Z:-1.39 [[ 9.99993047e-01 2.16959840e-03 -3.03302751e-03 3.26993004e+01] [-2.17126657e-03 9.99997493e-01 -5.46816569e-04 -2.68294659e+00] [ 3.03183354e-03 5.53398278e-04 9.99995251e-01 -1.38994105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.779928851 meters 0.11111794195276231 Centerline is valid? [False, False] Translation: X:32.70, Y:-2.69, Z:-1.39 [[ 9.99992764e-01 2.57833036e-03 -2.79719681e-03 3.26992453e+01] [-2.57729031e-03 9.99996608e-01 3.75359430e-04 -2.68536878e+00] [ 2.79815512e-03 -3.68147526e-04 9.99996017e-01 -1.39060274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.839928851 meters 0.11042705253163344 Centerline is valid? [False, False] Translation: X:32.70, Y:-2.69, Z:-1.39 [[ 9.99993085e-01 2.74643305e-03 -2.50739900e-03 3.26986572e+01] [-2.74405865e-03 9.99995784e-01 9.49909550e-04 -2.68759434e+00] [ 2.50999730e-03 -9.43022532e-04 9.99996405e-01 -1.39062200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.899928851 meters 0.1103096872413039 Centerline is valid? [False, False] Translation: X:32.70, Y:-2.69, Z:-1.39 [[ 9.99993333e-01 2.86121732e-03 -2.26877928e-03 3.26978867e+01] [-2.85793183e-03 9.99994865e-01 1.45005110e-03 -2.68988563e+00] [ 2.27291654e-03 -1.44355742e-03 9.99996375e-01 -1.39021261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.959928851 meters 0.10604197533616219 Centerline is valid? [False, False] Translation: X:32.70, Y:-2.69, Z:-1.39 [[ 9.99992252e-01 3.33619740e-03 -2.08944921e-03 3.26977368e+01] [-3.33102428e-03 9.99991391e-01 2.47443470e-03 -2.69325302e+00] [ 2.09768643e-03 -2.46745552e-03 9.99994756e-01 -1.39053650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.019928851 meters 0.10547155573358231 Centerline is valid? [False, False] Translation: X:32.70, Y:-2.69, Z:-1.39 [[ 9.99991027e-01 3.60318056e-03 -2.22766956e-03 3.26978751e+01] [-3.59687923e-03 9.99989537e-01 2.82622896e-03 -2.69465081e+00] [ 2.23782966e-03 -2.81819095e-03 9.99993525e-01 -1.39028783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.079928851 meters 0.10687524263042711 Centerline is valid? [False, False] Translation: X:32.70, Y:-2.70, Z:-1.39 [[ 9.99989439e-01 3.97493122e-03 -2.30693374e-03 3.26976200e+01] [-3.96704737e-03 9.99986310e-01 3.41203087e-03 -2.69726520e+00] [ 2.32046474e-03 -3.40284312e-03 9.99991518e-01 -1.38963584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.139928851 meters 0.103493634374033 Centerline is valid? [False, False] Translation: X:32.70, Y:-2.70, Z:-1.39 [[ 9.99987902e-01 4.30445796e-03 -2.38044347e-03 3.26977000e+01] [-4.29509745e-03 9.99983079e-01 3.92348451e-03 -2.69910622e+00] [ 2.39729166e-03 -3.91321281e-03 9.99989470e-01 -1.38948843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.199928851 meters 0.10623782184243427 Centerline is valid? [False, False] Translation: X:32.70, Y:-2.70, Z:-1.39 [[ 9.99994854e-01 7.22996187e-04 -3.12558985e-03 3.26989860e+01] [-7.22411381e-04 9.99999721e-01 1.88227619e-04 -2.70057334e+00] [ 3.12572507e-03 -1.85968688e-04 9.99995098e-01 -1.38908212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.259928851 meters 0.10727219493101411 Centerline is valid? [False, False] Translation: X:32.70, Y:-2.70, Z:-1.39 [[ 9.99994066e-01 1.36525890e-03 -3.16293094e-03 3.26993513e+01] [-1.36147451e-03 9.99998355e-01 1.19832565e-03 -2.70353365e+00] [ 3.16456177e-03 -1.19401229e-03 9.99994280e-01 -1.38943579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.319928851 meters 0.10494905961181629 Centerline is valid? [False, False] Translation: X:32.70, Y:-2.71, Z:-1.39 [[ 9.99993326e-01 2.05543229e-03 -3.02033205e-03 3.26991978e+01] [-2.04777996e-03 9.99994691e-01 2.53451807e-03 -2.70818683e+00] [ 3.02552555e-03 -2.52831618e-03 9.99992227e-01 -1.38959634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.379928851 meters 0.10104593153267646 Centerline is valid? [False, False] Translation: X:32.70, Y:-2.71, Z:-1.39 [[ 9.99992042e-01 2.47608590e-03 -3.12796082e-03 3.26994136e+01] [-2.46614169e-03 9.99991906e-01 3.17900032e-03 -2.71034475e+00] [ 3.13580698e-03 -3.17126103e-03 9.99990055e-01 -1.38956261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.439928851000005 meters 0.0997333194785145 Centerline is valid? [False, True] Translation: X:32.70, Y:-2.71, Z:-1.39 [[ 9.99990170e-01 -5.10233641e-04 -4.40452668e-03 3.27022618e+01] [ 5.08887507e-04 9.99999823e-01 -3.06740463e-04 -2.71100188e+00] [ 4.40468241e-03 3.04496039e-04 9.99990253e-01 -1.38993161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.499928851 meters 0.10099880218935907 Centerline is valid? [True, False] Translation: X:32.70, Y:-2.71, Z:-1.39 [[ 9.99990023e-01 -1.09844375e-04 -4.46567786e-03 3.27023786e+01] [ 1.11232287e-04 9.99999946e-01 3.10548265e-04 -2.71315784e+00] [ 4.46564350e-03 -3.11041894e-04 9.99989981e-01 -1.38987264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.559928851 meters 0.10298720748610751 Centerline is valid? [False, False] Translation: X:32.70, Y:-2.72, Z:-1.39 [[ 9.99989929e-01 4.05591755e-04 -4.46957487e-03 3.27022904e+01] [-4.00108588e-04 9.99999166e-01 1.22760185e-03 -2.71636360e+00] [ 4.47006905e-03 -1.22580118e-03 9.99989258e-01 -1.38969565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.619928851000004 meters 0.10010750000718037 Centerline is valid? [False, False] Translation: X:32.70, Y:-2.72, Z:-1.39 [[ 9.99990168e-01 9.46352649e-04 -4.33223983e-03 3.27021211e+01] [-9.36493800e-04 9.99996969e-01 2.27715654e-03 -2.72000052e+00] [ 4.33438169e-03 -2.27307704e-03 9.99988023e-01 -1.38980847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.679928851 meters 0.10631204841308718 Centerline is valid? [False, False] Translation: X:32.70, Y:-2.72, Z:-1.39 [[ 9.99990446e-01 1.01796760e-03 -4.25115637e-03 3.27019822e+01] [-1.00733466e-03 9.99996361e-01 2.50258067e-03 -2.72081299e+00] [ 4.25368844e-03 -2.49827442e-03 9.99987832e-01 -1.38985808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.739928851 meters 0.10119932565191227 Centerline is valid? [False, False] Translation: X:32.70, Y:-2.72, Z:-1.39 [[ 9.99990372e-01 1.27614081e-03 -4.19840300e-03 3.27016971e+01] [-1.26348974e-03 9.99994658e-01 3.01457993e-03 -2.72295030e+00] [ 4.20222760e-03 -3.00924627e-03 9.99986643e-01 -1.38953909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.799928851000004 meters 0.10163398729292643 Centerline is valid? [False, False] Translation: X:32.70, Y:-2.72, Z:-1.39 [[ 9.99990161e-01 1.47723053e-03 -4.18284166e-03 3.27016073e+01] [-1.46302544e-03 9.99993160e-01 3.39706438e-03 -2.72434386e+00] [ 4.18783130e-03 -3.39091136e-03 9.99985482e-01 -1.38942402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.859928851 meters 0.09758971012995561 Centerline is valid? [False, True] Translation: X:32.70, Y:-2.73, Z:-1.39 [[ 9.99990044e-01 1.57233672e-03 -4.17612052e-03 3.27012393e+01] [-1.55725337e-03 9.99992262e-01 3.61260670e-03 -2.72560824e+00] [ 4.18176844e-03 -3.60606746e-03 9.99984754e-01 -1.38889482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.919928851 meters 0.10343790531095115 Centerline is valid? [True, False] Translation: X:32.70, Y:-2.73, Z:-1.39 [[ 9.99990082e-01 1.49577335e-03 -4.19511326e-03 3.27005297e+01] [-1.48093261e-03 9.99992643e-01 3.53850477e-03 -2.72650301e+00] [ 4.20037520e-03 -3.53225700e-03 9.99984940e-01 -1.38774515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.979928851000004 meters 0.09879805084574497 Centerline is valid? [False, True] Translation: X:32.70, Y:-2.73, Z:-1.39 [[ 9.99990577e-01 1.68772142e-03 -3.99961479e-03 3.26999499e+01] [-1.67131433e-03 9.99990190e-01 4.10196682e-03 -2.72896706e+00] [ 4.00649853e-03 -4.09524356e-03 9.99983588e-01 -1.38742412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.039928851 meters 0.09857135967002359 Centerline is valid? [True, True] Translation: X:32.76, Y:-2.74, Z:-1.39 [[ 9.99986036e-01 1.19054027e-03 -5.14886155e-03 3.27582242e+01] [-1.18775485e-03 9.99999147e-01 5.44001266e-04 -2.73515930e+00] [ 5.14950482e-03 -5.37878085e-04 9.99986597e-01 -1.38738157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.099928851 meters 0.10343247137620752 Centerline is valid? [True, False] Translation: X:32.76, Y:-2.74, Z:-1.39 [[ 9.99982043e-01 -2.64693181e-03 -5.37659803e-03 3.27584892e+01] [ 2.63046132e-03 9.99991834e-01 -3.06813235e-03 -2.73737449e+00] [ 5.38467526e-03 3.05393432e-03 9.99980839e-01 -1.38700920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.159928851000004 meters 0.09848076003346261 Centerline is valid? [False, True] Translation: X:32.76, Y:-2.74, Z:-1.39 [[ 9.99984422e-01 -2.22888468e-03 -5.11732000e-03 3.27581226e+01] [ 2.21879218e-03 9.99995584e-01 -1.97705483e-03 -2.74073670e+00] [ 5.12170403e-03 1.96566977e-03 9.99984952e-01 -1.38723094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.219928851 meters 0.10152402367993943 Centerline is valid? [True, False] Translation: X:32.76, Y:-2.74, Z:-1.39 [[ 9.99986960e-01 -2.56301073e-03 -4.41701616e-03 3.27562184e+01] [ 2.55686572e-03 9.99995756e-01 -1.39629766e-03 -2.74499027e+00] [ 4.42057614e-03 1.38498574e-03 9.99989270e-01 -1.38637563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.279928851 meters 0.10660030558065889 Centerline is valid? [False, False] Translation: X:32.75, Y:-2.75, Z:-1.39 [[ 9.99989807e-01 -2.57335501e-03 -3.70996470e-03 3.27546239e+01] [ 2.57168904e-03 9.99996590e-01 -4.53754128e-04 -2.74945783e+00] [ 3.71111972e-03 4.44208628e-04 9.99993015e-01 -1.38597285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.339928851 meters 0.10879481639924365 Centerline is valid? [False, False] Translation: X:32.75, Y:-2.75, Z:-1.39 [[ 9.99991807e-01 -2.18937160e-03 -3.40469091e-03 3.27541566e+01] [ 2.19168428e-03 9.99997370e-01 6.75678230e-04 -2.75310791e+00] [ 3.40320265e-03 -6.83134702e-04 9.99993976e-01 -1.38613785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.399928851 meters 0.1131482117442766 Centerline is valid? [False, False] Translation: X:32.75, Y:-2.76, Z:-1.39 [[ 9.99993381e-01 -2.21528644e-03 -2.88628523e-03 3.27528063e+01] [ 2.21919146e-03 9.99996626e-01 1.35045619e-03 -2.75650952e+00] [ 2.88328384e-03 -1.35685248e-03 9.99994923e-01 -1.38559498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.459928851 meters 0.1102770053549612 Centerline is valid? [False, False] Translation: X:32.75, Y:-2.76, Z:-1.39 [[ 9.99993772e-01 -2.03812026e-03 -2.88137272e-03 3.27526271e+01] [ 2.04312373e-03 9.99996408e-01 1.73461135e-03 -2.75809900e+00] [ 2.87782702e-03 -1.74048755e-03 9.99994344e-01 -1.38536430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.519928851 meters 0.10624128830904639 Centerline is valid? [False, False] Translation: X:32.75, Y:-2.76, Z:-1.39 [[ 9.99993907e-01 -1.75035904e-03 -3.02020905e-03 3.27526768e+01] [ 1.75684016e-03 9.99996157e-01 2.14460084e-03 -2.75971075e+00] [ 3.01644363e-03 -2.14989379e-03 9.99993139e-01 -1.38501630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.579928851 meters 0.10650491066449529 Centerline is valid? [False, False] Translation: X:32.75, Y:-2.76, Z:-1.38 [[ 9.99992376e-01 -1.24659466e-03 -3.70046780e-03 3.27540096e+01] [ 1.25529816e-03 9.99996449e-01 2.35060985e-03 -2.75974256e+00] [ 3.69752441e-03 -2.35523712e-03 9.99990391e-01 -1.38497043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.639928851 meters 0.10330309012600755 Centerline is valid? [False, False] Translation: X:32.75, Y:-2.76, Z:-1.38 [[ 9.99991869e-01 -1.22060707e-03 -3.84351764e-03 3.27538853e+01] [ 1.22935040e-03 9.99996660e-01 2.27328499e-03 -2.76009033e+00] [ 3.84073001e-03 -2.27799154e-03 9.99990030e-01 -1.38432910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.699928851 meters 0.10206188034699591 Centerline is valid? [False, False] Translation: X:32.75, Y:-2.76, Z:-1.38 [[ 9.99990862e-01 -8.80125807e-04 -4.18344013e-03 3.27547416e+01] [ 8.90711129e-04 9.99996405e-01 2.52910214e-03 -2.76026872e+00] [ 4.18119916e-03 -2.53280527e-03 9.99988051e-01 -1.38457970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.759928851 meters 0.10500741527603719 Centerline is valid? [False, False] Translation: X:32.76, Y:-2.76, Z:-1.38 [[ 9.99990482e-01 -7.53217962e-04 -4.29747324e-03 3.27550138e+01] [ 7.64444307e-04 9.99996298e-01 2.61126879e-03 -2.76046224e+00] [ 4.29549048e-03 -2.61452911e-03 9.99987356e-01 -1.38460081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.819928851 meters 0.09890799098837891 Centerline is valid? [False, True] Translation: X:32.75, Y:-2.76, Z:-1.38 [[ 9.99990716e-01 -7.86190078e-04 -4.23662450e-03 3.27547786e+01] [ 7.97568792e-04 9.99996078e-01 2.68477734e-03 -2.76106105e+00] [ 4.23449714e-03 -2.68813141e-03 9.99987421e-01 -1.38442323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.879928851 meters 0.10163428049982237 Centerline is valid? [True, False] Translation: X:32.75, Y:-2.76, Z:-1.38 [[ 9.99991954e-01 -8.41361477e-04 -3.92222313e-03 3.27540536e+01] [ 8.53265210e-04 9.99995033e-01 3.03426079e-03 -2.76285297e+00] [ 3.91965073e-03 -3.03758307e-03 9.99987705e-01 -1.38429357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.939928851000005 meters 0.09984435613645651 Centerline is valid? [False, True] Translation: X:32.76, Y:-2.76, Z:-1.39 [[ 9.99979103e-01 -4.55353454e-03 -4.58897935e-03 3.27559254e+01] [ 4.54947026e-03 9.99989250e-01 -8.95710828e-04 -2.76242407e+00] [ 4.59300867e-03 8.74814685e-04 9.99989069e-01 -1.38502545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.999928851 meters 0.10713013234625468 Centerline is valid? [True, False] Translation: X:32.76, Y:-2.76, Z:-1.38 [[ 9.99979398e-01 -4.58559049e-03 -4.49176931e-03 3.27555790e+01] [ 4.58223302e-03 9.99989215e-01 -7.57476869e-04 -2.76314293e+00] [ 4.49519434e-03 7.36878930e-04 9.99989625e-01 -1.38481607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.059928851 meters 0.10318139041922161 Centerline is valid? [False, False] Translation: X:32.76, Y:-2.76, Z:-1.39 [[ 9.99980757e-01 -4.29652245e-03 -4.47492903e-03 3.27557973e+01] [ 4.29560597e-03 9.99990751e-01 -2.14394454e-04 -2.76431505e+00] [ 4.47580879e-03 1.95167797e-04 9.99989964e-01 -1.38518384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.119928851000004 meters 0.10265955321544386 Centerline is valid? [False, False] Translation: X:32.76, Y:-2.76, Z:-1.38 [[ 9.99980450e-01 -4.53047135e-03 -4.30977531e-03 3.27550615e+01] [ 4.52862837e-03 9.99989650e-01 -4.37291884e-04 -2.76430619e+00] [ 4.31171184e-03 4.17765964e-04 9.99990617e-01 -1.38460147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.179928851 meters 0.10457931462833625 Centerline is valid? [False, False] Translation: X:32.76, Y:-2.76, Z:-1.39 [[ 9.99981497e-01 -4.26782846e-03 -4.33480852e-03 3.27554723e+01] [ 4.26770986e-03 9.99990893e-01 -3.66099687e-05 -2.76479888e+00] [ 4.33492529e-03 1.81095863e-05 9.99990604e-01 -1.38513053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.239928851 meters 0.10117291073512626 Centerline is valid? [False, False] Translation: X:32.76, Y:-2.76, Z:-1.39 [[ 9.99981096e-01 -4.26446094e-03 -4.42973915e-03 3.27557201e+01] [ 4.26416251e-03 9.99990905e-01 -7.68122317e-05 -2.76462190e+00] [ 4.43002642e-03 5.79216520e-05 9.99990186e-01 -1.38522608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.299928851000004 meters 0.1012563266225433 Centerline is valid? [False, False] Translation: X:32.76, Y:-2.76, Z:-1.39 [[ 9.99980547e-01 -3.99261419e-03 -4.79211579e-03 3.27568765e+01] [ 3.99274413e-03 9.99992029e-01 1.75485731e-05 -2.76390459e+00] [ 4.79200752e-03 -3.66819239e-05 9.99988518e-01 -1.38586522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.359928851 meters 0.10335300405861998 Centerline is valid? [False, False] Translation: X:32.76, Y:-2.76, Z:-1.39 [[ 9.99979501e-01 -3.86835037e-03 -5.10236719e-03 3.27577450e+01] [ 3.86750806e-03 9.99992506e-01 -1.74939974e-04 -2.76261694e+00] [ 5.10300568e-03 1.55202942e-04 9.99986968e-01 -1.38622465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.419928851 meters 0.10032180427552577 Centerline is valid? [False, False] Translation: X:32.76, Y:-2.76, Z:-1.39 [[ 9.99977697e-01 -3.74336374e-03 -5.53102902e-03 3.27591244e+01] [ 3.74060090e-03 9.99992874e-01 -5.09777947e-04 -2.76037576e+00] [ 5.53289789e-03 4.89077205e-04 9.99984574e-01 -1.38701912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.479928851000004 meters 0.09842937420643139 Centerline is valid? [False, True] Translation: X:32.76, Y:-2.76, Z:-1.39 [[ 9.99977455e-01 -3.79130344e-03 -5.54217352e-03 3.27593586e+01] [ 3.78776848e-03 9.99992616e-01 -6.48185855e-04 -2.75953412e+00] [ 5.54459006e-03 6.27178771e-04 9.99984432e-01 -1.38732062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.539928851 meters 0.09984074528074478 Centerline is valid? [True, True] Translation: X:32.82, Y:-2.77, Z:-1.39 [[ 9.99983025e-01 -4.41004921e-03 -3.80806715e-03 3.28183571e+01] [ 4.41166776e-03 9.99990182e-01 4.16735491e-04 -2.76952791e+00] [ 3.80619194e-03 -4.33528344e-04 9.99992662e-01 -1.38848057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.599928851 meters 0.09852737719118634 Centerline is valid? [True, True] Translation: X:32.88, Y:-2.77, Z:-1.39 [[ 9.99981815e-01 -4.70320434e-03 -3.77479579e-03 3.28788561e+01] [ 4.70479935e-03 9.99988847e-01 4.13774153e-04 -2.77397008e+00] [ 3.77280763e-03 -4.31526286e-04 9.99992790e-01 -1.38909597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.659928851000004 meters 0.10356438871992046 Centerline is valid? [True, False] Translation: X:32.88, Y:-2.78, Z:-1.39 [[ 9.99983764e-01 -4.38472447e-03 -3.63941325e-03 3.28789607e+01] [ 4.38892502e-03 9.99989711e-01 1.14700027e-03 -2.77567125e+00] [ 3.63434652e-03 -1.16295476e-03 9.99992720e-01 -1.38964392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.719928851 meters 0.10218227333129268 Centerline is valid? [False, False] Translation: X:32.88, Y:-2.78, Z:-1.39 [[ 9.99985414e-01 -4.07789793e-03 -3.54141682e-03 3.28791013e+01] [ 4.08415543e-03 9.99990108e-01 1.76151648e-03 -2.77713241e+00] [ 3.53419851e-03 -1.77595448e-03 9.99992178e-01 -1.39011580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.779928851 meters 0.1033013067103814 Centerline is valid? [False, False] Translation: X:32.88, Y:-2.78, Z:-1.39 [[ 9.99986897e-01 -3.82638610e-03 -3.40071489e-03 3.28793107e+01] [ 3.83419628e-03 9.99990020e-01 2.29308506e-03 -2.77818420e+00] [ 3.39190672e-03 -2.30609402e-03 9.99991588e-01 -1.39083041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.839928851 meters 0.10426098215546747 Centerline is valid? [False, False] Translation: X:32.88, Y:-2.78, Z:-1.39 [[ 9.99986471e-01 -3.74762363e-03 -3.60738479e-03 3.28800012e+01] [ 3.75547232e-03 9.99990591e-01 2.17141961e-03 -2.77711495e+00] [ 3.59921318e-03 -2.18493767e-03 9.99991136e-01 -1.39123547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.899928851 meters 0.10111264694638547 Centerline is valid? [False, False] Translation: X:32.88, Y:-2.78, Z:-1.39 [[ 9.99985922e-01 -3.46760405e-03 -4.01650608e-03 3.28812419e+01] [ 3.47620346e-03 9.99991677e-01 2.13601737e-03 -2.77588879e+00] [ 4.00906578e-03 -2.14994949e-03 9.99989653e-01 -1.39186901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.959928851 meters 0.09801853540537822 Centerline is valid? [False, True] Translation: X:32.88, Y:-2.77, Z:-1.39 [[ 9.99984364e-01 -2.82570184e-03 -4.82567984e-03 3.28833150e+01] [ 2.83604100e-03 9.99993695e-01 2.13703316e-03 -2.77397090e+00] [ 4.81961080e-03 -2.15068557e-03 9.99986073e-01 -1.39259192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.019928851 meters 0.09707801286103472 Centerline is valid? [True, True] Translation: X:32.94, Y:-2.78, Z:-1.39 [[ 9.99984087e-01 9.94124284e-04 -5.55312411e-03 3.29437220e+01] [-9.90785196e-04 9.99999327e-01 6.04017580e-04 -2.77727991e+00] [ 5.55372084e-03 -5.98506015e-04 9.99984399e-01 -1.39373151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.079928851 meters 0.09726339675335367 Centerline is valid? [True, True] Translation: X:33.00, Y:-2.78, Z:-1.40 [[ 9.99975854e-01 5.40293831e-03 -4.37028177e-03 3.30025046e+01] [-5.40091304e-03 9.99985302e-01 4.75087418e-04 -2.78319649e+00] [ 4.37278440e-03 -4.51472434e-04 9.99990337e-01 -1.39529064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.139928851 meters 0.09876943342321241 Centerline is valid? [True, True] Translation: X:33.06, Y:-2.79, Z:-1.40 [[ 9.99957061e-01 8.18124447e-03 -4.35248478e-03 3.30618027e+01] [-8.17926045e-03 9.99966437e-01 4.73442690e-04 -2.79175779e+00] [ 4.35621205e-03 -4.37822254e-04 9.99990416e-01 -1.39684304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.199928851 meters 0.09532274132370822 Centerline is valid? [True, True] Translation: X:33.12, Y:-2.79, Z:-1.40 [[ 9.99896636e-01 1.33090959e-02 -5.43925226e-03 3.31227028e+01] [-1.33060730e-02 9.99911295e-01 5.91568150e-04 -2.79101066e+00] [ 5.44664301e-03 -5.19131916e-04 9.99985032e-01 -1.39880336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.259928851 meters 0.0907774198722264 Centerline is valid? [True, True] Translation: X:33.18, Y:-2.79, Z:-1.40 [[ 9.99824938e-01 1.74933222e-02 -6.63911644e-03 3.31833817e+01] [-1.74889135e-02 9.99846797e-01 7.21536601e-04 -2.78812369e+00] [ 6.65072138e-03 -6.05299353e-04 9.99977701e-01 -1.39907564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.319928851 meters 0.09014376163122426 Centerline is valid? [True, True] Translation: X:33.24, Y:-2.79, Z:-1.40 [[ 9.99756941e-01 2.07537849e-02 -7.43902020e-03 3.32438571e+01] [-2.07483358e-02 9.99784403e-01 8.08949301e-04 -2.79333548e+00] [ 7.45420513e-03 -6.54405389e-04 9.99972003e-01 -1.40090009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.379928851 meters 0.08714762193490828 Centerline is valid? [True, True] Translation: X:33.30, Y:-2.79, Z:-1.40 [[ 9.99674920e-01 2.42192255e-02 -7.96764099e-03 3.33046048e+01] [-2.42130837e-02 9.99706445e-01 8.66413316e-04 -2.79259078e+00] [ 7.98628591e-03 -6.73210505e-04 9.99967882e-01 -1.40058470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.439928851000005 meters 0.08735936683162779 Centerline is valid? [True, True] Translation: X:33.36, Y:-2.80, Z:-1.40 [[ 9.99599608e-01 2.70903221e-02 -8.16940002e-03 3.33639077e+01] [-2.70839645e-02 9.99632768e-01 8.87865127e-04 -2.79990528e+00] [ 8.19045251e-03 -6.66249892e-04 9.99966236e-01 -1.40271959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.499928851 meters 0.08774117214628535 Centerline is valid? [True, True] Translation: X:33.42, Y:-2.81, Z:-1.40 [[ 9.99491231e-01 3.05965750e-02 -9.00715860e-03 3.34226063e+01] [-3.05889890e-02 9.99531568e-01 9.78807329e-04 -2.80664298e+00] [ 9.03288751e-03 -7.02789467e-04 9.99958956e-01 -1.40438016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.559928851 meters 0.08740726434446627 Centerline is valid? [True, True] Translation: X:33.48, Y:-2.81, Z:-1.41 [[ 9.99408806e-01 3.30900238e-02 -9.33213582e-03 3.34826960e+01] [-3.30819936e-02 9.99452127e-01 1.01358898e-03 -2.81045027e+00] [ 9.36056268e-03 -7.04264099e-04 9.99955941e-01 -1.40562794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.619928851000004 meters 0.08313999229967557 Centerline is valid? [True, True] Translation: X:33.54, Y:-2.81, Z:-1.40 [[ 9.99203851e-01 3.82973276e-02 -1.11793857e-02 3.35440355e+01] [-3.82861223e-02 9.99266079e-01 1.21469741e-03 -2.80609814e+00] [ 1.12177006e-02 -7.85715000e-04 9.99936771e-01 -1.40440172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.679928851 meters 0.08018188870823076 Centerline is valid? [True, True] Translation: X:33.61, Y:-2.80, Z:-1.40 [[ 9.98868591e-01 4.61428701e-02 -1.15053929e-02 3.36056641e+01] [-4.61315194e-02 9.98934592e-01 1.25013906e-03 -2.80176474e+00] [ 1.15508200e-02 -7.17963388e-04 9.99933029e-01 -1.40294051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.739928851 meters 0.07887323085647185 Centerline is valid? [True, True] Translation: X:33.67, Y:-2.80, Z:-1.40 [[ 9.98603511e-01 5.15693091e-02 -1.14732039e-02 3.36664408e+01] [-5.15583908e-02 9.98669205e-01 1.24558638e-03 -2.80173606e+00] [ 1.15221694e-02 -6.52307002e-04 9.99933405e-01 -1.40302437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.799928851000004 meters 0.07775839925006539 Centerline is valid? [True, True] Translation: X:33.73, Y:-2.80, Z:-1.41 [[ 9.98313756e-01 5.68817223e-02 -1.15807810e-02 3.37268975e+01] [-5.68709484e-02 9.98380746e-01 1.25779190e-03 -2.80313361e+00] [ 1.16335741e-02 -5.97060958e-04 9.99932149e-01 -1.40501726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.859928851 meters 0.07717612780596333 Centerline is valid? [True, True] Translation: X:33.79, Y:-2.81, Z:-1.41 [[ 9.98283089e-01 5.72807464e-02 -1.22388835e-02 3.37859980e+01] [-5.72688280e-02 9.98357918e-01 1.32235462e-03 -2.80613026e+00] [ 1.22945317e-02 -6.19177737e-04 9.99924228e-01 -1.40518101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.919928851 meters 0.07870394117829126 Centerline is valid? [True, True] Translation: X:33.84, Y:-2.82, Z:-1.41 [[ 9.98395178e-01 5.51100871e-02 -1.30363661e-02 3.38438577e+01] [-5.50963421e-02 9.98480045e-01 1.41143918e-03 -2.81636530e+00] [ 1.30943360e-02 -6.90917980e-04 9.99914027e-01 -1.40884028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.979928851000004 meters 0.08086774418574437 Centerline is valid? [True, True] Translation: X:33.90, Y:-2.83, Z:-1.41 [[ 9.98695231e-01 4.91782283e-02 -1.37600270e-02 3.39023891e+01] [-4.91623448e-02 9.98789689e-01 1.49041448e-03 -2.83098173e+00] [ 1.38166690e-02 -8.11994637e-04 9.99904216e-01 -1.41163085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.039928851 meters 0.07942083916360886 Centerline is valid? [True, True] Translation: X:33.96, Y:-2.83, Z:-1.41 [[ 9.98868784e-01 4.57699584e-02 -1.28942929e-02 3.39629268e+01] [-4.57557257e-02 9.98951682e-01 1.39680378e-03 -2.83486493e+00] [ 1.29447072e-02 -8.05235970e-04 9.99915890e-01 -1.40862208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.099928851 meters 0.08101016367406583 Centerline is valid? [True, True] Translation: X:34.02, Y:-2.85, Z:-1.41 [[ 9.99153497e-01 3.91600344e-02 -1.26008168e-02 3.40222312e+01] [-3.91459246e-02 9.99232573e-01 1.36455128e-03 -2.84745139e+00] [ 1.26445824e-02 -8.70125564e-04 9.99919675e-01 -1.40959181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.159928851000004 meters 0.0813437101898728 Centerline is valid? [True, True] Translation: X:34.08, Y:-2.86, Z:-1.41 [[ 9.99300685e-01 3.50503428e-02 -1.30236013e-02 3.40819731e+01] [-3.50349191e-02 9.99385093e-01 1.41062506e-03 -2.85533837e+00] [ 1.30650359e-02 -9.53357766e-04 9.99914194e-01 -1.41101878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.219928851 meters 0.08667027916372878 Centerline is valid? [True, True] Translation: X:34.14, Y:-2.87, Z:-1.42 [[ 9.99450870e-01 3.13498293e-02 -1.07306348e-02 3.41395167e+01] [-3.13391571e-02 9.99508133e-01 1.16130141e-03 -2.87414162e+00] [ 1.07617633e-02 -8.24374659e-04 9.99941751e-01 -1.41549830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.279928851 meters 0.08445714000562872 Centerline is valid? [True, True] Translation: X:34.20, Y:-2.87, Z:-1.41 [[ 9.99521462e-01 2.95043144e-02 -9.29211428e-03 3.41995692e+01] [-2.94962364e-02 9.99564386e-01 1.00522424e-03 -2.87228594e+00] [ 9.31772496e-03 -7.30660801e-04 9.99956322e-01 -1.41484750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.339928851 meters 0.08801903820440223 Centerline is valid? [True, True] Translation: X:34.26, Y:-2.88, Z:-1.42 [[ 9.99501316e-01 3.02403749e-02 -9.09060307e-03 3.42568125e+01] [-3.02326845e-02 9.99542405e-01 9.82231413e-04 -2.88438461e+00] [ 9.11614631e-03 -7.06908255e-04 9.99958197e-01 -1.41973388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.399928851 meters 0.08471108613700486 Centerline is valid? [True, True] Translation: X:34.32, Y:-2.88, Z:-1.42 [[ 9.99468117e-01 3.15928958e-02 -8.08527168e-03 3.43180984e+01] [-3.15868514e-02 9.99500629e-01 8.74222997e-04 -2.87914569e+00] [ 8.10885336e-03 -6.18369737e-04 9.99966932e-01 -1.41845127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.459928851 meters 0.08672258441863763 Centerline is valid? [True, True] Translation: X:34.38, Y:-2.89, Z:-1.42 [[ 9.99482961e-01 3.15652574e-02 -6.11918471e-03 3.43751324e+01] [-3.15618055e-02 9.99501584e-01 6.59891900e-04 -2.88778795e+00] [ 6.13696447e-03 -4.66418194e-04 9.99981060e-01 -1.42171826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.519928851 meters 0.08768604863092516 Centerline is valid? [True, True] Translation: X:34.43, Y:-2.89, Z:-1.42 [[ 9.99506749e-01 3.10104285e-02 -4.96109291e-03 3.44337873e+01] [-3.10081542e-02 9.99518989e-01 5.34716322e-04 -2.89387269e+00] [ 4.97528834e-03 -3.80618238e-04 9.99987551e-01 -1.42390335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.579928851 meters 0.09150731578249643 Centerline is valid? [True, True] Translation: X:34.49, Y:-2.90, Z:-1.43 [[ 9.99519628e-01 3.07360409e-02 -3.97613785e-03 3.44905414e+01] [-3.07345812e-02 9.99527490e-01 4.27728717e-04 -2.90471709e+00] [ 3.98740577e-03 -3.05318317e-04 9.99992004e-01 -1.42635162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.639928851 meters 0.0848487260146598 Centerline is valid? [True, True] Translation: X:34.55, Y:-2.89, Z:-1.42 [[ 9.99499072e-01 3.14912187e-02 -3.14780843e-03 3.45507239e+01] [-3.14903084e-02 9.99504000e-01 3.38336845e-04 -2.89221149e+00] [ 3.15690176e-03 -2.39041904e-04 9.99994988e-01 -1.42367934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.699928851 meters 0.08439861055422719 Centerline is valid? [True, True] Translation: X:34.61, Y:-2.89, Z:-1.42 [[ 9.99496552e-01 3.15667723e-02 -3.19073674e-03 3.46093526e+01] [-3.15658381e-02 9.99501616e-01 3.42738921e-04 -2.89358091e+00] [ 3.19996569e-03 -2.41848090e-04 9.99994851e-01 -1.42490687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.759928851 meters 0.08571187494065124 Centerline is valid? [True, True] Translation: X:34.67, Y:-2.90, Z:-1.43 [[ 9.99563024e-01 2.93887211e-02 -3.17229971e-03 3.46696445e+01] [-2.93877828e-02 9.99568027e-01 3.41972175e-04 -2.89904035e+00] [ 3.18097949e-03 -2.48595886e-04 9.99994910e-01 -1.42749238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.819928851 meters 0.08675192857572511 Centerline is valid? [True, True] Translation: X:34.73, Y:-2.91, Z:-1.43 [[ 9.99637914e-01 2.67530217e-02 -2.88398710e-03 3.47296593e+01] [-2.67522364e-02 9.99642047e-01 3.10534490e-04 -2.90560510e+00] [ 2.89126251e-03 -2.33268945e-04 9.99995793e-01 -1.42810848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.879928851 meters 0.09136397016760496 Centerline is valid? [True, True] Translation: X:34.79, Y:-2.92, Z:-1.43 [[ 9.99756820e-01 2.17899720e-02 -3.39080148e-03 3.47875904e+01] [-2.17888593e-02 9.99762528e-01 3.64775206e-04 -2.91846138e+00] [ 3.39794470e-03 -2.90804804e-04 9.99994185e-01 -1.43179880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.939928851000005 meters 0.09530060752995384 Centerline is valid? [True, True] Translation: X:34.85, Y:-2.93, Z:-1.43 [[ 9.99849588e-01 1.73046505e-02 -1.16242322e-03 3.48462330e+01] [-1.73045168e-02 9.99850258e-01 1.24953826e-04 -2.92872298e+00] [ 1.16441144e-03 -1.04819859e-04 9.99999317e-01 -1.43314073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.999928851 meters 0.09609242987398062 Centerline is valid? [True, True] Translation: X:34.91, Y:-2.93, Z:-1.43 [[ 9.99903076e-01 1.39221275e-02 1.15626166e-04 3.49068936e+01] [-1.39221261e-02 9.99903082e-01 -1.24619410e-05 -2.93438224e+00] [-1.15788457e-04 1.08509711e-05 9.99999993e-01 -1.43357429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.059928851 meters 0.0940718980038345 Centerline is valid? [True, True] Translation: X:34.97, Y:-2.93, Z:-1.43 [[ 9.99942434e-01 1.05112778e-02 2.15444264e-03 3.49680278e+01] [-1.05108018e-02 9.99944733e-01 -2.32118446e-04 -2.93421482e+00] [-2.15676343e-03 2.09460164e-04 9.99997652e-01 -1.43194466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.119928851000004 meters 0.09572339010284141 Centerline is valid? [True, True] Translation: X:35.03, Y:-2.94, Z:-1.43 [[ 9.99958933e-01 8.58534142e-03 2.90261633e-03 3.50280432e+01] [-8.58446952e-03 9.99963104e-01 -3.12707755e-04 -2.94082777e+00] [-2.90519394e-03 2.87777492e-04 9.99995739e-01 -1.43365301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.179928851 meters 0.09823314273351968 Centerline is valid? [True, True] Translation: X:35.09, Y:-2.95, Z:-1.44 [[ 9.99967028e-01 7.78301293e-03 2.31671322e-03 3.50863211e+01] [-7.78245349e-03 9.99969685e-01 -2.50395254e-04 -2.94816396e+00] [-2.31859182e-03 2.32357286e-04 9.99997285e-01 -1.43719625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.239928851 meters 0.1002312661772123 Centerline is valid? [True, False] Translation: X:35.09, Y:-2.94, Z:-1.44 [[ 9.99971463e-01 7.25814031e-03 2.09603855e-03 3.50870254e+01] [-7.25513113e-03 9.99972645e-01 -1.43970628e-03 -2.94364927e+00] [-2.10643081e-03 1.42445816e-03 9.99996767e-01 -1.43756657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.299928851000004 meters 0.10100628782125252 Centerline is valid? [False, False] Translation: X:35.09, Y:-2.94, Z:-1.44 [[ 9.99974243e-01 6.87219100e-03 2.07014577e-03 3.50871702e+01] [-6.86770162e-03 9.99974067e-01 -2.16798797e-03 -2.94100382e+00] [-2.08499091e-03 2.15371498e-03 9.99995507e-01 -1.43769547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.359928851 meters 0.10294820848782345 Centerline is valid? [False, False] Translation: X:35.09, Y:-2.94, Z:-1.44 [[ 9.99977179e-01 6.49707376e-03 1.85185392e-03 3.50877822e+01] [-6.49131474e-03 9.99974129e-01 -3.09909592e-03 -2.93749727e+00] [-1.87194106e-03 3.08700423e-03 9.99993483e-01 -1.43787671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.419928851 meters 0.09917817469717022 Centerline is valid? [False, True] Translation: X:35.09, Y:-2.93, Z:-1.44 [[ 9.99979942e-01 6.04426295e-03 1.89282918e-03 3.50877668e+01] [-6.03698856e-03 9.99974460e-01 -3.82554965e-03 -2.93485783e+00] [-1.91590347e-03 3.81404593e-03 9.99990891e-01 -1.43802372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.479928851000004 meters 0.10109346745471348 Centerline is valid? [True, False] Translation: X:35.09, Y:-2.93, Z:-1.44 [[ 9.99982741e-01 5.49737219e-03 2.07277761e-03 3.50873555e+01] [-5.48792601e-03 9.99974655e-01 -4.53573128e-03 -2.93236813e+00] [-2.09765968e-03 4.52427775e-03 9.99987565e-01 -1.43804769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.539928851 meters 0.10255671848769984 Centerline is valid? [False, False] Translation: X:35.09, Y:-2.93, Z:-1.44 [[ 9.99983058e-01 5.41440326e-03 2.13746156e-03 3.50875113e+01] [-5.40446216e-03 9.99974679e-01 -4.62958742e-03 -2.93148137e+00] [-2.16247389e-03 4.61795716e-03 9.99986999e-01 -1.43849688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.599928851 meters 0.1025173169547141 Centerline is valid? [False, False] Translation: X:35.09, Y:-2.93, Z:-1.44 [[ 9.99983763e-01 5.27101442e-03 2.16582297e-03 3.50878931e+01] [-5.26034885e-03 9.99974154e-01 -4.90102220e-03 -2.92990911e+00] [-2.19160035e-03 4.88954964e-03 9.99985644e-01 -1.43913651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.659928851000004 meters 0.10134502159163641 Centerline is valid? [False, False] Translation: X:35.09, Y:-2.93, Z:-1.44 [[ 9.99984060e-01 5.24752669e-03 2.08408414e-03 3.50884334e+01] [-5.23688352e-03 9.99973384e-01 -5.07992112e-03 -2.92848642e+00] [-2.11068569e-03 5.06892604e-03 9.99984925e-01 -1.43968155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.719928851 meters 0.10096061230223945 Centerline is valid? [False, False] Translation: X:35.09, Y:-2.93, Z:-1.44 [[ 9.99984306e-01 5.21536297e-03 2.04621830e-03 3.50886991e+01] [-5.20467005e-03 9.99972953e-01 -5.19667499e-03 -2.92756351e+00] [-2.07326550e-03 5.18594355e-03 9.99984404e-01 -1.43996066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.779928851 meters 0.1022917913750305 Centerline is valid? [False, False] Translation: X:35.09, Y:-2.93, Z:-1.44 [[ 9.99982754e-01 5.49999285e-03 2.05979656e-03 3.50892935e+01] [-5.49022382e-03 9.99973795e-01 -4.71871484e-03 -2.92792599e+00] [-2.08569548e-03 4.70732471e-03 9.99986745e-01 -1.44091136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.839928851 meters 0.10238422590419521 Centerline is valid? [False, False] Translation: X:35.09, Y:-2.93, Z:-1.44 [[ 9.99981868e-01 5.62674811e-03 2.14564729e-03 3.50894240e+01] [-5.61728686e-03 9.99974585e-01 -4.39032813e-03 -2.92831731e+00] [-2.17029603e-03 4.37819581e-03 9.99988061e-01 -1.44139088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.899928851 meters 0.10385724684073264 Centerline is valid? [False, False] Translation: X:35.09, Y:-2.93, Z:-1.44 [[ 9.99981897e-01 5.47546884e-03 2.49483633e-03 3.50885931e+01] [-5.46480199e-03 9.99975983e-01 -4.26251185e-03 -2.92920431e+00] [-2.51811566e-03 4.24880090e-03 9.99987803e-01 -1.44133154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.959928851 meters 0.10693309545632014 Centerline is valid? [False, False] Translation: X:35.09, Y:-2.93, Z:-1.44 [[ 9.99980841e-01 5.48091317e-03 2.87688226e-03 3.50879770e+01] [-5.47010122e-03 9.99977997e-01 -3.75272823e-03 -2.93086285e+00] [-2.89738734e-03 3.73691949e-03 9.99988820e-01 -1.44166072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.019928851 meters 0.10699982935519922 Centerline is valid? [False, False] Translation: X:35.09, Y:-2.93, Z:-1.44 [[ 9.99979027e-01 5.71275000e-03 3.05111366e-03 3.50879077e+01] [-5.70328440e-03 9.99978925e-01 -3.10208398e-03 -2.93247347e+00] [-3.06877079e-03 3.08461755e-03 9.99990534e-01 -1.44215214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.079928851 meters 0.10720219377782732 Centerline is valid? [False, False] Translation: X:35.09, Y:-2.94, Z:-1.44 [[ 9.99976993e-01 5.68583844e-03 3.69928743e-03 3.50865296e+01] [-5.67699425e-03 9.99981013e-01 -2.39690638e-03 -2.93594381e+00] [-3.71284561e-03 2.37585040e-03 9.99990285e-01 -1.44213337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.139928851 meters 0.11463216876391463 Centerline is valid? [False, False] Translation: X:35.09, Y:-2.94, Z:-1.44 [[ 9.99974950e-01 5.73503275e-03 4.14837801e-03 3.50854653e+01] [-5.72794811e-03 9.99982120e-01 -1.71767858e-03 -2.93901987e+00] [-4.15815478e-03 1.69387386e-03 9.99989920e-01 -1.44197196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.199928851 meters 0.10981922669938195 Centerline is valid? [False, False] Translation: X:35.09, Y:-2.94, Z:-1.44 [[ 9.99973155e-01 6.03566416e-03 4.15442277e-03 3.50854814e+01] [-6.03073309e-03 9.99981097e-01 -1.19845019e-03 -2.94088780e+00] [-4.16157768e-03 1.17336380e-03 9.99990652e-01 -1.44197727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.259928851 meters 0.11170435954147759 Centerline is valid? [False, False] Translation: X:35.09, Y:-2.94, Z:-1.44 [[ 9.99970777e-01 6.59662086e-03 3.86388769e-03 3.50860671e+01] [-6.59428885e-03 9.99978068e-01 -6.15969822e-04 -2.94289137e+00] [-3.86786626e-03 5.90472230e-04 9.99992345e-01 -1.44182436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.319928851 meters 0.10680208832154228 Centerline is valid? [False, False] Translation: X:35.09, Y:-2.94, Z:-1.44 [[ 9.99969606e-01 6.98885738e-03 3.45588564e-03 3.50868624e+01] [-6.98752198e-03 9.99975508e-01 -3.98336071e-04 -2.94356331e+00] [-3.45858491e-03 3.74175887e-04 9.99993949e-01 -1.44167197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.379928851 meters 0.10170703591134181 Centerline is valid? [False, False] Translation: X:35.09, Y:-2.95, Z:-1.44 [[ 9.99965914e-01 7.73847371e-03 2.87862589e-03 3.50881421e+01] [-7.73925422e-03 9.99970018e-01 2.60098923e-04 -2.94551404e+00] [-2.87652681e-03 -2.82368475e-04 9.99995823e-01 -1.44168019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.439928851000005 meters 0.10275080862205571 Centerline is valid? [False, False] Translation: X:35.09, Y:-2.94, Z:-1.44 [[ 9.99989640e-01 4.18663534e-03 1.78674975e-03 3.50903875e+01] [-4.17961632e-03 9.99983605e-01 -3.91419360e-03 -2.94488112e+00] [-1.80310775e-03 3.90668512e-03 9.99990743e-01 -1.44173750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.499928851 meters 0.09833980776458168 Centerline is valid? [False, True] Translation: X:35.09, Y:-2.95, Z:-1.44 [[ 9.99987617e-01 4.78467400e-03 1.36845415e-03 3.50910436e+01] [-4.78013451e-03 9.99983125e-01 -3.30149778e-03 -2.94712065e+00] [-1.38422764e-03 3.29491551e-03 9.99993614e-01 -1.44132918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.559928851 meters 0.1019980426817906 Centerline is valid? [True, False] Translation: X:35.09, Y:-2.95, Z:-1.44 [[ 9.99985410e-01 5.29970691e-03 1.04503967e-03 3.50919037e+01] [-5.29676847e-03 9.99982067e-01 -2.79479752e-03 -2.94848311e+00] [-1.05983253e-03 2.78922141e-03 9.99995548e-01 -1.44150950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.619928851000004 meters 0.10029489954205287 Centerline is valid? [False, False] Translation: X:35.09, Y:-2.95, Z:-1.44 [[ 9.99982260e-01 5.90804850e-03 7.58000422e-04 3.50925965e+01] [-5.90651535e-03 9.99980538e-01 -2.00917235e-03 -2.95098441e+00] [-7.69855958e-04 2.00465957e-03 9.99997694e-01 -1.44156054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.679928851 meters 0.09878766336400538 Centerline is valid? [False, True] Translation: X:35.09, Y:-2.95, Z:-1.44 [[ 9.99980139e-01 6.26132769e-03 7.19244605e-04 3.50926967e+01] [-6.26027859e-03 9.99979350e-01 -1.45172082e-03 -2.95296716e+00] [-7.28319453e-04 1.44718931e-03 9.99998688e-01 -1.44155583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.739928851 meters 0.09740171957790493 Centerline is valid? [True, True] Translation: X:35.15, Y:-2.96, Z:-1.44 [[ 9.99980536e-01 5.93849986e-03 1.91362517e-03 3.51509156e+01] [-5.93813499e-03 9.99982350e-01 -1.96292645e-04 -2.96078236e+00] [-1.91475708e-03 1.84925460e-04 9.99998150e-01 -1.44307957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.799928851000004 meters 0.09757065790019312 Centerline is valid? [True, True] Translation: X:35.21, Y:-2.97, Z:-1.44 [[ 9.99978931e-01 6.40512810e-03 1.05406421e-03 3.52087096e+01] [-6.40501719e-03 9.99979482e-01 -1.08562317e-04 -2.96942184e+00] [-1.05473793e-03 1.01808731e-04 9.99999439e-01 -1.44412471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.859928851 meters 0.09896428432499564 Centerline is valid? [True, True] Translation: X:35.27, Y:-2.98, Z:-1.45 [[ 9.99986165e-01 5.22060716e-03 6.44806859e-04 3.52668886e+01] [-5.22056534e-03 9.99986371e-01 -6.65273436e-05 -2.98137311e+00] [-6.45145383e-04 6.31601668e-05 9.99999790e-01 -1.44569496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.919928851 meters 0.10241112675631557 Centerline is valid? [True, False] Translation: X:35.27, Y:-2.99, Z:-1.45 [[ 9.99985338e-01 5.28541721e-03 1.17803995e-03 3.52655710e+01] [-5.28640544e-03 9.99985676e-01 8.37342952e-04 -2.98562652e+00] [-1.17359737e-03 -8.43558272e-04 9.99998956e-01 -1.44526330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.979928851000004 meters 0.09900825914194537 Centerline is valid? [False, True] Translation: X:35.27, Y:-2.99, Z:-1.44 [[ 9.99998769e-01 1.42609309e-03 6.55093333e-04 3.52664191e+01] [-1.42404523e-03 9.99994131e-01 -3.11595255e-03 -2.98637102e+00] [-6.59533127e-04 3.11501583e-03 9.99994931e-01 -1.44492974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.039928851 meters 0.10210860102268277 Centerline is valid? [True, False] Translation: X:35.27, Y:-2.99, Z:-1.44 [[ 9.99997981e-01 1.66302740e-03 1.12805066e-03 3.52653476e+01] [-1.66084582e-03 9.99996754e-01 -1.93212908e-03 -2.99200287e+00] [-1.13126018e-03 1.93025166e-03 9.99997497e-01 -1.44466814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.099928851 meters 0.10408017342859695 Centerline is valid? [False, False] Translation: X:35.27, Y:-3.00, Z:-1.44 [[ 9.99996859e-01 2.17767085e-03 1.24090669e-03 3.52653470e+01] [-2.17665949e-03 9.99997298e-01 -8.15785273e-04 -2.99544422e+00] [-1.24267985e-03 8.13081679e-04 9.99998897e-01 -1.44498767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.159928851000004 meters 0.09904997516451823 Centerline is valid? [False, True] Translation: X:35.26, Y:-3.00, Z:-1.44 [[ 9.99996185e-01 2.42412129e-03 1.32392670e-03 3.52647604e+01] [-2.42385591e-03 9.99997042e-01 -2.02018385e-04 -2.99830595e+00] [-1.32441251e-03 1.98808607e-04 9.99999103e-01 -1.44432282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.219928851 meters 0.09497852639008787 Centerline is valid? [True, True] Translation: X:35.33, Y:-3.00, Z:-1.44 [[ 9.99984662e-01 5.21117145e-03 1.87587669e-03 3.53254159e+01] [-5.21080285e-03 9.99986403e-01 -2.01329605e-04 -3.00051527e+00] [-1.87690034e-03 1.91551694e-04 9.99998220e-01 -1.44448773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.279928851 meters 0.0952920657497671 Centerline is valid? [True, True] Translation: X:35.38, Y:-3.01, Z:-1.45 [[ 9.99976691e-01 6.56544601e-03 1.87392631e-03 3.53844127e+01] [-6.56507952e-03 9.99978429e-01 -2.01656080e-04 -3.00949093e+00] [-1.87520985e-03 1.89348904e-04 9.99998224e-01 -1.44596448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.339928851 meters 0.09656815624278785 Centerline is valid? [True, True] Translation: X:35.44, Y:-3.02, Z:-1.45 [[ 9.99976073e-01 6.91429284e-03 -2.12473835e-04 3.54420325e+01] [-6.91428836e-03 9.99976096e-01 2.18075559e-05 -3.01949470e+00] [ 2.12619539e-04 -2.03379288e-05 9.99999977e-01 -1.44860611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.399928851 meters 0.09651383177854211 Centerline is valid? [True, True] Translation: X:35.50, Y:-3.03, Z:-1.45 [[ 9.99973327e-01 7.15313088e-03 -1.47602761e-03 3.55000535e+01] [-7.15290705e-03 9.99974405e-01 1.56869209e-04 -3.02969539e+00] [ 1.47711194e-03 -1.46307137e-04 9.99998898e-01 -1.45151980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.459928851 meters 0.09890698843165568 Centerline is valid? [True, True] Translation: X:35.56, Y:-3.04, Z:-1.45 [[ 9.99973631e-01 7.15009454e-03 -1.27027998e-03 3.55573870e+01] [-7.14992906e-03 9.99974430e-01 1.34762021e-04 -3.04165304e+00] [ 1.27121106e-03 -1.25676056e-04 9.99999184e-01 -1.45331815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.519928851 meters 0.09375833115426024 Centerline is valid? [True, True] Translation: X:35.62, Y:-3.04, Z:-1.45 [[ 9.99967220e-01 7.78137277e-03 -2.23804215e-03 3.56173002e+01] [-7.78085816e-03 9.99969700e-01 2.38552155e-04 -3.03973825e+00] [ 2.23983061e-03 -2.21130447e-04 9.99997467e-01 -1.45271054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.579928851 meters 0.10058186943178113 Centerline is valid? [True, False] Translation: X:35.62, Y:-3.04, Z:-1.45 [[ 9.99965322e-01 7.98640570e-03 -2.36045933e-03 3.56176742e+01] [-7.98550364e-03 9.99968039e-01 3.91330008e-04 -3.04023586e+00] [ 2.36350921e-03 -3.72466981e-04 9.99997138e-01 -1.45283035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.639928851 meters 0.09193104212106643 Centerline is valid? [False, True] Translation: X:35.62, Y:-3.04, Z:-1.45 [[ 9.99965301e-01 7.92823041e-03 -2.55718660e-03 3.56178475e+01] [-7.92812306e-03 9.99968571e-01 5.21145143e-05 -3.03977094e+00] [ 2.55751940e-03 -3.18390160e-05 9.99996729e-01 -1.45243492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.699928851 meters 0.09311507697687679 Centerline is valid? [True, True] Translation: X:35.68, Y:-3.05, Z:-1.45 [[ 9.99942257e-01 1.00020718e-02 -3.92965864e-03 3.56758204e+01] [-1.00005688e-02 9.99949912e-01 4.01948621e-04 -3.04832924e+00] [ 3.93348213e-03 -3.62626589e-04 9.99992198e-01 -1.45492704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.759928851 meters 0.0934904184979784 Centerline is valid? [True, True] Translation: X:35.73, Y:-3.06, Z:-1.46 [[ 9.99939858e-01 9.99582064e-03 -4.51256364e-03 3.57344204e+01] [-9.99384056e-03 9.99949954e-01 4.61130957e-04 -3.05511633e+00] [ 4.51694718e-03 -4.16005382e-04 9.99989712e-01 -1.45638403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.819928851 meters 0.09162293867304713 Centerline is valid? [True, True] Translation: X:35.79, Y:-3.06, Z:-1.46 [[ 9.99942011e-01 9.60783365e-03 -4.86460842e-03 3.57935141e+01] [-9.60552924e-03 9.99953742e-01 4.96852889e-04 -3.05788883e+00] [ 4.86915707e-03 -4.50096938e-04 9.99988044e-01 -1.45682440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.879928851 meters 0.09785225505940442 Centerline is valid? [True, True] Translation: X:35.85, Y:-3.08, Z:-1.46 [[ 9.99950858e-01 9.01273337e-03 -4.12943988e-03 3.58496340e+01] [-9.01107107e-03 9.99959311e-01 4.20978301e-04 -3.07540409e+00] [ 4.13306602e-03 -3.83746937e-04 9.99991385e-01 -1.46050572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.939928851000005 meters 0.09483445880866066 Centerline is valid? [True, True] Translation: X:35.91, Y:-3.08, Z:-1.46 [[ 9.99956051e-01 8.38066772e-03 -4.20246157e-03 3.59089089e+01] [-8.37894042e-03 9.99964804e-01 4.28460115e-04 -3.07500752e+00] [ 4.20590444e-03 -3.93229110e-04 9.99991078e-01 -1.45943671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.999928851 meters 0.09658907529785857 Centerline is valid? [True, True] Translation: X:35.97, Y:-3.08, Z:-1.46 [[ 9.99961616e-01 7.97273750e-03 -3.63334504e-03 3.59656619e+01] [-7.97144708e-03 9.99968159e-01 3.69502786e-04 -3.08340486e+00] [ 3.63617530e-03 -3.40525585e-04 9.99993331e-01 -1.46107408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.059928851 meters 0.09462504231667805 Centerline is valid? [True, True] Translation: X:36.03, Y:-3.09, Z:-1.46 [[ 9.99969538e-01 6.84122364e-03 -3.75773647e-03 3.60257128e+01] [-6.83983181e-03 9.99976535e-01 3.83116055e-04 -3.08550016e+00] [ 3.76026928e-03 -3.57402099e-04 9.99992866e-01 -1.46167078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.119928851000004 meters 0.09747434740345247 Centerline is valid? [True, True] Translation: X:36.08, Y:-3.10, Z:-1.46 [[ 9.99980996e-01 5.00341309e-03 -3.60191153e-03 3.60845085e+01] [-5.00212189e-03 9.99987422e-01 3.67394904e-04 -3.09611723e+00] [ 3.60370446e-03 -3.49370722e-04 9.99993446e-01 -1.46339517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.179928851 meters 0.09218770158735351 Centerline is valid? [True, True] Translation: X:36.14, Y:-3.09, Z:-1.46 [[ 9.99987361e-01 4.07594139e-03 -2.94345296e-03 3.61441970e+01] [-4.07507858e-03 9.99991652e-01 2.99065174e-04 -3.09237368e+00] [ 2.94464736e-03 -2.87066592e-04 9.99995623e-01 -1.46162279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.239928851 meters 0.09465348300312107 Centerline is valid? [True, True] Translation: X:36.20, Y:-3.10, Z:-1.46 [[ 9.99989533e-01 2.49673302e-03 -3.83421421e-03 3.62026511e+01] [-2.49525414e-03 9.99996811e-01 3.90440138e-04 -3.10315250e+00] [ 3.83517681e-03 -3.80868712e-04 9.99992573e-01 -1.46486144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.299928851000004 meters 0.09461803631959832 Centerline is valid? [True, True] Translation: X:36.26, Y:-3.11, Z:-1.47 [[ 9.99991679e-01 1.41564817e-03 -3.82590645e-03 3.62617649e+01] [-1.41416839e-03 9.99998924e-01 3.89457785e-04 -3.10893148e+00] [ 3.82645367e-03 -3.84044069e-04 9.99992605e-01 -1.46560273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.359928851 meters 0.09533145336616003 Centerline is valid? [True, True] Translation: X:36.32, Y:-3.12, Z:-1.47 [[ 9.99991839e-01 3.51411396e-04 -4.02465861e-03 3.63210594e+01] [-3.49765759e-04 9.99999855e-01 4.09585076e-04 -3.11761788e+00] [ 4.02480196e-03 -4.08174046e-04 9.99991817e-01 -1.46663726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.419928851 meters 0.09924820592220689 Centerline is valid? [True, True] Translation: X:36.38, Y:-3.13, Z:-1.47 [[ 9.99990116e-01 -5.24704023e-04 -4.41508799e-03 3.63783456e+01] [ 5.26692843e-04 9.99999760e-01 4.49309387e-04 -3.13070223e+00] [ 4.41485118e-03 -4.51630341e-04 9.99990153e-01 -1.46931678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.479928851000004 meters 0.10068419107016328 Centerline is valid? [True, False] Translation: X:36.38, Y:-3.13, Z:-1.47 [[ 9.99990431e-01 -2.82324401e-04 -4.36547599e-03 3.63784302e+01] [ 2.86474958e-04 9.99999508e-01 9.50172541e-04 -3.13190823e+00] [ 4.36520558e-03 -9.51414048e-04 9.99990020e-01 -1.46955674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.539928851 meters 0.09945970313642202 Centerline is valid? [False, True] Translation: X:36.38, Y:-3.13, Z:-1.47 [[ 9.99990034e-01 4.22551140e-05 -4.46436540e-03 3.63791941e+01] [-3.60686264e-05 9.99999039e-01 1.38581991e-03 -3.13231808e+00] [ 4.46441967e-03 -1.38564507e-03 9.99989074e-01 -1.47036974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.599928851 meters 0.0978723191399884 Centerline is valid? [True, True] Translation: X:36.44, Y:-3.13, Z:-1.47 [[ 9.99979927e-01 1.28569125e-03 -6.20431643e-03 3.64383480e+01] [-1.28168272e-03 9.99998967e-01 6.50019865e-04 -3.13371077e+00] [ 6.20514575e-03 -6.42054851e-04 9.99980542e-01 -1.47182888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.659928851000004 meters 0.09943853902599041 Centerline is valid? [True, True] Translation: X:36.50, Y:-3.14, Z:-1.48 [[ 9.99973052e-01 2.95755099e-03 -6.71929432e-03 3.64968220e+01] [-2.95288342e-03 9.99995392e-01 7.04466800e-04 -3.14102158e+00] [ 6.72134686e-03 -6.84606523e-04 9.99977177e-01 -1.47507355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.719928851 meters 0.10049834393027646 Centerline is valid? [True, False] Translation: X:36.50, Y:-3.14, Z:-1.48 [[ 9.99971493e-01 2.92076987e-03 -6.96290986e-03 3.64976482e+01] [-2.91823607e-03 9.99995672e-01 3.74031387e-04 -3.13920150e+00] [ 6.96397219e-03 -3.53701310e-04 9.99975689e-01 -1.47556674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.779928851 meters 0.09885737426243543 Centerline is valid? [False, True] Translation: X:36.50, Y:-3.14, Z:-1.48 [[ 9.99971957e-01 2.43114231e-03 -7.08334784e-03 3.64976883e+01] [-2.43555841e-03 9.99996845e-01 -6.14887682e-04 -3.13605055e+00] [ 7.08183062e-03 6.32122347e-04 9.99974724e-01 -1.47530655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.839928851 meters 0.09985079940366963 Centerline is valid? [True, True] Translation: X:36.56, Y:-3.14, Z:-1.48 [[ 9.99974405e-01 2.90227550e-03 -6.53950698e-03 3.65563577e+01] [-2.89793942e-03 9.99995575e-01 6.72437982e-04 -3.14321029e+00] [ 6.54142965e-03 -6.53469676e-04 9.99978391e-01 -1.47654213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.899928851 meters 0.09422046787013724 Centerline is valid? [True, True] Translation: X:36.62, Y:-3.14, Z:-1.48 [[ 9.99975758e-01 2.40460262e-03 -6.53454940e-03 3.66164455e+01] [-2.40026595e-03 9.99996894e-01 6.71414919e-04 -3.13702686e+00] [ 6.53614359e-03 -6.55713987e-04 9.99978424e-01 -1.47525392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.959928851 meters 0.0954451558290824 Centerline is valid? [True, True] Translation: X:36.68, Y:-3.14, Z:-1.48 [[ 9.99974483e-01 1.03592876e-03 -7.06818571e-03 3.66751568e+01] [-1.03082069e-03 9.99999205e-01 7.26290181e-04 -3.14454790e+00] [ 7.06893248e-03 -7.18985617e-04 9.99974756e-01 -1.47764475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.019928851 meters 0.10243759925969055 Centerline is valid? [True, False] Translation: X:36.67, Y:-3.15, Z:-1.48 [[ 9.99978777e-01 7.87631939e-04 -6.46726532e-03 3.66741539e+01] [-7.81575215e-04 9.99999254e-01 9.38994093e-04 -3.14551987e+00] [ 6.46800008e-03 -9.33919511e-04 9.99978646e-01 -1.47797926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.079928851 meters 0.10616948498230062 Centerline is valid? [False, False] Translation: X:36.67, Y:-3.15, Z:-1.48 [[ 9.99983216e-01 3.93937771e-04 -5.78033129e-03 3.66726920e+01] [-3.87288213e-04 9.99999262e-01 1.15145087e-03 -3.14681835e+00] [ 5.78078062e-03 -1.14919289e-03 9.99982631e-01 -1.47786215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.139928851 meters 0.10406976597645673 Centerline is valid? [False, False] Translation: X:36.67, Y:-3.15, Z:-1.48 [[ 9.99985527e-01 2.76218406e-04 -5.37312287e-03 3.66719762e+01] [-2.68663516e-04 9.99998974e-01 1.40672288e-03 -3.14769760e+00] [ 5.37350592e-03 -1.40525896e-03 9.99984575e-01 -1.47801828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.199928851 meters 0.10768709926654045 Centerline is valid? [False, False] Translation: X:36.67, Y:-3.15, Z:-1.48 [[ 9.99987163e-01 1.50648472e-04 -5.06472583e-03 3.66713236e+01] [-1.42747169e-04 9.99998772e-01 1.56039055e-03 -3.14856232e+00] [ 5.06495468e-03 -1.55964754e-03 9.99985957e-01 -1.47798161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.259928851 meters 0.10119542206581829 Centerline is valid? [False, False] Translation: X:36.67, Y:-3.15, Z:-1.48 [[ 9.99986911e-01 -2.20813851e-04 -5.11165792e-03 3.66710342e+01] [ 2.25393040e-04 9.99999574e-01 8.95273794e-04 -3.14720248e+00] [ 5.11145805e-03 -8.96414208e-04 9.99986535e-01 -1.47740070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.319928851 meters 0.1018833190534557 Centerline is valid? [False, False] Translation: X:36.67, Y:-3.15, Z:-1.48 [[ 9.99985103e-01 3.27850781e-05 -5.45826151e-03 3.66719872e+01] [-2.77638737e-05 9.99999576e-01 9.20000649e-04 -3.14663381e+00] [ 5.45828936e-03 -9.19835401e-04 9.99984680e-01 -1.47771007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.379928851 meters 0.10210706671624425 Centerline is valid? [False, False] Translation: X:36.67, Y:-3.15, Z:-1.48 [[ 9.99980507e-01 6.34305021e-04 -6.21153240e-03 3.66739217e+01] [-6.27991515e-04 9.99999284e-01 1.01831444e-03 -3.14572695e+00] [ 6.21217387e-03 -1.01439380e-03 9.99980190e-01 -1.47825918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.439928851 meters 0.10032857335913484 Centerline is valid? [False, False] Translation: X:36.67, Y:-3.14, Z:-1.48 [[ 9.99979832e-01 4.85954880e-04 -6.33249029e-03 3.66738578e+01] [-4.82176941e-04 9.99999705e-01 5.98109103e-04 -3.14498049e+00] [ 6.33277907e-03 -5.95043660e-04 9.99979771e-01 -1.47777315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.499928851 meters 0.09823815840717502 Centerline is valid? [False, True] Translation: X:36.67, Y:-3.14, Z:-1.48 [[ 9.99979016e-01 4.64703502e-04 -6.46157375e-03 3.66739849e+01] [-4.61985916e-04 9.99999804e-01 4.22062689e-04 -3.14442111e+00] [ 6.46176862e-03 -4.19068676e-04 9.99979035e-01 -1.47754567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.559928851 meters 0.10041649479525706 Centerline is valid? [True, False] Translation: X:36.67, Y:-3.15, Z:-1.48 [[ 9.99978292e-01 7.56397093e-04 -6.54545827e-03 3.66744602e+01] [-7.51168752e-04 9.99999397e-01 8.01195410e-04 -3.14510627e+00] [ 6.54606034e-03 -7.96261274e-04 9.99978257e-01 -1.47794911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.619928851000004 meters 0.09650479560815095 Centerline is valid? [False, True] Translation: X:36.67, Y:-3.15, Z:-1.48 [[ 9.99979564e-01 5.70701641e-04 -6.36760947e-03 3.66738066e+01] [-5.66342863e-04 9.99999604e-01 6.86305654e-04 -3.14549696e+00] [ 6.36799863e-03 -6.82685378e-04 9.99979491e-01 -1.47752451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.679928851 meters 0.1038733106030295 Centerline is valid? [True, False] Translation: X:36.67, Y:-3.15, Z:-1.48 [[ 9.99971459e-01 -3.30999345e-03 -6.79156910e-03 3.66749034e+01] [ 3.28766123e-03 9.99989161e-01 -3.29676070e-03 -3.14557343e+00] [ 6.80240775e-03 3.27433823e-03 9.99971503e-01 -1.47778376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.739928851 meters 0.10658365583543036 Centerline is valid? [False, False] Translation: X:36.67, Y:-3.15, Z:-1.48 [[ 9.99973358e-01 -3.09254901e-03 -6.61207295e-03 3.66748824e+01] [ 3.07476446e-03 9.99991633e-01 -2.69818389e-03 -3.14701271e+00] [ 6.62036189e-03 2.67778143e-03 9.99974500e-01 -1.47834249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.799928851000004 meters 0.10096811959481529 Centerline is valid? [False, False] Translation: X:36.67, Y:-3.15, Z:-1.48 [[ 9.99975151e-01 -3.20533399e-03 -6.27879199e-03 3.66740924e+01] [ 3.18998503e-03 9.99991903e-01 -2.45306450e-03 -3.14797476e+00] [ 6.28660405e-03 2.43297429e-03 9.99977279e-01 -1.47823073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.859928851 meters 0.10068481522740132 Centerline is valid? [False, False] Translation: X:36.67, Y:-3.15, Z:-1.48 [[ 9.99976473e-01 -2.97663548e-03 -6.17998298e-03 3.66741797e+01] [ 2.96444523e-03 9.99993644e-01 -1.98076173e-03 -3.14889103e+00] [ 6.18583971e-03 1.96239491e-03 9.99978942e-01 -1.47866552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.919928851 meters 0.10430665909546233 Centerline is valid? [False, False] Translation: X:36.67, Y:-3.15, Z:-1.48 [[ 9.99977844e-01 -2.93257638e-03 -5.97592076e-03 3.66738308e+01] [ 2.92261522e-03 9.99994326e-01 -1.67493474e-03 -3.14986448e+00] [ 5.98079873e-03 1.65743232e-03 9.99980741e-01 -1.47877844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.979928851000004 meters 0.10567931112957607 Centerline is valid? [False, False] Translation: X:36.67, Y:-3.15, Z:-1.48 [[ 9.99977685e-01 -2.85448653e-03 -6.03991101e-03 3.66742896e+01] [ 2.84475843e-03 9.99994644e-01 -1.61861512e-03 -3.14938451e+00] [ 6.04449897e-03 1.60139691e-03 9.99980450e-01 -1.47926696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.039928851 meters 0.10795178496657991 Centerline is valid? [False, False] Translation: X:36.67, Y:-3.15, Z:-1.48 [[ 9.99978324e-01 -2.55608089e-03 -6.06773907e-03 3.66745804e+01] [ 2.54885692e-03 9.99996034e-01 -1.19798732e-03 -3.15037760e+00] [ 6.07077716e-03 1.18249555e-03 9.99980874e-01 -1.47956284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.099928851 meters 0.10221269565096071 Centerline is valid? [False, False] Translation: X:36.67, Y:-3.15, Z:-1.48 [[ 9.99979298e-01 -2.24903356e-03 -6.02876740e-03 3.66748943e+01] [ 2.24495087e-03 9.99997246e-01 -6.83882835e-04 -3.15143191e+00] [ 6.03028887e-03 6.70334390e-04 9.99981593e-01 -1.48013648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.159928851000004 meters 0.1105139095281163 Centerline is valid? [False, False] Translation: X:36.67, Y:-3.15, Z:-1.48 [[ 9.99978153e-01 -2.33685772e-03 -6.18326063e-03 3.66748495e+01] [ 2.33119248e-03 9.99996857e-01 -9.23270316e-04 -3.15076412e+00] [ 6.18539874e-03 9.08835774e-04 9.99980457e-01 -1.47961211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.219928851 meters 0.10197751213316887 Centerline is valid? [False, False] Translation: X:36.68, Y:-3.15, Z:-1.48 [[ 9.99977882e-01 -1.95597708e-03 -6.35687580e-03 3.66756676e+01] [ 1.95283674e-03 9.99997968e-01 -5.00176390e-04 -3.15126716e+00] [ 6.35784122e-03 4.87751387e-04 9.99979670e-01 -1.48024194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.279928851 meters 0.09849658272058899 Centerline is valid? [False, True] Translation: X:36.68, Y:-3.15, Z:-1.48 [[ 9.99977899e-01 -1.31941683e-03 -6.51616518e-03 3.66766602e+01] [ 1.32154834e-03 9.99999075e-01 3.22816767e-04 -3.15287833e+00] [ 6.51573322e-03 -3.31421060e-04 9.99978717e-01 -1.48117318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.339928851 meters 0.10399980266644014 Centerline is valid? [True, False] Translation: X:36.68, Y:-3.15, Z:-1.48 [[ 9.99977454e-01 -1.26238572e-03 -6.59524769e-03 3.66768291e+01] [ 1.26493514e-03 9.99999127e-01 3.82397121e-04 -3.15301452e+00] [ 6.59475920e-03 -3.90731060e-04 9.99978178e-01 -1.48117872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.399928851 meters 0.10430649306027845 Centerline is valid? [False, False] Translation: X:36.68, Y:-3.15, Z:-1.48 [[ 9.99977552e-01 -8.64960657e-04 -6.64428241e-03 3.66770388e+01] [ 8.71885253e-04 9.99999080e-01 1.03936289e-03 -3.15493153e+00] [ 6.64337729e-03 -1.04513261e-03 9.99977386e-01 -1.48128259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.459928851 meters 0.10619313815956775 Centerline is valid? [False, False] Translation: X:36.68, Y:-3.16, Z:-1.48 [[ 9.99979052e-01 -6.52810352e-04 -6.43962246e-03 3.66766673e+01] [ 6.63140927e-04 9.99998497e-01 1.60221591e-03 -3.15697404e+00] [ 6.43856684e-03 -1.60645272e-03 9.99977982e-01 -1.48131570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.519928851 meters 0.10148462765903743 Centerline is valid? [False, False] Translation: X:36.68, Y:-3.16, Z:-1.48 [[ 9.99981342e-01 -7.53511676e-04 -6.06195544e-03 3.66756951e+01] [ 7.64938717e-04 9.99997935e-01 1.88294442e-03 -3.15860552e+00] [ 6.06052410e-03 -1.88754631e-03 9.99979853e-01 -1.48094853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.579928851 meters 0.10247748177205598 Centerline is valid? [False, False] Translation: X:36.67, Y:-3.16, Z:-1.48 [[ 9.99983818e-01 -9.71829086e-04 -5.60521602e-03 3.66739304e+01] [ 9.83864954e-04 9.99997216e-01 2.14490448e-03 -3.16143876e+00] [ 5.60311594e-03 -2.15038455e-03 9.99981990e-01 -1.47960182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.639928851 meters 0.10514386443899285 Centerline is valid? [False, False] Translation: X:36.67, Y:-3.16, Z:-1.48 [[ 9.99985837e-01 -1.13725554e-03 -5.19920338e-03 3.66726124e+01] [ 1.14948881e-03 9.99996577e-01 2.35053127e-03 -3.16363184e+00] [ 5.19651243e-03 -2.35647441e-03 9.99983722e-01 -1.47883426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.699928851 meters 0.10355435441913653 Centerline is valid? [False, False] Translation: X:36.67, Y:-3.16, Z:-1.48 [[ 9.99972307e-01 -4.89414485e-03 -5.60639527e-03 3.66737742e+01] [ 4.88683360e-03 9.99987192e-01 -1.31704876e-03 -3.16436918e+00] [ 5.61276929e-03 1.28961476e-03 9.99983417e-01 -1.47920904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.759928851 meters 0.10995634744111539 Centerline is valid? [False, False] Translation: X:36.67, Y:-3.17, Z:-1.48 [[ 9.99974568e-01 -4.76872959e-03 -5.30308148e-03 3.66729234e+01] [ 4.76502433e-03 9.99988394e-01 -7.11115462e-04 -3.16715373e+00] [ 5.30641105e-03 6.85828065e-04 9.99985686e-01 -1.47884706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.819928851 meters 0.10852788677016037 Centerline is valid? [False, False] Translation: X:36.67, Y:-3.17, Z:-1.48 [[ 9.99977022e-01 -4.08131444e-03 -5.41273803e-03 3.66734086e+01] [ 4.08326728e-03 9.99991602e-01 3.49783992e-04 -3.16991854e+00] [ 5.41126500e-03 -3.71877611e-04 9.99985290e-01 -1.47921963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.879928851 meters 0.10315708046647042 Centerline is valid? [False, False] Translation: X:36.67, Y:-3.17, Z:-1.48 [[ 9.99975987e-01 -3.50593504e-03 -5.97769967e-03 3.66746240e+01] [ 3.51028418e-03 9.99993582e-01 7.17224122e-04 -3.17001019e+00] [ 5.97514677e-03 -7.38190324e-04 9.99981876e-01 -1.47929811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.939928851 meters 0.10281984172264681 Centerline is valid? [False, False] Translation: X:36.68, Y:-3.17, Z:-1.48 [[ 9.99974742e-01 -3.31940773e-03 -6.28460144e-03 3.66750719e+01] [ 3.32408104e-03 9.99994206e-01 7.33313119e-04 -3.17019533e+00] [ 6.28213087e-03 -7.54185121e-04 9.99979983e-01 -1.47903300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.999928851 meters 0.10275189105034266 Centerline is valid? [False, False] Translation: X:36.68, Y:-3.17, Z:-1.48 [[ 9.99972971e-01 -2.84878277e-03 -6.77801219e-03 3.66761025e+01] [ 2.85518609e-03 9.99995487e-01 9.35230588e-04 -3.16988719e+00] [ 6.77531733e-03 -9.54557796e-04 9.99976592e-01 -1.47912604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.059928851 meters 0.09675079331584618 Centerline is valid? [False, True] Translation: X:36.68, Y:-3.17, Z:-1.48 [[ 9.99970418e-01 -2.29737695e-03 -7.34071758e-03 3.66776606e+01] [ 2.30650347e-03 9.99996577e-01 1.23504947e-03 -3.16942510e+00] [ 7.33785508e-03 -1.25194432e-03 9.99972294e-01 -1.47972885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.119928851000004 meters 0.09463961073538164 Centerline is valid? [True, True] Translation: X:36.74, Y:-3.17, Z:-1.48 [[ 9.99962445e-01 -1.39951649e-04 -8.66537292e-03 3.67376412e+01] [ 1.47746887e-04 9.99999585e-01 8.98951204e-04 -3.17227439e+00] [ 8.66524351e-03 -9.00197726e-04 9.99962051e-01 -1.48168779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.179928851 meters 0.0956862291215632 Centerline is valid? [True, True] Translation: X:36.80, Y:-3.18, Z:-1.49 [[ 9.99943342e-01 -1.57611978e-04 -1.06436624e-02 3.67958161e+01] [ 1.69295894e-04 9.99999384e-01 1.09684247e-03 -3.18133716e+00] [ 1.06434830e-02 -1.09858226e-03 9.99942753e-01 -1.48518967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.239928851 meters 0.09757153092684524 Centerline is valid? [True, True] Translation: X:36.85, Y:-3.19, Z:-1.49 [[ 9.99938079e-01 -7.15821427e-04 -1.11052504e-02 3.68527811e+01] [ 7.28604942e-04 9.99999077e-01 1.14712052e-03 -3.19106641e+00] [ 1.11044190e-02 -1.15514083e-03 9.99937677e-01 -1.48605262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.299928851000004 meters 0.0941678862628216 Centerline is valid? [True, True] Translation: X:36.91, Y:-3.19, Z:-1.48 [[ 9.99946079e-01 -9.19719713e-04 -1.03437145e-02 3.69119909e+01] [ 9.30815607e-04 9.99998997e-01 1.06795551e-03 -3.19278940e+00] [ 1.03427219e-02 -1.07752602e-03 9.99945932e-01 -1.48417034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.359928851 meters 0.10240955826527268 Centerline is valid? [True, False] Translation: X:36.91, Y:-3.19, Z:-1.48 [[ 9.99948331e-01 -9.74563798e-04 -1.01186046e-02 3.69113313e+01] [ 9.87644947e-04 9.99998683e-01 1.28786541e-03 -3.19389298e+00] [ 1.01173362e-02 -1.29779246e-03 9.99947976e-01 -1.48387619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.419928851 meters 0.10283249931164298 Centerline is valid? [False, False] Translation: X:36.91, Y:-3.20, Z:-1.48 [[ 9.99952624e-01 -1.24664412e-03 -9.65378026e-03 3.69098960e+01] [ 1.25978114e-03 9.99998289e-01 1.35485468e-03 -3.19538459e+00] [ 9.65207471e-03 -1.36695214e-03 9.99952483e-01 -1.48315257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.479928851000004 meters 0.0944231425474631 Centerline is valid? [False, True] Translation: X:36.91, Y:-3.20, Z:-1.48 [[ 9.99952760e-01 -1.03481494e-03 -9.66471791e-03 3.69100644e+01] [ 1.05152461e-03 9.99997961e-01 1.72401329e-03 -3.19633000e+00] [ 9.66291417e-03 -1.73409453e-03 9.99951809e-01 -1.48336537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.539928851 meters 0.09767071267572865 Centerline is valid? [True, True] Translation: X:36.97, Y:-3.21, Z:-1.49 [[ 9.99949646e-01 -2.05464925e-03 -9.82265469e-03 3.69673381e+01] [ 2.06492553e-03 9.99997331e-01 1.03615399e-03 -3.20895947e+00] [ 9.82049954e-03 -1.05638486e-03 9.99951220e-01 -1.48602683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.599928851 meters 0.09838285484429954 Centerline is valid? [True, True] Translation: X:37.03, Y:-3.22, Z:-1.49 [[ 9.99936304e-01 -3.30472993e-03 -1.07920124e-02 3.70265172e+01] [ 3.31721794e-03 9.99993849e-01 1.13945777e-03 -3.21784130e+00] [ 1.07881804e-02 -1.17518464e-03 9.99941115e-01 -1.48772956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.659928851000004 meters 0.09755555409158104 Centerline is valid? [True, True] Translation: X:37.09, Y:-3.22, Z:-1.49 [[ 9.99937597e-01 -4.37028812e-03 -1.02812035e-02 3.70854850e+01] [ 4.38166456e-03 9.99989813e-01 1.08426292e-03 -3.22336983e+00] [ 1.02763602e-02 -1.12924404e-03 9.99946559e-01 -1.48833139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.719928851 meters 0.09756335177365458 Centerline is valid? [True, True] Translation: X:37.14, Y:-3.23, Z:-1.49 [[ 9.99943498e-01 -5.11283721e-03 -9.31989172e-03 3.71440397e+01] [ 5.12215594e-03 9.99986405e-01 9.76280659e-04 -3.22853628e+00] [ 9.31477345e-03 -1.02396344e-03 9.99956092e-01 -1.48890885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.779928851 meters 0.10068432958918745 Centerline is valid? [True, False] Translation: X:37.14, Y:-3.23, Z:-1.49 [[ 9.99944728e-01 -5.12762863e-03 -9.17870314e-03 3.71441115e+01] [ 5.13749512e-03 9.99986250e-01 1.05167732e-03 -3.22823954e+00] [ 9.17318432e-03 -1.09877473e-03 9.99957322e-01 -1.48944499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.839928851 meters 0.10381882671603998 Centerline is valid? [False, False] Translation: X:37.14, Y:-3.23, Z:-1.49 [[ 9.99944994e-01 -5.23082427e-03 -9.09107437e-03 3.71442449e+01] [ 5.23939671e-03 9.99985852e-01 9.19389753e-04 -3.22744398e+00] [ 9.08613658e-03 -9.66970926e-04 9.99958253e-01 -1.48990086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.899928851 meters 0.10092303483654562 Centerline is valid? [False, False] Translation: X:37.14, Y:-3.23, Z:-1.49 [[ 9.99945153e-01 -5.33083892e-03 -9.01515142e-03 3.71444534e+01] [ 5.33821585e-03 9.99985436e-01 7.94415839e-04 -3.22647818e+00] [ 9.01078522e-03 -8.42497092e-04 9.99959047e-01 -1.49042837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.959928851 meters 0.10154555317751407 Centerline is valid? [False, False] Translation: X:37.14, Y:-3.23, Z:-1.49 [[ 9.99945683e-01 -5.34653210e-03 -8.94684119e-03 3.71447463e+01] [ 5.35415661e-03 9.99985323e-01 8.28466669e-04 -3.22585525e+00] [ 8.94228045e-03 -8.76324458e-04 9.99959633e-01 -1.49108690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.019928851 meters 0.10484624438285846 Centerline is valid? [False, False] Translation: X:37.14, Y:-3.22, Z:-1.49 [[ 9.99945165e-01 -5.53827284e-03 -8.88789399e-03 3.71447464e+01] [ 5.54328048e-03 9.99984491e-01 5.38886197e-04 -3.22472527e+00] [ 8.88477165e-03 -5.88124737e-04 9.99960357e-01 -1.49127567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.079928851 meters 0.10547868613595424 Centerline is valid? [False, False] Translation: X:37.14, Y:-3.22, Z:-1.49 [[ 9.99944722e-01 -5.59322181e-03 -8.90330357e-03 3.71448928e+01] [ 5.59735071e-03 9.99984238e-01 4.38898940e-04 -3.22413258e+00] [ 8.90070838e-03 -4.88709591e-04 9.99960268e-01 -1.49145454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.139928851 meters 0.09938506974663555 Centerline is valid? [False, True] Translation: X:37.15, Y:-3.22, Z:-1.49 [[ 9.99942202e-01 -5.88571356e-03 -8.99728776e-03 3.71452762e+01] [ 5.88443540e-03 9.99982672e-01 -1.68526469e-04 -3.22173193e+00] [ 8.99812376e-03 1.15572770e-04 9.99959509e-01 -1.49179194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.199928851 meters 0.10350300574704954 Centerline is valid? [True, False] Translation: X:37.15, Y:-3.22, Z:-1.49 [[ 9.99941304e-01 -5.84243259e-03 -9.12442987e-03 3.71462967e+01] [ 5.83954508e-03 9.99982891e-01 -3.43068538e-04 -3.21981882e+00] [ 9.12627811e-03 2.89765881e-04 9.99958313e-01 -1.49291019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.259928851 meters 0.1026470935501138 Centerline is valid? [False, False] Translation: X:37.14, Y:-3.22, Z:-1.49 [[ 9.99963476e-01 -2.24520177e-03 -8.24661130e-03 3.71446054e+01] [ 2.27502808e-03 9.99990899e-01 3.60919758e-03 -3.21981479e+00] [ 8.23843287e-03 -3.62782703e-03 9.99959483e-01 -1.49303673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.319928851 meters 0.10281445741548823 Centerline is valid? [False, False] Translation: X:37.14, Y:-3.22, Z:-1.49 [[ 9.99965320e-01 -2.50327668e-03 -7.94301536e-03 3.71440986e+01] [ 2.53100429e-03 9.99990732e-01 3.48268764e-03 -3.21955811e+00] [ 7.93422362e-03 -3.50267067e-03 9.99962389e-01 -1.49321712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.379928851 meters 0.10496882109619089 Centerline is valid? [False, False] Translation: X:37.14, Y:-3.22, Z:-1.49 [[ 9.99966372e-01 -3.10634166e-03 -7.58980872e-03 3.71430170e+01] [ 3.12812553e-03 9.99991018e-01 2.85996483e-03 -3.21865897e+00] [ 7.58085652e-03 -2.88361053e-03 9.99967107e-01 -1.49271635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.439928851 meters 0.11105523618321218 Centerline is valid? [False, False] Translation: X:37.14, Y:-3.22, Z:-1.49 [[ 9.99967119e-01 -2.97251218e-03 -7.54484817e-03 3.71434360e+01] [ 2.99588878e-03 9.99990741e-01 3.08894326e-03 -3.21859060e+00] [ 7.53559640e-03 -3.11144522e-03 9.99966766e-01 -1.49343859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.499928851 meters 0.10886086791337186 Centerline is valid? [False, False] Translation: X:37.14, Y:-3.22, Z:-1.49 [[ 9.99968885e-01 -3.29827502e-03 -7.16594821e-03 3.71426918e+01] [ 3.31925833e-03 9.99990233e-01 2.91828040e-03 -3.21831936e+00] [ 7.15625293e-03 -2.94197523e-03 9.99970066e-01 -1.49349982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.559928851 meters 0.10855107669504693 Centerline is valid? [False, False] Translation: X:37.14, Y:-3.22, Z:-1.49 [[ 9.99971619e-01 -3.42526838e-03 -6.71038127e-03 3.71419347e+01] [ 3.44691118e-03 9.99988887e-01 3.21636495e-03 -3.21964806e+00] [ 6.69928978e-03 -3.23940375e-03 9.99972313e-01 -1.49366346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.619928851000004 meters 0.11030938094690809 Centerline is valid? [False, False] Translation: X:37.14, Y:-3.22, Z:-1.49 [[ 9.99973906e-01 -3.44249993e-03 -6.35114926e-03 3.71412114e+01] [ 3.46567190e-03 9.99987366e-01 3.64107662e-03 -3.22126327e+00] [ 6.33853461e-03 -3.66299261e-03 9.99973202e-01 -1.49360261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.679928851 meters 0.11197466294260033 Centerline is valid? [False, False] Translation: X:37.14, Y:-3.22, Z:-1.49 [[ 9.99975631e-01 -3.46662076e-03 -6.05973495e-03 3.71405240e+01] [ 3.49034117e-03 9.99986271e-01 3.90824786e-03 -3.22259525e+00] [ 6.04610334e-03 -3.92930316e-03 9.99974002e-01 -1.49341911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.739928851 meters 0.11291005885739683 Centerline is valid? [False, False] Translation: X:37.14, Y:-3.22, Z:-1.49 [[ 9.99977118e-01 -3.57026798e-03 -5.74594721e-03 3.71397769e+01] [ 3.59364273e-03 9.99985289e-01 4.06287076e-03 -3.22370776e+00] [ 5.73135714e-03 -4.08342668e-03 9.99975238e-01 -1.49317656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.799928851000004 meters 0.11302480003112253 Centerline is valid? [False, False] Translation: X:37.14, Y:-3.22, Z:-1.49 [[ 9.99976961e-01 -3.49309015e-03 -5.82027676e-03 3.71400294e+01] [ 3.51705538e-03 9.99985359e-01 4.11240692e-03 -3.22389493e+00] [ 5.80582654e-03 -4.13278241e-03 9.99974606e-01 -1.49328999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.859928851 meters 0.10985775848225958 Centerline is valid? [False, False] Translation: X:37.14, Y:-3.22, Z:-1.49 [[ 9.99975027e-01 -3.17423576e-03 -6.31424964e-03 3.71413219e+01] [ 3.20001241e-03 9.99986571e-01 4.07639241e-03 -3.22311142e+00] [ 6.30122542e-03 -4.09649629e-03 9.99971756e-01 -1.49376293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.919928851 meters 0.1075705130119466 Centerline is valid? [False, False] Translation: X:37.14, Y:-3.22, Z:-1.49 [[ 9.99976237e-01 -1.82867590e-03 -6.64688512e-03 3.71430020e+01] [ 1.85808055e-03 9.99988504e-01 4.42034375e-03 -3.21995011e+00] [ 6.63872534e-03 -4.43258915e-03 9.99968139e-01 -1.49458050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.979928851000004 meters 0.10322560826592536 Centerline is valid? [False, False] Translation: X:37.14, Y:-3.22, Z:-1.49 [[ 9.99973772e-01 -1.68524736e-03 -7.04380157e-03 3.71438704e+01] [ 1.71430961e-03 9.99990035e-01 4.12193292e-03 -3.21842230e+00] [ 7.03678490e-03 -4.13390007e-03 9.99966697e-01 -1.49472603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.039928851 meters 0.10215941865175253 Centerline is valid? [False, False] Translation: X:37.15, Y:-3.22, Z:-1.50 [[ 9.99969150e-01 -1.14286097e-03 -7.77129005e-03 3.71459490e+01] [ 1.17416870e-03 9.99991209e-01 4.02527242e-03 -3.21667269e+00] [ 7.76662141e-03 -4.03427304e-03 9.99961701e-01 -1.49570456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.099928851 meters 0.10000462388112956 Centerline is valid? [False, False] Translation: X:37.15, Y:-3.21, Z:-1.50 [[ 9.99960954e-01 -2.45587585e-04 -8.83351773e-03 3.71488409e+01] [ 2.80739334e-04 9.99992047e-01 3.97834040e-03 -3.21396726e+00] [ 8.83247044e-03 -3.98066497e-03 9.99953070e-01 -1.49686764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.159928851000004 meters 0.0961532667992708 Centerline is valid? [False, True] Translation: X:37.15, Y:-3.21, Z:-1.50 [[ 9.99955211e-01 -1.60890581e-04 -9.46313324e-03 3.71500704e+01] [ 1.91619462e-04 9.99994712e-01 3.24640353e-03 -3.21114976e+00] [ 9.46256089e-03 -3.24807145e-03 9.99949954e-01 -1.49693824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.219928851 meters 0.09099654832928143 Centerline is valid? [True, True] Translation: X:37.21, Y:-3.20, Z:-1.50 [[ 9.99884009e-01 1.06235509e-02 -1.09136791e-02 3.72113955e+01] [-1.06116098e-02 9.99943032e-01 1.15147234e-03 -3.20357583e+00] [ 1.09252901e-02 -1.03552708e-03 9.99939781e-01 -1.49739705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.279928851 meters 0.08829545395662541 Centerline is valid? [True, True] Translation: X:37.27, Y:-3.20, Z:-1.50 [[ 9.99647373e-01 2.44410104e-02 -1.03810876e-02 3.72712524e+01] [-2.44309533e-02 9.99700921e-01 1.09452265e-03 -3.19866262e+00] [ 1.04047341e-02 -8.40516824e-04 9.99945516e-01 -1.49934575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.339928851 meters 0.08481399590486882 Centerline is valid? [True, True] Translation: X:37.33, Y:-3.19, Z:-1.50 [[ 9.99382442e-01 3.38148660e-02 -9.55456324e-03 3.73327160e+01] [-3.38067694e-02 9.99427880e-01 1.00769873e-03 -3.19295137e+00] [ 9.58317208e-03 -6.84067503e-04 9.99953846e-01 -1.49855512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.399928851 meters 0.07922280326519521 Centerline is valid? [True, True] Translation: X:37.39, Y:-3.18, Z:-1.50 [[ 9.98852460e-01 4.72217401e-02 -7.99190840e-03 3.73946458e+01] [-4.72165035e-02 9.98884323e-01 8.42754987e-04 -3.17964774e+00] [ 8.02278837e-03 -4.64437920e-04 9.99967709e-01 -1.49736961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.459928851 meters 0.07650647331186576 Centerline is valid? [True, True] Translation: X:37.46, Y:-3.17, Z:-1.50 [[ 9.98340576e-01 5.73155139e-02 -5.57004186e-03 3.74566078e+01] [-5.73131278e-02 9.98356079e-01 5.87184908e-04 -3.17208313e+00] [ 5.59453996e-03 -2.66973998e-04 9.99984315e-01 -1.49690198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.519928851 meters 0.07585829440520761 Centerline is valid? [True, True] Translation: X:37.52, Y:-3.17, Z:-1.50 [[ 9.98060656e-01 6.20318001e-02 -5.19452389e-03 3.75163728e+01] [-6.20297902e-02 9.98074148e-01 5.47299115e-04 -3.17377269e+00] [ 5.21846996e-03 -2.24022486e-04 9.99986359e-01 -1.49909863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.579928851 meters 0.07469944415914176 Centerline is valid? [True, True] Translation: X:37.58, Y:-3.17, Z:-1.50 [[ 9.97773934e-01 6.64082784e-02 -6.09245511e-03 3.75771089e+01] [-6.64055945e-02 9.97792506e-01 6.41979295e-04 -3.17369356e+00] [ 6.12163879e-03 -2.35977103e-04 9.99981235e-01 -1.49987724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.639928851 meters 0.07435594240186658 Centerline is valid? [True, True] Translation: X:37.64, Y:-3.18, Z:-1.50 [[ 9.97656462e-01 6.83093991e-02 -3.92561792e-03 3.76366494e+01] [-6.83083014e-02 9.97664175e-01 4.13193816e-04 -3.17732227e+00] [ 3.94467338e-03 -1.44073189e-04 9.99992209e-01 -1.49992508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.699928851 meters 0.07412653999727188 Centerline is valid? [True, True] Translation: X:37.70, Y:-3.18, Z:-1.50 [[ 9.97730636e-01 6.72504243e-02 -3.31030460e-03 3.76952044e+01] [-6.72496509e-02 9.97736120e-01 3.44527935e-04 -3.18210664e+00] [ 3.32598012e-03 -1.21129246e-04 9.99994462e-01 -1.49972148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.759928851 meters 0.07457439820679608 Centerline is valid? [True, True] Translation: X:37.75, Y:-3.19, Z:-1.50 [[ 9.97860294e-01 6.53737061e-02 -1.05429576e-03 3.77519523e+01] [-6.53736268e-02 9.97860850e-01 1.09522223e-04 -3.19254063e+00] [ 1.05920033e-03 -4.03647403e-05 9.99999438e-01 -1.50086707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.819928851 meters 0.07459886789094063 Centerline is valid? [True, True] Translation: X:37.81, Y:-3.20, Z:-1.50 [[ 9.97889820e-01 6.48933596e-02 -2.18133890e-03 3.78099008e+01] [-6.48930222e-02 9.97892201e-01 2.25162881e-04 -3.19873046e+00] [ 2.19135265e-03 -8.31340728e-05 9.99997596e-01 -1.50173162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.879928851 meters 0.07506061211793925 Centerline is valid? [True, True] Translation: X:37.87, Y:-3.21, Z:-1.50 [[ 9.97909310e-01 6.45667672e-02 -2.85351581e-03 3.78674373e+01] [-6.45661872e-02 9.97913383e-01 2.95002530e-04 -3.20884147e+00] [ 2.86660898e-03 -1.10145134e-04 9.99995885e-01 -1.50477035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.939928851 meters 0.07555443015213499 Centerline is valid? [True, True] Translation: X:37.93, Y:-3.22, Z:-1.51 [[ 9.97999702e-01 6.29825974e-02 -5.45784576e-03 3.79258208e+01] [-6.29804237e-02 9.98014600e-01 5.69397682e-04 -3.21959541e+00] [ 5.48287190e-03 -2.24521279e-04 9.99984944e-01 -1.50674806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.999928851 meters 0.07558790010718314 Centerline is valid? [True, True] Translation: X:37.98, Y:-3.23, Z:-1.51 [[ 9.98031449e-01 6.25128336e-02 -5.03714844e-03 3.79830007e+01] [-6.25109977e-02 9.98044139e-01 5.21241832e-04 -3.22647318e+00] [ 5.05988078e-03 -2.05338566e-04 9.99987178e-01 -1.50686945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.059928851 meters 0.07639802931930254 Centerline is valid? [True, True] Translation: X:38.04, Y:-3.24, Z:-1.51 [[ 9.98081075e-01 6.16115009e-02 -6.17983324e-03 3.80399018e+01] [-6.16087012e-02 9.98100173e-01 6.42562045e-04 -3.23814583e+00] [ 6.20768183e-03 -2.60597517e-04 9.99980698e-01 -1.51031778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.119928851000004 meters 0.07737179294801436 Centerline is valid? [True, True] Translation: X:38.10, Y:-3.25, Z:-1.51 [[ 9.98219102e-01 5.90569627e-02 -8.42015556e-03 3.80989708e+01] [-5.90516643e-02 9.98254543e-01 8.76705392e-04 -3.25022470e+00] [ 8.45723410e-03 -3.77919870e-04 9.99964166e-01 -1.51391259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.179928851 meters 0.07811604464562866 Centerline is valid? [True, True] Translation: X:38.16, Y:-3.26, Z:-1.52 [[ 9.98384017e-01 5.61951514e-02 -8.45340662e-03 3.81580281e+01] [-5.61897126e-02 9.98419723e-01 8.79704365e-04 -3.26117135e+00] [ 8.48948301e-03 -4.03288289e-04 9.99963882e-01 -1.51547803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.239928851 meters 0.08059245600790595 Centerline is valid? [True, True] Translation: X:38.22, Y:-3.28, Z:-1.52 [[ 9.98671987e-01 5.09048627e-02 -7.93451521e-03 3.82153509e+01] [-5.08999072e-02 9.98703419e-01 8.25376218e-04 -3.27909199e+00] [ 7.96624312e-03 -4.20414021e-04 9.99968181e-01 -1.51704975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.299928851000004 meters 0.08314237295048006 Centerline is valid? [True, True] Translation: X:38.27, Y:-3.30, Z:-1.52 [[ 9.98984195e-01 4.42377466e-02 -8.57909698e-03 3.82737913e+01] [-4.42317061e-02 9.99020900e-01 8.92645984e-04 -3.29653475e+00] [ 8.61018584e-03 -5.12271133e-04 9.99962800e-01 -1.51840176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.359928851 meters 0.08430021886517754 Centerline is valid? [True, True] Translation: X:38.33, Y:-3.31, Z:-1.52 [[ 9.99182020e-01 3.96665051e-02 -7.86509556e-03 3.83335340e+01] [-3.96612858e-02 9.99212846e-01 8.18534207e-04 -3.30963356e+00] [ 7.89137292e-03 -5.05924860e-04 9.99968735e-01 -1.51876648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.419928851 meters 0.08220512938068436 Centerline is valid? [True, True] Translation: X:38.39, Y:-3.32, Z:-1.52 [[ 9.99407136e-01 3.33275845e-02 -8.63989344e-03 3.83938208e+01] [-3.33210500e-02 9.99444295e-01 8.99211626e-04 -3.31593501e+00] [ 8.66506076e-03 -6.10788195e-04 9.99962271e-01 -1.51718270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.479928851000004 meters 0.0839155580890221 Centerline is valid? [True, True] Translation: X:38.45, Y:-3.33, Z:-1.52 [[ 9.99585680e-01 2.75587308e-02 -8.30572442e-03 3.84531044e+01] [-2.75524938e-02 9.99619984e-01 8.64443458e-04 -3.33196051e+00] [ 8.32639108e-03 -6.35241881e-04 9.99965133e-01 -1.51861879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.539928851 meters 0.0850156212239846 Centerline is valid? [True, True] Translation: X:38.51, Y:-3.34, Z:-1.52 [[ 9.99660503e-01 2.44564165e-02 -8.98674345e-03 3.85129729e+01] [-2.44489908e-02 9.99700641e-01 9.35245634e-04 -3.34416166e+00] [ 9.00692595e-03 -7.15211313e-04 9.99959181e-01 -1.51996541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.599928851 meters 0.08679779341696874 Centerline is valid? [True, True] Translation: X:38.57, Y:-3.36, Z:-1.52 [[ 9.99682353e-01 2.32625789e-02 -9.69771119e-03 3.85705194e+01] [-2.32538873e-02 9.99729084e-01 1.00806609e-03 -3.35842569e+00] [ 9.71853414e-03 -7.82236398e-04 9.99952468e-01 -1.52230033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.659928851000004 meters 0.08742104633366242 Centerline is valid? [True, True] Translation: X:38.63, Y:-3.37, Z:-1.52 [[ 9.99677674e-01 2.35665268e-02 -9.44283135e-03 3.86289514e+01] [-2.35583077e-02 9.99721984e-01 9.80709647e-04 -3.36789723e+00] [ 9.46331801e-03 -7.57936412e-04 9.99954935e-01 -1.52299344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.719928851 meters 0.08772160049281767 Centerline is valid? [True, True] Translation: X:38.69, Y:-3.38, Z:-1.52 [[ 9.99641557e-01 2.49753755e-02 -9.64304502e-03 3.86877025e+01] [-2.49668674e-02 9.99687777e-01 1.00169841e-03 -3.37685964e+00] [ 9.66505204e-03 -7.60582736e-04 9.99953003e-01 -1.52409298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.779928851 meters 0.08662046286258437 Centerline is valid? [True, True] Translation: X:38.75, Y:-3.38, Z:-1.52 [[ 9.99548526e-01 2.84823683e-02 -9.56553270e-03 3.87484142e+01] [-2.84741485e-02 9.99594035e-01 9.94435426e-04 -3.38219714e+00] [ 9.58997330e-03 -7.21616066e-04 9.99953755e-01 -1.52429148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.839928851 meters 0.08569876242613597 Centerline is valid? [True, True] Translation: X:38.81, Y:-3.39, Z:-1.53 [[ 9.99483459e-01 3.04987547e-02 -1.01311980e-02 3.88080026e+01] [-3.04896494e-02 9.99534529e-01 1.05201345e-03 -3.38734202e+00] [ 1.01585674e-02 -7.42573367e-04 9.99948125e-01 -1.52684001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.899928851 meters 0.08447411283914606 Centerline is valid? [True, True] Translation: X:38.87, Y:-3.39, Z:-1.53 [[ 9.99449251e-01 3.11143877e-02 -1.15364665e-02 3.88669997e+01] [-3.11026338e-02 9.99515479e-01 1.19691393e-03 -3.39020723e+00] [ 1.15681181e-02 -8.37440235e-04 9.99932736e-01 -1.52801725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.959928851 meters 0.08300296097111744 Centerline is valid? [True, True] Translation: X:38.93, Y:-3.39, Z:-1.53 [[ 9.99484818e-01 3.02776401e-02 -1.06471687e-02 3.89257881e+01] [-3.02675900e-02 9.99541222e-01 1.10383577e-03 -3.39196423e+00] [ 1.06757056e-02 -7.81002952e-04 9.99942708e-01 -1.52684463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.019928851 meters 0.08653767317675562 Centerline is valid? [True, True] Translation: X:38.98, Y:-3.41, Z:-1.53 [[ 9.99561356e-01 2.81594379e-02 -9.17282241e-03 3.89831073e+01] [-2.81518929e-02 9.99603205e-01 9.50650892e-04 -3.40614837e+00] [ 9.19595248e-03 -6.92001582e-04 9.99957477e-01 -1.52983196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.079928851 meters 0.08362528711020698 Centerline is valid? [True, True] Translation: X:39.04, Y:-3.41, Z:-1.53 [[ 9.99617947e-01 2.60757936e-02 -9.16586068e-03 3.90432539e+01] [-2.60681704e-02 9.99659716e-01 9.50203597e-04 -3.40638082e+00] [ 9.18751900e-03 -7.10903351e-04 9.99957541e-01 -1.52834611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.139928851 meters 0.08444018356319917 Centerline is valid? [True, True] Translation: X:39.10, Y:-3.41, Z:-1.53 [[ 9.99696696e-01 2.30136527e-02 -8.76858736e-03 3.91033073e+01] [-2.30065602e-02 9.99734901e-01 9.08877192e-04 -3.41346402e+00] [ 8.78717940e-03 -7.06866492e-04 9.99961142e-01 -1.52945318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.199928851 meters 0.08589277394843664 Centerline is valid? [True, True] Translation: X:39.16, Y:-3.42, Z:-1.53 [[ 9.99753893e-01 2.03914186e-02 -8.73742087e-03 3.91624174e+01] [-2.03842782e-02 9.99791809e-01 9.05508546e-04 -3.42143665e+00] [ 8.75406642e-03 -7.27179677e-04 9.99961418e-01 -1.53161446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.259928851 meters 0.08636153537534332 Centerline is valid? [True, True] Translation: X:39.22, Y:-3.43, Z:-1.53 [[ 9.99767815e-01 1.97698867e-02 -8.57132356e-03 3.92210166e+01] [-1.97630038e-02 9.99804299e-01 8.86979399e-04 -3.42597164e+00] [ 8.58718163e-03 -7.17378356e-04 9.99962872e-01 -1.53298178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.319928851 meters 0.08777103923848509 Centerline is valid? [True, True] Translation: X:39.28, Y:-3.43, Z:-1.53 [[ 9.99748566e-01 2.10399441e-02 -7.75411582e-03 3.92796403e+01] [-2.10343479e-02 9.99778432e-01 8.02563814e-04 -3.43267663e+00] [ 7.76928365e-03 -6.39259251e-04 9.99969614e-01 -1.53475559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.379928851 meters 0.08778524973809222 Centerline is valid? [True, True] Translation: X:39.34, Y:-3.44, Z:-1.54 [[ 9.99678384e-01 2.42361825e-02 -7.46571468e-03 3.93391458e+01] [-2.42310830e-02 9.99706086e-01 7.72761740e-04 -3.43531219e+00] [ 7.48224919e-03 -5.91610855e-04 9.99971833e-01 -1.53591385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.439928851 meters 0.08453470627396543 Centerline is valid? [True, True] Translation: X:39.40, Y:-3.43, Z:-1.54 [[ 9.99633049e-01 2.62776894e-02 -6.57645882e-03 3.93996525e+01] [-2.62737797e-02 9.99654553e-01 6.80207910e-04 -3.43181063e+00] [ 6.59206130e-03 -5.07169877e-04 9.99978144e-01 -1.53504185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.499928851 meters 0.08384827054710751 Centerline is valid? [True, True] Translation: X:39.46, Y:-3.43, Z:-1.54 [[ 9.99511174e-01 3.05705609e-02 -6.54621399e-03 3.94607355e+01] [-3.05667738e-02 9.99532497e-01 6.77819719e-04 -3.43315029e+00] [ 6.56387494e-03 -4.77391741e-04 9.99978344e-01 -1.53738993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.559928851 meters 0.08304344558810692 Centerline is valid? [True, True] Translation: X:39.52, Y:-3.43, Z:-1.54 [[ 9.99343384e-01 3.57291466e-02 -6.01908438e-03 3.95200415e+01] [-3.57260422e-02 9.99361427e-01 6.22525962e-04 -3.43359708e+00] [ 6.03748308e-03 -4.07079139e-04 9.99981691e-01 -1.53813774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.619928851 meters 0.08224866639030672 Centerline is valid? [True, True] Translation: X:39.58, Y:-3.43, Z:-1.54 [[ 9.99155584e-01 4.04072930e-02 -7.44104635e-03 3.95809302e+01] [-4.04026745e-02 9.99183182e-01 7.70021398e-04 -3.43400212e+00] [ 7.46608284e-03 -4.68733007e-04 9.99972019e-01 -1.54044441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.679928851 meters 0.07934674568630834 Centerline is valid? [True, True] Translation: X:39.64, Y:-3.43, Z:-1.54 [[ 9.99106375e-01 4.17006612e-02 -6.89250861e-03 3.96409972e+01] [-4.16967616e-02 9.99130061e-01 7.08570933e-04 -3.43028549e+00] [ 6.91606042e-03 -4.20542448e-04 9.99975995e-01 -1.53876506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.739928851 meters 0.07991229435853056 Centerline is valid? [True, True] Translation: X:39.70, Y:-3.44, Z:-1.54 [[ 9.99142974e-01 4.06978420e-02 -7.55006912e-03 3.96995451e+01] [-4.06931469e-02 9.99171391e-01 7.74503227e-04 -3.43623974e+00] [ 7.57533367e-03 -4.66603385e-04 9.99971198e-01 -1.54048476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.799928851000004 meters 0.08069470420627081 Centerline is valid? [True, True] Translation: X:39.76, Y:-3.44, Z:-1.54 [[ 9.99288665e-01 3.70465172e-02 -7.05117583e-03 3.97591431e+01] [-3.70423124e-02 9.99313434e-01 7.26034883e-04 -3.44411812e+00] [ 7.07323180e-03 -4.64326571e-04 9.99974877e-01 -1.54157963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.859928851 meters 0.08262836875842183 Centerline is valid? [True, True] Translation: X:39.82, Y:-3.45, Z:-1.54 [[ 9.99424994e-01 3.32302977e-02 -6.74005904e-03 3.98176345e+01] [-3.32263669e-02 9.99447611e-01 6.94370142e-04 -3.45394283e+00] [ 6.75941003e-03 -4.70023200e-04 9.99977044e-01 -1.54330493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.919928851 meters 0.0830966387629551 Centerline is valid? [True, True] Translation: X:39.88, Y:-3.46, Z:-1.54 [[ 9.99457911e-01 3.22450657e-02 -6.64380648e-03 3.98763217e+01] [-3.22412343e-02 9.99479883e-01 6.83018788e-04 -3.46107212e+00] [ 6.66237491e-03 -4.68444010e-04 9.99977696e-01 -1.54389702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.979928851000004 meters 0.08478063675429566 Centerline is valid? [True, True] Translation: X:39.93, Y:-3.47, Z:-1.55 [[ 9.99519001e-01 3.03064609e-02 -6.57909306e-03 3.99346529e+01] [-3.03026625e-02 9.99540540e-01 6.76288581e-04 -3.46987191e+00] [ 6.59656614e-03 -4.76599250e-04 9.99978129e-01 -1.54591628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.039928851 meters 0.08533825394835233 Centerline is valid? [True, True] Translation: X:39.99, Y:-3.48, Z:-1.55 [[ 9.99612547e-01 2.71933706e-02 -5.93939509e-03 3.99948021e+01] [-2.71902164e-02 9.99630091e-01 6.11185890e-04 -3.47774280e+00] [ 5.95381826e-03 -4.49455646e-04 9.99982175e-01 -1.54556313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.099928851 meters 0.0898849022036057 Centerline is valid? [True, True] Translation: X:40.05, Y:-3.49, Z:-1.55 [[ 9.99735812e-01 2.18432619e-02 -7.15393610e-03 4.00530339e+01] [-2.18385518e-02 9.99761240e-01 7.35853460e-04 -3.49379439e+00] [ 7.16830147e-03 -5.79427452e-04 9.99974140e-01 -1.55008718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.159928851000004 meters 0.09123051278376942 Centerline is valid? [True, True] Translation: X:40.11, Y:-3.50, Z:-1.55 [[ 9.99790263e-01 1.87881893e-02 -8.15073177e-03 4.01131326e+01] [-1.87819725e-02 9.99823251e-01 8.38610865e-04 -3.50129435e+00] [ 8.16504712e-03 -6.85348157e-04 9.99966431e-01 -1.55100504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.219928851 meters 0.08852516919885471 Centerline is valid? [True, True] Translation: X:40.17, Y:-3.50, Z:-1.55 [[ 9.99776100e-01 1.97192700e-02 -7.67470838e-03 4.01722000e+01] [-1.97137969e-02 9.99805354e-01 7.88144722e-04 -3.50017352e+00] [ 7.68875616e-03 -6.36670614e-04 9.99970238e-01 -1.55078912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.279928851 meters 0.08519580883451564 Centerline is valid? [True, True] Translation: X:40.23, Y:-3.50, Z:-1.55 [[ 9.99718524e-01 2.24790024e-02 -7.58734666e-03 4.02333461e+01] [-2.24737257e-02 9.99747130e-01 7.80025638e-04 -3.49622710e+00] [ 7.60296225e-03 -6.09290132e-04 9.99970911e-01 -1.54959036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.339928851 meters 0.08596623812353446 Centerline is valid? [True, True] Translation: X:40.29, Y:-3.50, Z:-1.55 [[ 9.99687873e-01 2.39635234e-02 -7.06442319e-03 4.02919738e+01] [-2.39589904e-02 9.99712679e-01 7.25606234e-04 -3.50155829e+00] [ 7.07978152e-03 -5.56123305e-04 9.99974783e-01 -1.55147204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.399928851 meters 0.09026322827620667 Centerline is valid? [True, True] Translation: X:40.35, Y:-3.51, Z:-1.55 [[ 9.99682926e-01 2.45004339e-02 -5.81173200e-03 4.03493303e+01] [-2.44973806e-02 9.99699716e-01 5.95985139e-04 -3.51382098e+00] [ 5.82458873e-03 -4.53423957e-04 9.99982934e-01 -1.55368065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.459928851 meters 0.08617131553002773 Centerline is valid? [True, True] Translation: X:40.41, Y:-3.51, Z:-1.55 [[ 9.99679192e-01 2.47814482e-02 -5.23390432e-03 4.04091785e+01] [-2.47789781e-02 9.99692810e-01 5.36266804e-04 -3.50862658e+00] [ 5.24558598e-03 -4.06403965e-04 9.99986159e-01 -1.55291277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.519928851 meters 0.08896402194656787 Centerline is valid? [True, True] Translation: X:40.47, Y:-3.52, Z:-1.56 [[ 9.99712144e-01 2.25743817e-02 -8.12567043e-03 4.04676016e+01] [-2.25683432e-02 9.99744955e-01 8.34081989e-04 -3.51811944e+00] [ 8.14242690e-03 -6.50458974e-04 9.99966638e-01 -1.55753123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.579928851 meters 0.09112568136205486 Centerline is valid? [True, True] Translation: X:40.53, Y:-3.53, Z:-1.56 [[ 9.99737275e-01 2.13248493e-02 -8.40429272e-03 4.05254237e+01] [-2.13183550e-02 9.99772367e-01 8.61569698e-04 -3.52819800e+00] [ 8.42075246e-03 -6.82177646e-04 9.99964312e-01 -1.56060142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.639928851 meters 0.09251547542189632 Centerline is valid? [True, True] Translation: X:40.59, Y:-3.54, Z:-1.56 [[ 9.99792854e-01 1.87783240e-02 -7.85003952e-03 4.05855054e+01] [-1.87725749e-02 9.99823455e-01 8.05416295e-04 -3.53609238e+00] [ 7.86377800e-03 -6.57884001e-04 9.99968864e-01 -1.56158090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.699928851 meters 0.09267380393165081 Centerline is valid? [True, True] Translation: X:40.65, Y:-3.54, Z:-1.56 [[ 9.99852836e-01 1.61535234e-02 -5.77663139e-03 4.06458446e+01] [-1.61503668e-02 9.99869399e-01 5.92684029e-04 -3.54243312e+00] [ 5.78545089e-03 -4.99302092e-04 9.99983139e-01 -1.55987966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.759928851 meters 0.09035806286188568 Centerline is valid? [True, True] Translation: X:40.71, Y:-3.54, Z:-1.56 [[ 9.99896257e-01 1.34598801e-02 -5.12905897e-03 4.07058406e+01] [-1.34573588e-02 9.99909307e-01 5.25770253e-04 -3.54440001e+00] [ 5.13567061e-03 -4.56692121e-04 9.99986708e-01 -1.55800176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.819928851 meters 0.09350134497627541 Centerline is valid? [True, True] Translation: X:40.77, Y:-3.56, Z:-1.56 [[ 9.99948996e-01 8.67965865e-03 -5.16420743e-03 4.07650841e+01] [-8.67703919e-03 9.99962214e-01 5.29423606e-04 -3.55894087e+00] [ 5.16860751e-03 -4.84586573e-04 9.99986525e-01 -1.55960659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.879928851 meters 0.09579144545574755 Centerline is valid? [True, True] Translation: X:40.82, Y:-3.57, Z:-1.56 [[ 9.99964524e-01 5.30532337e-03 -6.54245223e-03 4.08244145e+01] [-5.30104680e-03 9.99985724e-01 6.70832984e-04 -3.57062224e+00] [ 6.54591781e-03 -6.36127340e-04 9.99978373e-01 -1.56171963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.939928851 meters 0.10023464189904308 Centerline is valid? [True, False] Translation: X:40.82, Y:-3.57, Z:-1.56 [[ 9.99966471e-01 5.05555909e-03 -6.44192093e-03 4.08238992e+01] [-5.05270320e-03 9.99987129e-01 4.59526281e-04 -3.57067979e+00] [ 6.44416118e-03 -4.26961759e-04 9.99979145e-01 -1.56128682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.999928851 meters 0.09606234043519825 Centerline is valid? [False, True] Translation: X:40.82, Y:-3.57, Z:-1.56 [[ 9.99965349e-01 5.16014047e-03 -6.53249228e-03 4.08242868e+01] [-5.15700645e-03 9.99986579e-01 4.96513078e-04 -3.57079119e+00] [ 6.53496669e-03 -4.62807769e-04 9.99978540e-01 -1.56153066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.059928851 meters 0.09740308730755495 Centerline is valid? [True, True] Translation: X:40.88, Y:-3.58, Z:-1.56 [[ 9.99962064e-01 6.51777038e-03 -5.77838012e-03 4.08827122e+01] [-6.51444528e-03 9.99978604e-01 5.94073515e-04 -3.57727157e+00] [ 5.78212853e-03 -5.56408037e-04 9.99983129e-01 -1.56174951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.119928851 meters 0.0981807733949975 Centerline is valid? [True, True] Translation: X:40.94, Y:-3.58, Z:-1.56 [[ 9.99951886e-01 7.08275295e-03 -6.78679193e-03 4.09413240e+01] [-7.07818271e-03 9.99974706e-01 6.97184306e-04 -3.58310299e+00] [ 6.79155825e-03 -6.49112608e-04 9.99976726e-01 -1.56349992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.179928851 meters 0.09692017652728226 Centerline is valid? [True, True] Translation: X:41.00, Y:-3.59, Z:-1.56 [[ 9.99936168e-01 9.52951194e-03 -6.07035816e-03 4.10013324e+01] [-9.52589455e-03 9.99954433e-01 6.24545766e-04 -3.58555703e+00] [ 6.07603316e-03 -5.66680308e-04 9.99981380e-01 -1.56404731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.239928851 meters 0.0935747034845118 Centerline is valid? [True, True] Translation: X:41.06, Y:-3.58, Z:-1.56 [[ 9.99915495e-01 1.21988807e-02 -4.49343629e-03 4.10626717e+01] [-1.21969255e-02 9.99925508e-01 4.62282054e-04 -3.58253625e+00] [ 4.49874089e-03 -4.07436881e-04 9.99989798e-01 -1.56322558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.299928851000004 meters 0.09020436821936831 Centerline is valid? [True, True] Translation: X:41.12, Y:-3.58, Z:-1.56 [[ 9.99907069e-01 1.28195243e-02 -4.63820855e-03 4.11218899e+01] [-1.28174546e-02 9.99917740e-01 4.75682932e-04 -3.58008446e+00] [ 4.64392504e-03 -4.16188698e-04 9.99989130e-01 -1.56370251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.359928851 meters 0.09422514613687978 Centerline is valid? [True, True] Translation: X:41.18, Y:-3.59, Z:-1.57 [[ 9.99928550e-01 1.05773261e-02 -5.56920140e-03 4.11802981e+01] [-1.05743038e-02 9.99943927e-01 5.71838749e-04 -3.59119005e+00] [ 5.57493764e-03 -5.12907464e-04 9.99984328e-01 -1.56686751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.419928851 meters 0.09522190902512714 Centerline is valid? [True, True] Translation: X:41.24, Y:-3.60, Z:-1.57 [[ 9.99936509e-01 1.01582315e-02 -4.87741868e-03 4.12386136e+01] [-1.01559133e-02 9.99948302e-01 4.99832564e-04 -3.59767406e+00] [ 4.88224394e-03 -4.50266188e-04 9.99987980e-01 -1.56859616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.479928851000004 meters 0.09786700941758268 Centerline is valid? [True, True] Translation: X:41.30, Y:-3.61, Z:-1.57 [[ 9.99950288e-01 8.08696104e-03 -5.83288890e-03 4.12979372e+01] [-8.08360467e-03 9.99967148e-01 5.98768270e-04 -3.60525132e+00] [ 5.83753950e-03 -5.51587736e-04 9.99982809e-01 -1.57149686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.539928851 meters 0.10007736757479285 Centerline is valid? [True, False] Translation: X:41.30, Y:-3.60, Z:-1.57 [[ 9.99956554e-01 7.29256036e-03 -5.80590145e-03 4.12976248e+01] [-7.29676140e-03 9.99973131e-01 -7.02728456e-04 -3.60135481e+00] [ 5.80062077e-03 7.45062203e-04 9.99982899e-01 -1.57117115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.599928851 meters 0.09695862635552929 Centerline is valid? [False, True] Translation: X:41.30, Y:-3.60, Z:-1.57 [[ 9.99962433e-01 6.68836073e-03 -5.51354817e-03 4.12965391e+01] [-6.69576021e-03 9.99976706e-01 -1.32468988e-03 -3.60021170e+00] [ 5.50455973e-03 1.36155751e-03 9.99983923e-01 -1.57055353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.659928851000004 meters 0.10094504559775108 Centerline is valid? [True, False] Translation: X:41.30, Y:-3.60, Z:-1.57 [[ 9.99970244e-01 5.89173240e-03 -4.97977278e-03 4.12950943e+01] [-5.90177980e-03 9.99980574e-01 -2.00536038e-03 -3.59844897e+00] [ 4.96786099e-03 2.03469023e-03 9.99985590e-01 -1.57014725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.719928851 meters 0.10338933441436622 Centerline is valid? [False, False] Translation: X:41.29, Y:-3.60, Z:-1.57 [[ 9.99977432e-01 5.35063339e-03 -4.06268165e-03 4.12933448e+01] [-5.35832761e-03 9.99983867e-01 -1.88535866e-03 -3.59929463e+00] [ 4.05252825e-03 1.90708529e-03 9.99989970e-01 -1.57040311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.779928851 meters 0.10436555482874875 Centerline is valid? [False, False] Translation: X:41.29, Y:-3.60, Z:-1.57 [[ 9.99980654e-01 5.17364760e-03 -3.45320192e-03 4.12923786e+01] [-5.17885706e-03 9.99985463e-01 -1.50135409e-03 -3.60054198e+00] [ 3.44538424e-03 1.51920868e-03 9.99992911e-01 -1.57088610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.839928851 meters 0.10754227125168232 Centerline is valid? [False, False] Translation: X:41.29, Y:-3.60, Z:-1.57 [[ 9.99984646e-01 4.69948248e-03 -2.93634135e-03 4.12911264e+01] [-4.70439201e-03 9.99987544e-01 -1.66732602e-03 -3.60059814e+00] [ 2.92846921e-03 1.68111412e-03 9.99994299e-01 -1.57068756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.899928851 meters 0.10743977322147562 Centerline is valid? [False, False] Translation: X:41.29, Y:-3.60, Z:-1.57 [[ 9.99986841e-01 4.41301034e-03 -2.61590066e-03 4.12903469e+01] [-4.41763667e-03 9.99988684e-01 -1.76541056e-03 -3.60062455e+00] [ 2.60808029e-03 1.77694342e-03 9.99995020e-01 -1.57057659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.959928851 meters 0.10614850314165089 Centerline is valid? [False, False] Translation: X:41.29, Y:-3.60, Z:-1.57 [[ 9.99987769e-01 4.22141643e-03 -2.57696536e-03 4.12900043e+01] [-4.22659976e-03 9.99989049e-01 -2.00928856e-03 -3.60040073e+00] [ 2.56845510e-03 2.02015579e-03 9.99994661e-01 -1.57019775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.019928851 meters 0.10216873277273278 Centerline is valid? [False, False] Translation: X:41.29, Y:-3.60, Z:-1.57 [[ 9.99986092e-01 4.40931975e-03 -2.89367994e-03 4.12907855e+01] [-4.41517780e-03 9.99988210e-01 -2.02117443e-03 -3.59982856e+00] [ 2.88473382e-03 2.03392243e-03 9.99993771e-01 -1.57034487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.079928851 meters 0.10332769674557282 Centerline is valid? [False, False] Translation: X:41.29, Y:-3.60, Z:-1.57 [[ 9.99986249e-01 4.32705372e-03 -2.96296235e-03 4.12906460e+01] [-4.33349797e-03 9.99988252e-01 -2.17198172e-03 -3.59972444e+00] [ 2.95352926e-03 2.18479184e-03 9.99993252e-01 -1.56992439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.139928851 meters 0.1043773546050856 Centerline is valid? [False, False] Translation: X:41.29, Y:-3.60, Z:-1.57 [[ 9.99983342e-01 4.91772381e-03 -3.02187483e-03 4.12914270e+01] [-4.92187145e-03 9.99986954e-01 -1.36664029e-03 -3.60149916e+00] [ 3.01511464e-03 1.38149081e-03 9.99994500e-01 -1.57079025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.199928851 meters 0.10530443691747197 Centerline is valid? [False, False] Translation: X:41.29, Y:-3.60, Z:-1.57 [[ 9.99983755e-01 4.92723989e-03 -2.86559027e-03 4.12909963e+01] [-4.93058083e-03 9.99987172e-01 -1.15998728e-03 -3.60255170e+00] [ 2.85983798e-03 1.17409746e-03 9.99995221e-01 -1.57066748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.259928851 meters 0.09813922571658319 Centerline is valid? [False, True] Translation: X:41.29, Y:-3.60, Z:-1.57 [[ 9.99984997e-01 4.75258890e-03 -2.72386752e-03 4.12903351e+01] [-4.75605147e-03 9.99987888e-01 -1.26613138e-03 -3.60297411e+00] [ 2.71781713e-03 1.27906724e-03 9.99995489e-01 -1.57012782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.319928851 meters 0.10593462360300714 Centerline is valid? [True, False] Translation: X:41.29, Y:-3.60, Z:-1.57 [[ 9.99992551e-01 1.16332194e-03 -3.68022112e-03 4.12925565e+01] [-1.18290204e-03 9.99985135e-01 -5.32266572e-03 -3.60210515e+00] [ 3.67397444e-03 5.32697941e-03 9.99979062e-01 -1.57046714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.379928851 meters 0.10092095049064342 Centerline is valid? [False, False] Translation: X:41.29, Y:-3.60, Z:-1.57 [[ 9.99993050e-01 1.33122505e-03 -3.48245989e-03 4.12920404e+01] [-1.34790996e-03 9.99987604e-01 -4.79317518e-03 -3.60420054e+00] [ 3.47603592e-03 4.79783591e-03 9.99982449e-01 -1.57031829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.439928851 meters 0.10260082213723944 Centerline is valid? [False, False] Translation: X:41.29, Y:-3.61, Z:-1.57 [[ 9.99993177e-01 1.64598640e-03 -3.30699493e-03 4.12919033e+01] [-1.65924607e-03 9.99990580e-01 -4.01084820e-03 -3.60631524e+00] [ 3.30036198e-03 4.01630795e-03 9.99986488e-01 -1.57066818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.499928851 meters 0.10354819691849772 Centerline is valid? [False, False] Translation: X:41.29, Y:-3.61, Z:-1.57 [[ 9.99993815e-01 1.80171219e-03 -3.02067168e-03 4.12914349e+01] [-1.81196823e-03 9.99992592e-01 -3.39599227e-03 -3.60841689e+00] [ 3.01453070e-03 3.40144462e-03 9.99989671e-01 -1.57086795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.559928851 meters 0.10324109731481124 Centerline is valid? [False, False] Translation: X:41.29, Y:-3.61, Z:-1.57 [[ 9.99995018e-01 1.93487466e-03 -2.49392650e-03 4.12902870e+01] [-1.94119082e-03 9.99994909e-01 -2.53268861e-03 -3.61227666e+00] [ 2.48901337e-03 2.53751718e-03 9.99993683e-01 -1.57075430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.619928851 meters 0.10920305125123134 Centerline is valid? [False, False] Translation: X:41.29, Y:-3.62, Z:-1.57 [[ 9.99994414e-01 2.39412259e-03 -2.33253276e-03 4.12900167e+01] [-2.39764196e-03 9.99995990e-01 -1.50719534e-03 -3.61567079e+00] [ 2.32891499e-03 1.51277950e-03 9.99996144e-01 -1.57080639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.679928851 meters 0.10756629643596423 Centerline is valid? [False, False] Translation: X:41.29, Y:-3.62, Z:-1.57 [[ 9.99993696e-01 2.67245538e-03 -2.33791518e-03 4.12895999e+01] [-2.67469197e-03 9.99995968e-01 -9.54055512e-04 -3.61807017e+00] [ 2.33535608e-03 9.60302701e-04 9.99996812e-01 -1.57015427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.739928851 meters 0.10666752229643019 Centerline is valid? [False, False] Translation: X:41.29, Y:-3.62, Z:-1.57 [[ 9.99991513e-01 3.22012857e-03 -2.57000004e-03 4.12901196e+01] [-3.22089917e-03 9.99994769e-01 -2.95759165e-04 -3.62029693e+00] [ 2.56903422e-03 3.04034366e-04 9.99996654e-01 -1.57013343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.799928851000004 meters 0.10299057032993576 Centerline is valid? [False, False] Translation: X:41.29, Y:-3.62, Z:-1.57 [[ 9.99990720e-01 3.37523889e-03 -2.67735783e-03 4.12903790e+01] [-3.37555534e-03 9.99994296e-01 -1.13686949e-04 -3.62079368e+00] [ 2.67695884e-03 1.22723463e-04 9.99996409e-01 -1.57016166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.859928851 meters 0.10462694588279585 Centerline is valid? [False, False] Translation: X:41.29, Y:-3.62, Z:-1.57 [[ 9.99988200e-01 3.80136830e-03 -3.02484509e-03 4.12911174e+01] [-3.80053892e-03 9.99992739e-01 2.79892370e-04 -3.62203629e+00] [ 3.02588710e-03 -2.68393026e-04 9.99995386e-01 -1.57013080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.919928851 meters 0.09963592133152897 Centerline is valid? [False, True] Translation: X:41.29, Y:-3.62, Z:-1.57 [[ 9.99984929e-01 4.16515392e-03 -3.57669978e-03 4.12921833e+01] [-4.16438094e-03 9.99991304e-01 2.23534843e-04 -3.62198816e+00] [ 3.57759973e-03 -2.08636734e-04 9.99993579e-01 -1.56993947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.979928851000004 meters 0.10039317006628239 Centerline is valid? [True, False] Translation: X:41.29, Y:-3.62, Z:-1.57 [[ 9.99980517e-01 4.50762462e-03 -4.31815325e-03 4.12934582e+01] [-4.50767623e-03 9.99989840e-01 -2.21933199e-06 -3.62100575e+00] [ 4.31809937e-03 2.16841255e-05 9.99990677e-01 -1.56958720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.039928851 meters 0.09793928279789624 Centerline is valid? [False, True] Translation: X:41.29, Y:-3.62, Z:-1.57 [[ 9.99977874e-01 4.60557740e-03 -4.80007635e-03 4.12941825e+01] [-4.60738135e-03 9.99989319e-01 -3.64826994e-04 -3.61992246e+00] [ 4.79834484e-03 3.86934704e-04 9.99988413e-01 -1.56916247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.099928851 meters 0.0974354837206358 Centerline is valid? [True, True] Translation: X:41.35, Y:-3.63, Z:-1.57 [[ 9.99959813e-01 8.26327471e-03 -3.47708364e-03 4.13532494e+01] [-8.26210151e-03 9.99965806e-01 3.51639762e-04 -3.62609615e+00] [ 3.47987044e-03 -3.22897613e-04 9.99993893e-01 -1.57056497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.159928851000004 meters 0.09803146510282482 Centerline is valid? [True, True] Translation: X:41.41, Y:-3.63, Z:-1.57 [[ 9.99947501e-01 9.35817338e-03 -4.17361845e-03 4.14105529e+01] [-9.35649797e-03 9.99956138e-01 4.20774198e-04 -3.63315463e+00] [ 4.17737307e-03 -3.81701655e-04 9.99991202e-01 -1.57170950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.219928851 meters 0.09601509869685564 Centerline is valid? [True, True] Translation: X:41.47, Y:-3.64, Z:-1.57 [[ 9.99947821e-01 9.27087302e-03 -4.29015897e-03 4.14688454e+01] [-9.26910156e-03 9.99956947e-01 4.32611799e-04 -3.63731082e+00] [ 4.29398496e-03 -3.92823306e-04 9.99990704e-01 -1.57276888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.279928851 meters 0.0903619304705241 Centerline is valid? [True, True] Translation: X:41.53, Y:-3.63, Z:-1.57 [[ 9.99947976e-01 8.33118367e-03 -5.88528174e-03 4.15292361e+01] [-8.32782826e-03 9.99965146e-01 5.94412710e-04 -3.63345314e+00] [ 5.89002878e-03 -5.45370171e-04 9.99982505e-01 -1.57161386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.339928851 meters 0.09302257581807025 Centerline is valid? [True, True] Translation: X:41.59, Y:-3.65, Z:-1.57 [[ 9.99956238e-01 6.88977779e-03 -6.32880615e-03 4.15863319e+01] [-6.88587578e-03 9.99976088e-01 6.38130630e-04 -3.64561896e+00] [ 6.33305139e-03 -5.94523331e-04 9.99979769e-01 -1.57379797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.399928851 meters 0.09043855132780898 Centerline is valid? [True, True] Translation: X:41.65, Y:-3.65, Z:-1.57 [[ 9.99948491e-01 7.29914404e-03 -7.05255363e-03 4.16459807e+01] [-7.29430761e-03 9.99973143e-01 7.11248376e-04 -3.64585694e+00] [ 7.05755573e-03 -6.59768244e-04 9.99974877e-01 -1.57304108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.459928851 meters 0.09052649025207472 Centerline is valid? [True, True] Translation: X:41.71, Y:-3.65, Z:-1.57 [[ 9.99945203e-01 8.43658409e-03 -6.19792651e-03 4.17059669e+01] [-8.43286742e-03 9.99964247e-01 6.25553566e-04 -3.65118597e+00] [ 6.20298245e-03 -5.73252996e-04 9.99980597e-01 -1.57418608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.519928851 meters 0.09026901716793917 Centerline is valid? [True, True] Translation: X:41.77, Y:-3.66, Z:-1.58 [[ 9.99931477e-01 1.00250092e-02 -6.04492443e-03 4.17658096e+01] [-1.00215032e-02 9.99949597e-01 6.10000431e-04 -3.65594850e+00] [ 6.05073501e-03 -5.49379402e-04 9.99981543e-01 -1.57598169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.579928851 meters 0.090546626833364 Centerline is valid? [True, True] Translation: X:41.83, Y:-3.66, Z:-1.58 [[ 9.99897610e-01 1.31729112e-02 -5.58959744e-03 4.18251843e+01] [-1.31699633e-02 9.99913113e-01 5.63862516e-04 -3.65980517e+00] [ 5.59653949e-03 -4.90189989e-04 9.99984219e-01 -1.57766822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.639928851 meters 0.09021784834508353 Centerline is valid? [True, True] Translation: X:41.89, Y:-3.66, Z:-1.58 [[ 9.99865458e-01 1.52480410e-02 -6.04673209e-03 4.18850194e+01] [-1.52446289e-02 9.99883608e-01 6.09976692e-04 -3.66248546e+00] [ 6.05532925e-03 -5.17714437e-04 9.99981532e-01 -1.57969762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.699928851 meters 0.0879358404569777 Centerline is valid? [True, True] Translation: X:41.94, Y:-3.66, Z:-1.58 [[ 9.99879671e-01 1.43980383e-02 -5.77413091e-03 4.19443660e+01] [-1.43949216e-02 9.99896219e-01 5.80966357e-04 -3.66146768e+00] [ 5.78189644e-03 -4.97778288e-04 9.99983161e-01 -1.58007888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.759928851 meters 0.08898864568916888 Centerline is valid? [True, True] Translation: X:42.00, Y:-3.67, Z:-1.58 [[ 9.99900284e-01 1.31179665e-02 -5.22890356e-03 4.20033367e+01] [-1.31153912e-02 9.99913851e-01 5.26516868e-04 -3.66831854e+00] [ 5.23535993e-03 -4.57885251e-04 9.99986191e-01 -1.58194039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.819928851 meters 0.0922807413975713 Centerline is valid? [True, True] Translation: X:42.06, Y:-3.68, Z:-1.58 [[ 9.99956657e-01 8.41998193e-03 -3.97352930e-03 4.20616560e+01] [-8.41845899e-03 9.99964484e-01 3.99840720e-04 -3.67943787e+00] [ 3.97675483e-03 -3.66372396e-04 9.99992026e-01 -1.58222677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.879928851 meters 0.09352271999562481 Centerline is valid? [True, True] Translation: X:42.12, Y:-3.69, Z:-1.59 [[ 9.99970101e-01 5.45683532e-03 -5.47910841e-03 4.21217350e+01] [-5.45389023e-03 9.99984975e-01 5.52310592e-04 -3.68626727e+00] [ 5.48203996e-03 -5.22411622e-04 9.99984837e-01 -1.58500294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.939928851 meters 0.10092237639567887 Centerline is valid? [True, False] Translation: X:42.12, Y:-3.69, Z:-1.59 [[ 9.99978391e-01 4.66740891e-03 -4.62954556e-03 4.21200164e+01] [-4.66653662e-03 9.99989092e-01 1.99203179e-04 -3.68561423e+00] [ 4.63042482e-03 -1.77594930e-04 9.99989264e-01 -1.58508669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.999928851 meters 0.1023067669638253 Centerline is valid? [False, False] Translation: X:42.12, Y:-3.68, Z:-1.59 [[ 9.99988516e-01 1.37546299e-04 -4.79041105e-03 4.21205139e+01] [-1.59139626e-04 9.99989828e-01 -4.50752518e-03 -3.68363428e+00] [ 4.78974233e-03 4.50823576e-03 9.99978367e-01 -1.58537765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.059928851 meters 0.09856088132281435 Centerline is valid? [False, True] Translation: X:42.12, Y:-3.68, Z:-1.59 [[ 9.99990388e-01 -2.32115146e-04 -4.37824796e-03 4.21198500e+01] [ 2.11636467e-04 9.99989039e-01 -4.67725201e-03 -3.68295316e+00] [ 4.37928564e-03 4.67628045e-03 9.99979477e-01 -1.58569461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.119928851 meters 0.10484802214077381 Centerline is valid? [True, False] Translation: X:42.12, Y:-3.68, Z:-1.59 [[ 9.99990869e-01 -4.72555619e-04 -4.24726421e-03 4.21197690e+01] [ 4.51600862e-04 9.99987729e-01 -4.93331266e-03 -3.68181163e+00] [ 4.24954336e-03 4.93134955e-03 9.99978811e-01 -1.58599154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.179928851 meters 0.10427491539319007 Centerline is valid? [False, False] Translation: X:42.12, Y:-3.68, Z:-1.59 [[ 9.99991639e-01 -4.15864412e-04 -4.06805315e-03 4.21196110e+01] [ 3.97027084e-04 9.99989201e-01 -4.63026314e-03 -3.68258948e+00] [ 4.06993478e-03 4.62860930e-03 9.99981006e-01 -1.58631429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.239928851 meters 0.10691206249278039 Centerline is valid? [False, False] Translation: X:42.12, Y:-3.68, Z:-1.59 [[ 9.99992123e-01 -6.32976081e-04 -3.91834752e-03 4.21188979e+01] [ 6.14301728e-04 9.99988457e-01 -4.76524510e-03 -3.68277776e+00] [ 3.92131858e-03 4.76280051e-03 9.99980969e-01 -1.58574342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.299928851000004 meters 0.10772623452788814 Centerline is valid? [False, False] Translation: X:42.12, Y:-3.68, Z:-1.59 [[ 9.99990081e-01 7.18153471e-05 -4.45350725e-03 4.21201615e+01] [-9.03289555e-05 9.99991355e-01 -4.15702324e-03 -3.68406366e+00] [ 4.45317022e-03 4.15738429e-03 9.99981443e-01 -1.58591004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.359928851 meters 0.10772623452788814 Centerline is valid? [False, False] Translation: X:42.12, Y:-3.68, Z:-1.59 [[ 9.99990081e-01 7.18153471e-05 -4.45350725e-03 4.21201615e+01] [-9.03289555e-05 9.99991355e-01 -4.15702324e-03 -3.68406366e+00] [ 4.45317022e-03 4.15738429e-03 9.99981443e-01 -1.58591004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.419928851 meters 0.10554079732699094 Centerline is valid? [False, False] Translation: X:42.12, Y:-3.68, Z:-1.59 [[ 9.99987530e-01 6.13468689e-04 -4.95623603e-03 4.21214706e+01] [-6.31850423e-04 9.99992925e-01 -3.70809513e-03 -3.68427939e+00] [ 4.95392617e-03 3.71118049e-03 9.99980843e-01 -1.58630981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.479928851000004 meters 0.10650589903284902 Centerline is valid? [False, False] Translation: X:42.12, Y:-3.69, Z:-1.59 [[ 9.99985460e-01 1.26195194e-03 -5.24286272e-03 4.21223747e+01] [-1.27723237e-03 9.99994944e-01 -2.91219587e-03 -3.68616315e+00] [ 5.23916116e-03 2.91884988e-03 9.99982016e-01 -1.58672076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.539928851 meters 0.0995832314306672 Centerline is valid? [False, True] Translation: X:42.12, Y:-3.69, Z:-1.59 [[ 9.99984080e-01 1.38131308e-03 -5.47092866e-03 4.21224433e+01] [-1.39728443e-03 9.99994771e-01 -2.91656671e-03 -3.68663862e+00] [ 5.46687135e-03 2.92416472e-03 9.99980781e-01 -1.58611191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.599928851 meters 0.09932009594516979 Centerline is valid? [True, True] Translation: X:42.18, Y:-3.69, Z:-1.59 [[ 9.99982596e-01 2.18231252e-03 -5.48130700e-03 4.21804578e+01] [-2.17911016e-03 9.99997452e-01 5.90137509e-04 -3.69360717e+00] [ 5.48258090e-03 -5.78182867e-04 9.99984803e-01 -1.58930778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.659928851000004 meters 0.09635881112662772 Centerline is valid? [True, True] Translation: X:42.24, Y:-3.69, Z:-1.59 [[ 9.99981079e-01 3.52444363e-03 -5.04186265e-03 4.22408985e+01] [-3.52174689e-03 9.99993651e-01 5.43648017e-04 -3.69484375e+00] [ 5.04374670e-03 -5.25881567e-04 9.99987142e-01 -1.58931757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.719928851 meters 0.09759251967030305 Centerline is valid? [True, True] Translation: X:42.30, Y:-3.70, Z:-1.59 [[ 9.99977725e-01 4.39634204e-03 -5.02205459e-03 4.22996033e+01] [-4.39368210e-03 9.99990202e-01 5.40561757e-04 -3.70357290e+00] [ 5.02438187e-03 -5.18484405e-04 9.99987243e-01 -1.59133381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.779928851 meters 0.09703371983131641 Centerline is valid? [True, True] Translation: X:42.36, Y:-3.71, Z:-1.59 [[ 9.99970001e-01 5.39534415e-03 -5.55757859e-03 4.23580298e+01] [-5.39210534e-03 9.99985284e-01 5.97592864e-04 -3.70892246e+00] [ 5.56072102e-03 -5.67607888e-04 9.99984378e-01 -1.59251182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.839928851 meters 0.09911656051463343 Centerline is valid? [True, True] Translation: X:42.42, Y:-3.72, Z:-1.60 [[ 9.99957427e-01 6.59612800e-03 -6.45251121e-03 4.24151438e+01] [-6.59179209e-03 9.99978034e-01 6.93009033e-04 -3.71791387e+00] [ 6.45694065e-03 -6.50445917e-04 9.99978942e-01 -1.59509944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.899928851 meters 0.09764835545424895 Centerline is valid? [True, True] Translation: X:42.47, Y:-3.72, Z:-1.59 [[ 9.99963180e-01 7.30982874e-03 -4.49498299e-03 4.24749536e+01] [-7.30772980e-03 9.99973181e-01 4.83200922e-04 -3.72063631e+00] [ 4.49839456e-03 -4.50335010e-04 9.99989781e-01 -1.59400590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.959928851 meters 0.09585721602797341 Centerline is valid? [True, True] Translation: X:42.54, Y:-3.72, Z:-1.59 [[ 9.99972236e-01 5.15903549e-03 -5.37701598e-03 4.25351989e+01] [-5.15599863e-03 9.99986540e-01 5.78494147e-04 -3.72356699e+00] [ 5.37992808e-03 -5.50754199e-04 9.99985376e-01 -1.59428413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.019928851 meters 0.10362518561831244 Centerline is valid? [True, False] Translation: X:42.54, Y:-3.72, Z:-1.59 [[ 9.99972838e-01 5.17093165e-03 -5.25214708e-03 4.25350865e+01] [-5.16707089e-03 9.99986371e-01 7.48384691e-04 -3.72398114e+00] [ 5.25594534e-03 -7.21226147e-04 9.99985927e-01 -1.59450563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.079928851 meters 0.10219446085594633 Centerline is valid? [False, False] Translation: X:42.53, Y:-3.72, Z:-1.59 [[ 9.99975723e-01 4.97320901e-03 -4.88055569e-03 4.25343652e+01] [-4.96932120e-03 9.99987326e-01 8.08395329e-04 -3.72483999e+00] [ 4.88451415e-03 -7.84122655e-04 9.99987763e-01 -1.59451845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.139928851 meters 0.09914375529786107 Centerline is valid? [False, True] Translation: X:42.53, Y:-3.72, Z:-1.59 [[ 9.99975715e-01 4.96793284e-03 -4.88755310e-03 4.25345504e+01] [-4.96413718e-03 9.99987368e-01 7.88422192e-04 -3.72451313e+00] [ 4.89140819e-03 -7.64140561e-04 9.99987745e-01 -1.59475792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.199928851 meters 0.10040938957391964 Centerline is valid? [True, False] Translation: X:42.53, Y:-3.72, Z:-1.59 [[ 9.99979775e-01 4.40280146e-03 -4.58963983e-03 4.25330420e+01] [-4.40169100e-03 9.99990281e-01 2.52021319e-04 -3.72426980e+00] [ 4.59070483e-03 -2.31814046e-04 9.99989436e-01 -1.59347568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.259928851 meters 0.10413469356590992 Centerline is valid? [False, False] Translation: X:42.53, Y:-3.72, Z:-1.59 [[ 9.99987896e-01 2.50588252e-04 -4.91367409e-03 4.25335809e+01] [-2.69856460e-04 9.99992276e-01 -3.92107365e-03 -3.72442938e+00] [ 4.91265357e-03 3.92235217e-03 9.99980240e-01 -1.59326954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.319928851 meters 0.10906654625577833 Centerline is valid? [False, False] Translation: X:42.53, Y:-3.73, Z:-1.59 [[ 9.99991527e-01 1.81731556e-04 -4.11260852e-03 4.25320169e+01] [-1.93782885e-04 9.99995688e-01 -2.93012819e-03 -3.72844822e+00] [ 4.11205829e-03 2.93090032e-03 9.99987250e-01 -1.59334264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.379928851 meters 0.1077284714742493 Centerline is valid? [False, False] Translation: X:42.53, Y:-3.73, Z:-1.59 [[ 9.99993542e-01 2.62593568e-04 -3.58417207e-03 4.25307921e+01] [-2.70395478e-04 9.99997595e-01 -2.17645667e-03 -3.73210561e+00] [ 3.58359193e-03 2.17741176e-03 9.99991208e-01 -1.59305794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.439928851 meters 0.10742357562925785 Centerline is valid? [False, False] Translation: X:42.53, Y:-3.73, Z:-1.59 [[ 9.99993635e-01 6.31244904e-04 -3.51156937e-03 4.25305986e+01] [-6.36188245e-04 9.99998808e-01 -1.40679097e-03 -3.73444161e+00] [ 3.51067715e-03 1.40901603e-03 9.99992845e-01 -1.59296268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.499928851 meters 0.11418618855737427 Centerline is valid? [False, False] Translation: X:42.53, Y:-3.74, Z:-1.59 [[ 9.99993182e-01 1.29611205e-03 -3.45783672e-03 4.25308940e+01] [-1.29706779e-03 9.99999121e-01 -2.74170131e-04 -3.73758485e+00] [ 3.45747833e-03 2.78653310e-04 9.99993984e-01 -1.59345935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.559928851 meters 0.11255556228342808 Centerline is valid? [False, False] Translation: X:42.53, Y:-3.74, Z:-1.59 [[ 9.99994187e-01 1.28630024e-03 -3.15769289e-03 4.25297469e+01] [-1.28606963e-03 9.99999170e-01 7.50618995e-05 -3.74010323e+00] [ 3.15778682e-03 -7.10004503e-05 9.99995012e-01 -1.59264734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.619928851 meters 0.11192319692560652 Centerline is valid? [False, False] Translation: X:42.53, Y:-3.74, Z:-1.59 [[ 9.99993758e-01 1.56369201e-03 -3.16826092e-03 4.25296998e+01] [-1.56184567e-03 9.99998609e-01 5.85150986e-04 -3.74197566e+00] [ 3.16917151e-03 -5.80199000e-04 9.99994810e-01 -1.59253450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.679928851 meters 0.11010015599335257 Centerline is valid? [False, False] Translation: X:42.53, Y:-3.74, Z:-1.59 [[ 9.99992038e-01 2.01812475e-03 -3.44268829e-03 4.25302942e+01] [-2.01431621e-03 9.99997356e-01 1.10937635e-03 -3.74341300e+00] [ 3.44491805e-03 -1.10243286e-03 9.99993459e-01 -1.59255494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.739928851 meters 0.1042445430955899 Centerline is valid? [False, False] Translation: X:42.53, Y:-3.74, Z:-1.59 [[ 9.99989848e-01 2.41983214e-03 -3.80118894e-03 4.25309083e+01] [-2.41437803e-03 9.99996050e-01 1.43877893e-03 -3.74453747e+00] [ 3.80465553e-03 -1.42958682e-03 9.99991740e-01 -1.59232261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.799928851000004 meters 0.10426952248189467 Centerline is valid? [False, False] Translation: X:42.53, Y:-3.75, Z:-1.59 [[ 9.99987632e-01 2.79151604e-03 -4.11610365e-03 4.25311819e+01] [-2.78425782e-03 9.99994561e-01 1.76804821e-03 -3.74607987e+00] [ 4.12101680e-03 -1.75656605e-03 9.99989966e-01 -1.59172137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.859928851 meters 0.10481449725677446 Centerline is valid? [False, False] Translation: X:42.53, Y:-3.75, Z:-1.59 [[ 9.99985579e-01 3.10731178e-03 -4.38032171e-03 4.25313622e+01] [-3.09833545e-03 9.99993090e-01 2.05453888e-03 -3.74750531e+00] [ 4.38667553e-03 -2.04093755e-03 9.99988296e-01 -1.59113746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.919928851 meters 0.10384215461989275 Centerline is valid? [False, False] Translation: X:42.53, Y:-3.75, Z:-1.59 [[ 9.99983169e-01 3.41725302e-03 -4.68869911e-03 4.25318335e+01] [-3.40650461e-03 9.99991556e-01 2.29848182e-03 -3.74853598e+00] [ 4.69651401e-03 -2.28247106e-03 9.99986366e-01 -1.59088376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.979928851000004 meters 0.09554846312487417 Centerline is valid? [False, True] Translation: X:42.53, Y:-3.75, Z:-1.59 [[ 9.99981530e-01 3.63908426e-03 -4.86788671e-03 4.25321107e+01] [-3.62678950e-03 9.99990217e-01 2.53213612e-03 -3.74941799e+00] [ 4.87705375e-03 -2.51443455e-03 9.99984946e-01 -1.59074064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.039928851 meters 0.09560900186866933 Centerline is valid? [True, True] Translation: X:42.59, Y:-3.76, Z:-1.59 [[ 9.99966992e-01 5.42368700e-03 -6.04960177e-03 4.25911737e+01] [-5.41981562e-03 9.99985097e-01 6.56150378e-04 -3.75613773e+00] [ 6.05307037e-03 -6.23340993e-04 9.99981486e-01 -1.59183471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.099928851 meters 0.09381781042196952 Centerline is valid? [True, True] Translation: X:42.65, Y:-3.76, Z:-1.59 [[ 9.99966388e-01 5.84145811e-03 -5.75334003e-03 4.26502544e+01] [-5.83796774e-03 9.99982765e-01 6.23276124e-04 -3.76159648e+00] [ 5.75688171e-03 -5.89667360e-04 9.99983255e-01 -1.59109700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.159928851 meters 0.0943505764472155 Centerline is valid? [True, True] Translation: X:42.71, Y:-3.77, Z:-1.59 [[ 9.99963785e-01 6.16679389e-03 -5.86506488e-03 4.27088243e+01] [-6.16317669e-03 9.99980806e-01 6.34611743e-04 -3.77017342e+00] [ 5.86886583e-03 -5.98441329e-04 9.99982599e-01 -1.59219997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.219928851 meters 0.098180019551776 Centerline is valid? [True, True] Translation: X:42.77, Y:-3.78, Z:-1.59 [[ 9.99967312e-01 5.95468356e-03 -5.46962790e-03 4.27658127e+01] [-5.95153964e-03 9.99982115e-01 5.90892636e-04 -3.78420973e+00] [ 5.47304865e-03 -5.58320613e-04 9.99984867e-01 -1.59498300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.279928851 meters 0.0940308747863006 Centerline is valid? [True, True] Translation: X:42.83, Y:-3.78, Z:-1.59 [[ 9.99964460e-01 5.45688632e-03 -6.42664477e-03 4.28252905e+01] [-5.45253409e-03 9.99984894e-01 6.94543332e-04 -3.78407907e+00] [ 6.43033773e-03 -6.59477148e-04 9.99979108e-01 -1.59301460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.339928851 meters 0.09511559110040307 Centerline is valid? [True, True] Translation: X:42.89, Y:-3.79, Z:-1.59 [[ 9.99967629e-01 3.03025316e-03 -7.45371629e-03 4.28851789e+01] [-3.02431858e-03 9.99995101e-01 8.07333416e-04 -3.79331866e+00] [ 7.45612620e-03 -7.84764870e-04 9.99971895e-01 -1.59491549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.399928851 meters 0.09768093777302438 Centerline is valid? [True, True] Translation: X:42.94, Y:-3.81, Z:-1.60 [[ 9.99968132e-01 2.88611676e-04 -7.97825475e-03 4.29444219e+01] [-2.81727219e-04 9.99999587e-01 8.64013117e-04 -3.80635256e+00] [ 7.97850082e-03 -8.61737891e-04 9.99967800e-01 -1.59701939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.459928851 meters 0.09926159081557082 Centerline is valid? [True, True] Translation: X:43.00, Y:-3.82, Z:-1.60 [[ 9.99958593e-01 -1.03146377e-03 -9.04151857e-03 4.30039781e+01] [ 1.04036008e-03 9.99998979e-01 9.79292014e-04 -3.81742526e+00] [ 9.04049924e-03 -9.88657899e-04 9.99958645e-01 -1.59853153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.519928851 meters 0.09860821073390032 Centerline is valid? [True, True] Translation: X:43.06, Y:-3.82, Z:-1.60 [[ 9.99941504e-01 -3.21410319e-03 -1.03275671e-02 4.30644547e+01] [ 3.22582394e-03 9.99994172e-01 1.11844234e-03 -3.82469283e+00] [ 1.03239121e-02 -1.15169183e-03 9.99946044e-01 -1.59908155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.579928851 meters 0.09693535208599671 Centerline is valid? [True, True] Translation: X:43.12, Y:-3.83, Z:-1.60 [[ 9.99946830e-01 -3.68243840e-03 -9.63210786e-03 4.31222778e+01] [ 3.69256923e-03 9.99992648e-01 1.03420456e-03 -3.83003479e+00] [ 9.62822864e-03 -1.06971680e-03 9.99953075e-01 -1.59897104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.63992885100001 meters 0.09863650625591024 Centerline is valid? [True, True] Translation: X:43.18, Y:-3.84, Z:-1.60 [[ 9.99951211e-01 -4.04670416e-03 -9.01110763e-03 4.31797812e+01] [ 4.05561423e-03 9.99991305e-01 9.70733228e-04 -3.84061019e+00] [ 9.00710100e-03 -1.00723144e-03 9.99958928e-01 -1.59940157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.699928851 meters 0.10341298726526205 Centerline is valid? [True, False] Translation: X:43.18, Y:-3.84, Z:-1.60 [[ 9.99952181e-01 -4.03223438e-03 -8.90938516e-03 4.31793985e+01] [ 4.04239597e-03 9.99991199e-01 1.12283545e-03 -3.84154164e+00] [ 8.90477922e-03 -1.15879702e-03 9.99959680e-01 -1.59913257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.759928851 meters 0.10499873416390158 Centerline is valid? [False, False] Translation: X:43.18, Y:-3.84, Z:-1.60 [[ 9.99953164e-01 -3.57227378e-03 -8.99488040e-03 4.31802146e+01] [ 3.58895662e-03 9.99991868e-01 1.83924541e-03 -3.84281863e+00] [ 8.98823697e-03 -1.87144150e-03 9.99957854e-01 -1.60008153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.819928851 meters 0.10017304024645678 Centerline is valid? [False, False] Translation: X:43.18, Y:-3.84, Z:-1.60 [[ 9.99954051e-01 -3.39268811e-03 -8.96579699e-03 4.31804959e+01] [ 3.41210119e-03 9.99991866e-01 2.15082906e-03 -3.84329627e+00] [ 8.95842697e-03 -2.18132244e-03 9.99957493e-01 -1.60055923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.879928851 meters 0.0964530320316843 Centerline is valid? [False, True] Translation: X:43.18, Y:-3.84, Z:-1.60 [[ 9.99954923e-01 -3.39775205e-03 -8.86603845e-03 4.31801653e+01] [ 3.41761677e-03 9.99991682e-01 2.22635293e-03 -3.84385123e+00] [ 8.85840011e-03 -2.25655329e-03 9.99958217e-01 -1.60038515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.939928851 meters 0.095882216018013 Centerline is valid? [True, True] Translation: X:43.24, Y:-3.85, Z:-1.60 [[ 9.99967073e-01 -2.15614516e-03 -7.82331592e-03 4.32398604e+01] [ 2.16284407e-03 9.99997302e-01 8.47915714e-04 -3.84866065e+00] [ 7.82146658e-03 -8.64808407e-04 9.99969038e-01 -1.60060958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.999928851 meters 0.09704503036090785 Centerline is valid? [True, True] Translation: X:43.30, Y:-3.86, Z:-1.60 [[ 9.99971653e-01 -4.30208377e-04 -7.51715576e-03 4.32981201e+01] [ 4.36343764e-04 9.99999573e-01 8.14563571e-04 -3.85695702e+00] [ 7.51680212e-03 -8.17820545e-04 9.99971414e-01 -1.60211935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.059928851 meters 0.093039732109336 Centerline is valid? [True, True] Translation: X:43.36, Y:-3.86, Z:-1.60 [[ 9.99967817e-01 -1.88792805e-03 -7.79751718e-03 4.33585811e+01] [ 1.89457578e-03 9.99997848e-01 8.45246383e-04 -3.85924090e+00] [ 7.79590463e-03 -8.59992167e-04 9.99969242e-01 -1.60108878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.119928851 meters 0.09809487523640321 Centerline is valid? [True, True] Translation: X:43.42, Y:-3.88, Z:-1.60 [[ 9.99966219e-01 -3.47269992e-03 -7.44994283e-03 4.34161629e+01] [ 3.47880637e-03 9.99993623e-01 8.06862069e-04 -3.87585762e+00] [ 7.44709334e-03 -8.32751721e-04 9.99971923e-01 -1.60462808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.179928851 meters 0.09884508803092407 Centerline is valid? [True, True] Translation: X:43.48, Y:-3.89, Z:-1.61 [[ 9.99957459e-01 -5.75503556e-03 -7.20831117e-03 4.34756504e+01] [ 5.76081599e-03 9.99983101e-01 7.81404919e-04 -3.88634955e+00] [ 7.20369234e-03 -8.22897432e-04 9.99973714e-01 -1.60673202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.239928851 meters 0.09842908098528408 Centerline is valid? [True, True] Translation: X:43.54, Y:-3.89, Z:-1.61 [[ 9.99930817e-01 -7.95386991e-03 -8.66590329e-03 4.35353043e+01] [ 7.96230704e-03 9.99967859e-01 9.39535482e-04 -3.89450978e+00] [ 8.65815181e-03 -1.00847106e-03 9.99962009e-01 -1.60771245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.299928851 meters 0.10197692360603364 Centerline is valid? [True, False] Translation: X:43.54, Y:-3.90, Z:-1.61 [[ 9.99933486e-01 -7.76374603e-03 -8.52919445e-03 4.35351491e+01] [ 7.77610346e-03 9.99968762e-01 1.41663310e-03 -3.89565002e+00] [ 8.51792964e-03 -1.48286278e-03 9.99962622e-01 -1.60791271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.359928851 meters 0.10555303717737144 Centerline is valid? [False, False] Translation: X:43.54, Y:-3.90, Z:-1.61 [[ 9.99934791e-01 -7.62260849e-03 -8.50349025e-03 4.35351303e+01] [ 7.63749112e-03 9.99969356e-01 1.71908066e-03 -3.89621984e+00] [ 8.49012580e-03 -1.78391390e-03 9.99962367e-01 -1.60798772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.419928851 meters 0.1058337144660089 Centerline is valid? [False, False] Translation: X:43.54, Y:-3.90, Z:-1.61 [[ 9.99932886e-01 -7.58407207e-03 -8.75817562e-03 4.35355949e+01] [ 7.59736015e-03 9.99970037e-01 1.48494748e-03 -3.89523765e+00] [ 8.74665125e-03 -1.55138683e-03 9.99960544e-01 -1.60795920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.479928851 meters 0.09945809410803133 Centerline is valid? [False, True] Translation: X:43.53, Y:-3.89, Z:-1.61 [[ 9.99956874e-01 -3.58931652e-03 -8.56539340e-03 4.35349139e+01] [ 3.63550009e-03 9.99978906e-01 5.38241533e-03 -3.89482646e+00] [ 8.54589353e-03 -5.41332270e-03 9.99948831e-01 -1.60761592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.539928851 meters 0.09584052346005663 Centerline is valid? [True, True] Translation: X:43.59, Y:-3.89, Z:-1.61 [[ 9.99954041e-01 -2.57223593e-03 -9.23575377e-03 4.35946848e+01] [ 2.58153136e-03 9.99996173e-01 9.94681694e-04 -3.89182032e+00] [ 9.23315987e-03 -1.01847837e-03 9.99956855e-01 -1.60565231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.599928851 meters 0.09592860993106694 Centerline is valid? [True, True] Translation: X:43.65, Y:-3.90, Z:-1.61 [[ 9.99964111e-01 7.36811625e-04 -8.44004369e-03 4.36545438e+01] [-7.29154763e-04 9.99999320e-01 9.10247592e-04 -3.89721183e+00] [ 8.44070863e-03 -9.04060826e-04 9.99963968e-01 -1.60716982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.659928851 meters 0.09344621401397067 Centerline is valid? [True, True] Translation: X:43.71, Y:-3.90, Z:-1.61 [[ 9.99966701e-01 2.30755973e-03 -7.82769126e-03 4.37148260e+01] [-2.30101964e-03 9.99996996e-01 8.44410513e-04 -3.89925645e+00] [ 7.82961627e-03 -8.26370723e-04 9.99969007e-01 -1.60752602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.719928851 meters 0.09885344155874795 Centerline is valid? [True, True] Translation: X:43.77, Y:-3.91, Z:-1.61 [[ 9.99966722e-01 2.08887823e-03 -7.88614904e-03 4.37707646e+01] [-2.08224414e-03 9.99997471e-01 8.49350062e-04 -3.91408025e+00] [ 7.88790329e-03 -8.32900910e-04 9.99968543e-01 -1.61282475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.779928851 meters 0.09442948056676066 Centerline is valid? [True, True] Translation: X:43.83, Y:-3.91, Z:-1.61 [[ 9.99965242e-01 1.78901781e-03 -8.14332916e-03 4.38304306e+01] [-1.78193969e-03 9.99998028e-01 8.76365121e-04 -3.91232865e+00] [ 8.14488093e-03 -8.61823739e-04 9.99966459e-01 -1.61169527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.839928851 meters 0.09790285175769453 Centerline is valid? [True, True] Translation: X:43.89, Y:-3.92, Z:-1.61 [[ 9.99965400e-01 7.81388491e-04 -8.28185676e-03 4.38876169e+01] [-7.74037506e-04 9.99999304e-01 8.90769172e-04 -3.92361701e+00] [ 8.28254703e-03 -8.84327883e-04 9.99965308e-01 -1.61486369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.899928851 meters 0.09713440132927452 Centerline is valid? [True, True] Translation: X:43.95, Y:-3.93, Z:-1.61 [[ 9.99968706e-01 -1.80341549e-03 -7.70290337e-03 4.39481393e+01] [ 1.80986010e-03 9.99998018e-01 8.29758069e-04 -3.92651213e+00] [ 7.70139170e-03 -8.43673280e-04 9.99969988e-01 -1.61450681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.959928851 meters 0.10164695985536558 Centerline is valid? [True, False] Translation: X:43.95, Y:-3.93, Z:-1.62 [[ 9.99969185e-01 -1.75145096e-03 -7.65251827e-03 4.39484557e+01] [ 1.75868419e-03 9.99998013e-01 9.38582382e-04 -3.92637603e+00] [ 7.65085918e-03 -9.52011823e-04 9.99970279e-01 -1.61508623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.019928851 meters 0.09802471194908013 Centerline is valid? [False, True] Translation: X:43.95, Y:-3.93, Z:-1.62 [[ 9.99969997e-01 -1.89870937e-03 -7.51003293e-03 4.39483883e+01] [ 1.90474923e-03 9.99997868e-01 7.97168123e-04 -3.92570225e+00] [ 7.50850333e-03 -8.11448935e-04 9.99971482e-01 -1.61543363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.079928851 meters 0.09811607693314947 Centerline is valid? [True, True] Translation: X:44.01, Y:-3.93, Z:-1.61 [[ 9.99970786e-01 -2.58765436e-03 -7.19243735e-03 4.40072711e+01] [ 2.59343757e-03 9.99996321e-01 7.94857584e-04 -3.92952282e+00] [ 7.19035407e-03 -8.13487501e-04 9.99973818e-01 -1.61479997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.13992885100001 meters 0.10209513710039364 Centerline is valid? [True, False] Translation: X:44.01, Y:-3.93, Z:-1.62 [[ 9.99969552e-01 -2.53235147e-03 -7.38121313e-03 4.40079633e+01] [ 2.53721485e-03 9.99996570e-01 6.49596850e-04 -3.92827281e+00] [ 7.37954280e-03 -6.68304795e-04 9.99972547e-01 -1.61524412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.199928851 meters 0.09806538765432007 Centerline is valid? [False, True] Translation: X:44.01, Y:-3.93, Z:-1.62 [[ 9.99970070e-01 -2.40337563e-03 -7.35408014e-03 4.40083634e+01] [ 2.40949128e-03 9.99996759e-01 8.22852000e-04 -3.92807618e+00] [ 7.35207868e-03 -8.40546965e-04 9.99972620e-01 -1.61590540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.259928851 meters 0.10106449649252017 Centerline is valid? [True, False] Translation: X:44.01, Y:-3.93, Z:-1.62 [[ 9.99971389e-01 -2.18957462e-03 -7.24065804e-03 4.40088589e+01] [ 2.19909341e-03 9.99996728e-01 1.30693028e-03 -3.92858699e+00] [ 7.23777273e-03 -1.32281577e-03 9.99972932e-01 -1.61700364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.319928851 meters 0.10449431473398094 Centerline is valid? [False, False] Translation: X:44.01, Y:-3.93, Z:-1.62 [[ 9.99971281e-01 -2.40224371e-03 -7.18791944e-03 4.40090476e+01] [ 2.40943936e-03 9.99996605e-01 9.92583525e-04 -3.92713102e+00] [ 7.18551061e-03 -1.00987388e-03 9.99973674e-01 -1.61748202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.379928851 meters 0.10748431185990978 Centerline is valid? [False, False] Translation: X:44.01, Y:-3.92, Z:-1.62 [[ 9.99970224e-01 -2.80447264e-03 -7.18934637e-03 4.40092776e+01] [ 2.80652386e-03 9.99996024e-01 2.75241350e-04 -3.92442678e+00] [ 7.18854588e-03 -2.95410227e-04 9.99974118e-01 -1.61785713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.439928851 meters 0.10022387247752183 Centerline is valid? [False, False] Translation: X:44.01, Y:-3.92, Z:-1.62 [[ 9.99979297e-01 5.49785739e-04 -6.41116939e-03 4.40078945e+01] [-5.26101780e-04 9.99993034e-01 3.69527298e-03 -3.92291770e+00] [ 6.41315634e-03 -3.69182354e-03 9.99972621e-01 -1.61816170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.499928851 meters 0.10045706410781949 Centerline is valid? [False, False] Translation: X:44.01, Y:-3.92, Z:-1.62 [[ 9.99978587e-01 3.53885016e-04 -6.53456649e-03 4.40084599e+01] [-3.33172103e-04 9.99994918e-01 3.17056215e-03 -3.92068284e+00] [ 6.53565529e-03 -3.16831712e-03 9.99973623e-01 -1.61863767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.559928851 meters 0.10083151093663814 Centerline is valid? [False, False] Translation: X:44.01, Y:-3.92, Z:-1.62 [[ 9.99975841e-01 1.80172399e-05 -6.95107320e-03 4.40095733e+01] [-4.12121173e-06 9.99998002e-01 1.99912896e-03 -3.91596009e+00] [ 6.95109533e-03 -1.99905201e-03 9.99973843e-01 -1.61909271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.619928851 meters 0.09889234529889264 Centerline is valid? [False, True] Translation: X:44.01, Y:-3.91, Z:-1.62 [[ 9.99972184e-01 1.12741422e-05 -7.45865287e-03 4.40110442e+01] [-1.43480844e-06 9.99999130e-01 1.31918780e-03 -3.91229272e+00] [ 7.45866125e-03 -1.31914040e-03 9.99971314e-01 -1.61980429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.679928851 meters 0.10126196557296593 Centerline is valid? [True, False] Translation: X:44.01, Y:-3.91, Z:-1.62 [[ 9.99970282e-01 -1.15635615e-04 -7.70851049e-03 4.40117960e+01] [ 1.21577196e-04 9.99999696e-01 7.70317887e-04 -3.90965807e+00] [ 7.70841907e-03 -7.71232174e-04 9.99969992e-01 -1.62021385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.739928851 meters 0.10114964111457107 Centerline is valid? [False, False] Translation: X:44.01, Y:-3.91, Z:-1.62 [[ 9.99971420e-01 -2.37432025e-04 -7.55669976e-03 4.40117698e+01] [ 2.42835989e-04 9.99999715e-01 7.14212673e-04 -3.90895253e+00] [ 7.55652804e-03 -7.16027299e-04 9.99971193e-01 -1.62066855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.799928851 meters 0.10328838405935228 Centerline is valid? [False, False] Translation: X:44.01, Y:-3.91, Z:-1.62 [[ 9.99975022e-01 -2.81012985e-04 -7.06235885e-03 4.40110753e+01] [ 2.89663160e-04 9.99999209e-01 1.22383498e-03 -3.91091582e+00] [ 7.06200936e-03 -1.22585011e-03 9.99974312e-01 -1.62110512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.859928851 meters 0.10734452684450783 Centerline is valid? [False, False] Translation: X:44.01, Y:-3.91, Z:-1.62 [[ 9.99978742e-01 -3.97108179e-04 -6.50823952e-03 4.40101258e+01] [ 4.07728260e-04 9.99998588e-01 1.63054454e-03 -3.91261143e+00] [ 6.50758283e-03 -1.63316348e-03 9.99977492e-01 -1.62132052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.919928851 meters 0.11250018818864288 Centerline is valid? [False, False] Translation: X:44.01, Y:-3.91, Z:-1.62 [[ 9.99977524e-01 -2.53848670e-03 -6.20548568e-03 4.40080287e+01] [ 2.53867326e-03 9.99996777e-01 2.21877767e-05 -3.91487245e+00] [ 6.20540935e-03 -3.79409785e-05 9.99980746e-01 -1.61962490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.979928851 meters 0.1152071409708857 Centerline is valid? [False, False] Translation: X:44.01, Y:-3.92, Z:-1.62 [[ 9.99979320e-01 -2.16281411e-03 -6.05652549e-03 4.40082169e+01] [ 2.16762150e-03 9.99997341e-01 7.87300996e-04 -3.91687517e+00] [ 6.05480659e-03 -8.00412969e-04 9.99981349e-01 -1.62031227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.039928851 meters 0.11337241245961206 Centerline is valid? [False, False] Translation: X:44.01, Y:-3.92, Z:-1.62 [[ 9.99980097e-01 -1.87431533e-03 -6.02426446e-03 4.40083548e+01] [ 1.88220043e-03 9.99997379e-01 1.30348640e-03 -3.91806698e+00] [ 6.02180553e-03 -1.31479933e-03 9.99981004e-01 -1.62057434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.099928851 meters 0.10752353980671805 Centerline is valid? [False, False] Translation: X:44.01, Y:-3.92, Z:-1.62 [[ 9.99979354e-01 -1.49311946e-03 -6.24992788e-03 4.40088179e+01] [ 1.50375802e-03 9.99997428e-01 1.69783565e-03 -3.91919773e+00] [ 6.24737674e-03 -1.70719897e-03 9.99979028e-01 -1.62049448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.159928851 meters 0.11494876764936517 Centerline is valid? [False, False] Translation: X:44.01, Y:-3.92, Z:-1.62 [[ 9.99979232e-01 -1.36113623e-03 -6.29940499e-03 4.40084831e+01] [ 1.37319602e-03 9.99997232e-01 1.91050456e-03 -3.92052051e+00] [ 6.29678710e-03 -1.91911520e-03 9.99978333e-01 -1.61982773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.219928851 meters 0.10332178284611533 Centerline is valid? [False, False] Translation: X:44.01, Y:-3.92, Z:-1.62 [[ 9.99977297e-01 -8.29019981e-04 -6.68721921e-03 4.40093132e+01] [ 8.44908663e-04 9.99996826e-01 2.37350243e-03 -3.92188012e+00] [ 6.68523031e-03 -2.37909864e-03 9.99974823e-01 -1.61981801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.279928851 meters 0.10617319012862089 Centerline is valid? [False, False] Translation: X:44.01, Y:-3.92, Z:-1.62 [[ 9.99973923e-01 -3.90752136e-04 -7.21117920e-03 4.40103330e+01] [ 4.09455263e-04 9.99996556e-01 2.59233544e-03 -3.92230667e+00] [ 7.21014141e-03 -2.59522049e-03 9.99970639e-01 -1.61975823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.339928851 meters 0.10484018526855804 Centerline is valid? [False, False] Translation: X:44.01, Y:-3.92, Z:-1.62 [[ 9.99968675e-01 2.70290476e-04 -7.91050853e-03 4.40119237e+01] [-2.47027327e-04 9.99995643e-01 2.94161988e-03 -3.92235901e+00] [ 7.91126915e-03 -2.93957362e-03 9.99964385e-01 -1.62006612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.399928851 meters 0.0969223542238092 Centerline is valid? [False, True] Translation: X:44.01, Y:-3.92, Z:-1.62 [[ 9.99965630e-01 8.12762924e-04 -8.25100113e-03 4.40123438e+01] [-7.83866480e-04 9.99993551e-01 3.50480429e-03 -3.92428702e+00] [ 8.25379649e-03 -3.49821614e-03 9.99959818e-01 -1.61962884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.459928851 meters 0.09551876461017937 Centerline is valid? [True, True] Translation: X:44.07, Y:-3.93, Z:-1.62 [[ 9.99963171e-01 1.48751677e-03 -8.45250408e-03 4.40715640e+01] [-1.47989965e-03 9.99998493e-01 9.07350529e-04 -3.92761295e+00] [ 8.45384104e-03 -8.94808254e-04 9.99963865e-01 -1.61879959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.519928851 meters 0.09638071856060566 Centerline is valid? [True, True] Translation: X:44.13, Y:-3.94, Z:-1.62 [[ 9.99957950e-01 9.78690414e-04 -9.11818228e-03 4.41290014e+01] [-9.69816389e-04 9.99999052e-01 9.77593806e-04 -3.93871018e+00] [ 9.11913039e-03 -9.68709735e-04 9.99957951e-01 -1.62077704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.579928851 meters 0.09892211213280934 Centerline is valid? [True, True] Translation: X:44.19, Y:-3.95, Z:-1.62 [[ 9.99947961e-01 -3.58527910e-04 -1.01954190e-02 4.41883057e+01] [ 3.69705834e-04 9.99999333e-01 1.09450374e-03 -3.95309565e+00] [ 1.01950198e-02 -1.09821609e-03 9.99947426e-01 -1.62324332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.63992885100001 meters 0.09583916994269204 Centerline is valid? [True, True] Translation: X:44.25, Y:-3.96, Z:-1.62 [[ 9.99931712e-01 -1.26483782e-03 -1.16177220e-02 4.42480129e+01] [ 1.27940202e-03 9.99998405e-01 1.24627246e-03 -3.95780008e+00] [ 1.16161272e-02 -1.26105110e-03 9.99931735e-01 -1.62360434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.699928851 meters 0.09524186898066382 Centerline is valid? [True, True] Translation: X:44.31, Y:-3.97, Z:-1.62 [[ 9.99922252e-01 -2.29864292e-03 -1.22558373e-02 4.43068525e+01] [ 2.31491704e-03 9.99996457e-01 1.31384634e-03 -3.96520509e+00] [ 1.22527738e-02 -1.34211544e-03 9.99924031e-01 -1.62283934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.759928851 meters 0.09752935832321342 Centerline is valid? [True, True] Translation: X:44.36, Y:-3.98, Z:-1.62 [[ 9.99929061e-01 -2.80823675e-03 -1.15752518e-02 4.43639685e+01] [ 2.82276938e-03 9.99995248e-01 1.23934460e-03 -3.97606405e+00] [ 1.15717164e-02 -1.27193095e-03 9.99932236e-01 -1.62388632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.819928851 meters 0.09694469663169016 Centerline is valid? [True, True] Translation: X:44.42, Y:-3.98, Z:-1.63 [[ 9.99942294e-01 -6.21178615e-04 -1.07248611e-02 4.44238145e+01] [ 6.33541814e-04 9.99999139e-01 1.14940181e-03 -3.98460687e+00] [ 1.07241378e-02 -1.15613013e-03 9.99941826e-01 -1.62514555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.879928851 meters 0.09736411382758875 Centerline is valid? [True, True] Translation: X:44.48, Y:-3.99, Z:-1.63 [[ 9.99950238e-01 2.79213428e-03 -9.57733729e-03 4.44821951e+01] [-2.78244030e-03 9.99995603e-01 1.02535419e-03 -3.99108208e+00] [ 9.58015811e-03 -9.98654793e-04 9.99953611e-01 -1.62543007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.939928851 meters 0.09866363759981868 Centerline is valid? [True, True] Translation: X:44.54, Y:-4.00, Z:-1.63 [[ 9.99941341e-01 4.53374024e-03 -9.83669958e-03 4.45401716e+01] [-4.52359854e-03 9.99989214e-01 1.05301094e-03 -4.00105304e+00] [ 9.84136756e-03 -1.00845189e-03 9.99951064e-01 -1.62768091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.999928851 meters 0.0985098618184961 Centerline is valid? [True, True] Translation: X:44.60, Y:-4.01, Z:-1.63 [[ 9.99914561e-01 5.95754998e-03 -1.16352098e-02 4.45986522e+01] [-5.94346871e-03 9.99981563e-01 1.24443310e-03 -4.00874224e+00] [ 1.16424090e-02 -1.17517327e-03 9.99931534e-01 -1.62999135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.059928851 meters 0.09856601414956088 Centerline is valid? [True, True] Translation: X:44.66, Y:-4.01, Z:-1.63 [[ 9.99904915e-01 6.95524757e-03 -1.19073620e-02 4.46569300e+01] [-6.94057846e-03 9.99975104e-01 1.27281736e-03 -4.01423801e+00] [ 1.19159183e-02 -1.19005235e-03 9.99928295e-01 -1.63143585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.119928851 meters 0.09862966091505969 Centerline is valid? [True, True] Translation: X:44.72, Y:-4.02, Z:-1.63 [[ 9.99897065e-01 7.33856462e-03 -1.23290504e-02 4.47151098e+01] [-7.32287606e-03 9.99972320e-01 1.31714999e-03 -4.02069747e+00] [ 1.23383751e-02 -1.22673030e-03 9.99923127e-01 -1.63322125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.179928851 meters 0.09284161277113344 Centerline is valid? [True, True] Translation: X:44.78, Y:-4.02, Z:-1.63 [[ 9.99902872e-01 5.88383074e-03 -1.26343357e-02 4.47764108e+01] [-5.86722853e-03 9.99981875e-01 1.35071981e-03 -4.01731002e+00] [ 1.26420541e-02 -1.27646009e-03 9.99919271e-01 -1.63141083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.239928851 meters 0.09411352500561317 Centerline is valid? [True, True] Translation: X:44.84, Y:-4.02, Z:-1.63 [[ 9.99944958e-01 3.65521827e-03 -9.83468428e-03 4.48364300e+01] [-3.64505229e-03 9.99992804e-01 1.05141285e-03 -4.02399179e+00] [ 9.83845666e-03 -1.01550704e-03 9.99951086e-01 -1.63100416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.299928851 meters 0.09268095364129851 Centerline is valid? [True, True] Translation: X:44.90, Y:-4.03, Z:-1.63 [[ 9.99942483e-01 3.29113792e-03 -1.02077755e-02 4.48956552e+01] [-3.28018477e-03 9.99994027e-01 1.08957746e-03 -4.02515065e+00] [ 1.02113005e-02 -1.05603140e-03 9.99947306e-01 -1.63156083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.359928851 meters 0.094502477736203 Centerline is valid? [True, True] Translation: X:44.95, Y:-4.03, Z:-1.63 [[ 9.99938916e-01 4.21483139e-03 -1.02175853e-02 4.49527782e+01] [-4.20392382e-03 9.99990571e-01 1.08877090e-03 -4.03370061e+00] [ 1.02220779e-02 -1.04575044e-03 9.99947206e-01 -1.63333333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.419928851 meters 0.09145967808900589 Centerline is valid? [True, True] Translation: X:45.01, Y:-4.03, Z:-1.63 [[ 9.99924338e-01 5.89588925e-03 -1.07961560e-02 4.50129971e+01] [-5.88379853e-03 9.99982028e-01 1.15132952e-03 -4.03050401e+00] [ 1.08027501e-02 -1.08772001e-03 9.99941057e-01 -1.63324874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.479928851 meters 0.09604616266698703 Centerline is valid? [True, True] Translation: X:45.07, Y:-4.04, Z:-1.64 [[ 9.99918766e-01 8.97499270e-03 -9.05045617e-03 4.50709991e+01] [-8.96662649e-03 9.99959334e-01 9.64550471e-04 -4.04310606e+00] [ 9.05874496e-03 -8.83320057e-04 9.99958579e-01 -1.63636517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.539928851 meters 0.09066611628328286 Centerline is valid? [True, True] Translation: X:45.13, Y:-4.04, Z:-1.64 [[ 9.99883097e-01 1.25733742e-02 -8.70075521e-03 4.51323806e+01] [-1.25657736e-02 9.99920617e-01 9.27676781e-04 -4.03646628e+00] [ 8.71172855e-03 -8.18236613e-04 9.99961717e-01 -1.63656348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.599928851 meters 0.0895089721591093 Centerline is valid? [True, True] Translation: X:45.19, Y:-4.04, Z:-1.64 [[ 9.99819957e-01 1.64155200e-02 -9.51759732e-03 4.51924330e+01] [-1.64066022e-02 9.99864888e-01 1.01430741e-03 -4.03783423e+00] [ 9.53296176e-03 -8.57973359e-04 9.99954192e-01 -1.63822829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.659928851 meters 0.08748009758226166 Centerline is valid? [True, True] Translation: X:45.25, Y:-4.04, Z:-1.64 [[ 9.99771755e-01 1.91999022e-02 -9.37020959e-03 4.52533682e+01] [-1.91913779e-02 9.99815330e-01 9.98803132e-04 -4.03663102e+00] [ 9.38765611e-03 -8.18747928e-04 9.99955600e-01 -1.63827534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.719928851 meters 0.0865356121704849 Centerline is valid? [True, True] Translation: X:45.31, Y:-4.04, Z:-1.64 [[ 9.99738645e-01 2.10381330e-02 -8.94647106e-03 4.53137173e+01] [-2.10304381e-02 9.99778381e-01 9.53328978e-04 -4.03711136e+00] [ 8.96454461e-03 -7.64931614e-04 9.99959525e-01 -1.63775781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.779928851 meters 0.08751265109230097 Centerline is valid? [True, True] Translation: X:45.37, Y:-4.04, Z:-1.64 [[ 9.99780424e-01 1.96385785e-02 -7.30964977e-03 4.53734070e+01] [-1.96334085e-02 9.99806943e-01 7.78371016e-04 -4.04264368e+00] [ 7.32352469e-03 -6.34686763e-04 9.99972981e-01 -1.64032442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.839928851 meters 0.09156658247140936 Centerline is valid? [True, True] Translation: X:45.43, Y:-4.05, Z:-1.64 [[ 9.99848007e-01 1.57504088e-02 -7.47572989e-03 4.54316554e+01] [-1.57448922e-02 9.99875724e-01 7.96216859e-04 -4.05490249e+00] [ 7.48734158e-03 -6.78391279e-04 9.99971739e-01 -1.64380308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.899928851 meters 0.0923898877106806 Centerline is valid? [True, True] Translation: X:45.49, Y:-4.06, Z:-1.64 [[ 9.99882847e-01 1.36054530e-02 -7.01308748e-03 4.54920757e+01] [-1.36005442e-02 9.99907229e-01 7.47160111e-04 -4.06045731e+00] [ 7.02260233e-03 -6.51690773e-04 9.99975129e-01 -1.64416769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.959928851 meters 0.09298430935631866 Centerline is valid? [True, True] Translation: X:45.55, Y:-4.07, Z:-1.65 [[ 9.99903464e-01 1.06983171e-02 -8.86617735e-03 4.55517003e+01] [-1.06903588e-02 9.99942410e-01 9.44506722e-04 -4.06611577e+00] [ 8.87577138e-03 -8.49632926e-04 9.99960249e-01 -1.64654605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.019928851 meters 0.09326130375353837 Centerline is valid? [True, True] Translation: X:45.61, Y:-4.07, Z:-1.65 [[ 9.99931758e-01 7.83325089e-03 -8.66718579e-03 4.56116178e+01] [-7.82553922e-03 9.99968954e-01 9.23310536e-04 -4.07201381e+00] [ 8.67414923e-03 -8.55422125e-04 9.99962013e-01 -1.64799809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.079928851 meters 0.09409123697967857 Centerline is valid? [True, True] Translation: X:45.67, Y:-4.08, Z:-1.65 [[ 9.99953667e-01 6.46822728e-03 -7.12925260e-03 4.56711869e+01] [-6.46298055e-03 9.99978827e-01 7.58736253e-04 -4.07770242e+00] [ 7.13400933e-03 -7.12624877e-04 9.99974299e-01 -1.64765840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.13992885100001 meters 0.09552763967445825 Centerline is valid? [True, True] Translation: X:45.73, Y:-4.09, Z:-1.65 [[ 9.99966064e-01 5.15294727e-03 -6.42787781e-03 4.57303732e+01] [-5.14865696e-03 9.99986512e-01 6.83823197e-04 -4.08500659e+00] [ 6.43131481e-03 -6.50705053e-04 9.99979107e-01 -1.65025519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.199928851 meters 0.0984851744699922 Centerline is valid? [True, True] Translation: X:45.79, Y:-4.10, Z:-1.65 [[ 9.99976134e-01 2.59263074e-03 -6.40386972e-03 4.57904888e+01] [-2.58831750e-03 9.99996418e-01 6.81732712e-04 -4.09538186e+00] [ 6.40561426e-03 -6.65141193e-04 9.99979263e-01 -1.65257031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.259928851 meters 0.09846735735190963 Centerline is valid? [True, True] Translation: X:45.85, Y:-4.10, Z:-1.65 [[ 9.99976568e-01 -8.71539343e-04 -6.78990955e-03 4.58507924e+01] [ 8.76467698e-04 9.99999355e-01 7.22893328e-04 -4.09874562e+00] [ 6.78927513e-03 -7.28827525e-04 9.99976687e-01 -1.65360410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.319928851 meters 0.10151191888528895 Centerline is valid? [True, False] Translation: X:45.85, Y:-4.10, Z:-1.65 [[ 9.99977021e-01 -6.21346889e-04 -6.75060429e-03 4.58512345e+01] [ 6.29176634e-04 9.99999132e-01 1.15779658e-03 -4.09927872e+00] [ 6.74987904e-03 -1.16201730e-03 9.99976544e-01 -1.65437288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.379928851 meters 0.10153429670359905 Centerline is valid? [False, False] Translation: X:45.85, Y:-4.10, Z:-1.65 [[ 9.99979478e-01 -1.20792740e-03 -6.29165299e-03 4.58503087e+01] [ 1.21210737e-03 9.99999047e-01 6.60597671e-04 -4.09786975e+00] [ 6.29084904e-03 -6.68210273e-04 9.99979989e-01 -1.65447840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.439928851 meters 0.10288872895593569 Centerline is valid? [False, False] Translation: X:45.85, Y:-4.10, Z:-1.65 [[ 9.99979957e-01 -1.52569782e-03 -6.14474310e-03 4.58503094e+01] [ 1.52733489e-03 9.99998799e-01 2.61735023e-04 -4.09603751e+00] [ 6.14433640e-03 -2.71114858e-04 9.99981087e-01 -1.65497485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.499928851 meters 0.10351449796848135 Centerline is valid? [False, False] Translation: X:45.85, Y:-4.10, Z:-1.66 [[ 9.99980838e-01 -1.55820764e-03 -5.99122059e-03 4.58504841e+01] [ 1.56001206e-03 9.99998739e-01 2.96515330e-04 -4.09545198e+00] [ 5.99075100e-03 -3.05856025e-04 9.99982009e-01 -1.65573427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.559928851 meters 0.11955765564251862 Centerline is valid? [False, False] Translation: X:45.85, Y:-4.09, Z:-1.66 [[ 9.99982245e-01 -1.89471598e-03 -5.64967321e-03 4.58498358e+01] [ 1.89491799e-03 9.99998204e-01 3.04033496e-05 -4.09479027e+00] [ 5.64960545e-03 -4.11084772e-05 9.99984040e-01 -1.65584456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.619928851 meters 0.10774163624314581 Centerline is valid? [False, False] Translation: X:45.85, Y:-4.09, Z:-1.66 [[ 9.99982813e-01 -1.93923246e-03 -5.53284850e-03 4.58496799e+01] [ 1.93978835e-03 9.99998114e-01 9.51072669e-05 -4.09464052e+00] [ 5.53265363e-03 -1.05838187e-04 9.99984689e-01 -1.65599934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.679928851 meters 0.11199488018609137 Centerline is valid? [False, False] Translation: X:45.85, Y:-4.09, Z:-1.66 [[ 9.99983355e-01 -2.25468783e-03 -5.31100629e-03 4.58490481e+01] [ 2.25380421e-03 9.99997445e-01 -1.72354502e-04 -4.09404894e+00] [ 5.31138133e-03 1.60381664e-04 9.99985882e-01 -1.65580763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.739928851 meters 0.109303490291804 Centerline is valid? [False, False] Translation: X:45.85, Y:-4.09, Z:-1.66 [[ 9.99982627e-01 -2.60395058e-03 -5.28816891e-03 4.58487718e+01] [ 2.60039920e-03 9.99996389e-01 -6.78335613e-04 -4.09247165e+00] [ 5.28991616e-03 6.64572478e-04 9.99985787e-01 -1.65555645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.799928851 meters 0.10837599546650596 Centerline is valid? [False, False] Translation: X:45.85, Y:-4.09, Z:-1.66 [[ 9.99982486e-01 -2.32481397e-03 -5.44277004e-03 4.58496988e+01] [ 2.32243148e-03 9.99997205e-01 -4.44014430e-04 -4.09223240e+00] [ 5.44378707e-03 4.31366193e-04 9.99985089e-01 -1.65646737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.859928851 meters 0.10438117580141003 Centerline is valid? [False, False] Translation: X:45.85, Y:-4.09, Z:-1.66 [[ 9.99981604e-01 -1.93363958e-03 -5.74921313e-03 4.58510366e+01] [ 1.93268673e-03 9.99998118e-01 -1.71287382e-04 -4.09179916e+00] [ 5.74953352e-03 1.60172803e-04 9.99983458e-01 -1.65748647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.919928851 meters 0.10297304360560991 Centerline is valid? [False, False] Translation: X:45.85, Y:-4.09, Z:-1.66 [[ 9.99979415e-01 -1.63815584e-03 -6.20371057e-03 4.58522619e+01] [ 1.63689412e-03 9.99998639e-01 -2.08453921e-04 -4.09081832e+00] [ 6.20404360e-03 1.98294813e-04 9.99980735e-01 -1.65789158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.979928851 meters 0.1082925604013291 Centerline is valid? [False, False] Translation: X:45.85, Y:-4.09, Z:-1.66 [[ 9.99975576e-01 -1.29121399e-03 -6.86872183e-03 4.58536206e+01] [ 1.28822529e-03 9.99999074e-01 -4.39524816e-04 -4.08932624e+00] [ 6.86928299e-03 4.30665620e-04 9.99976313e-01 -1.65786180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.039928851 meters 0.09995095809946884 Centerline is valid? [False, True] Translation: X:45.85, Y:-4.09, Z:-1.66 [[ 9.99974667e-01 -9.87022145e-04 -7.04925828e-03 4.58543156e+01] [ 9.86106153e-04 9.99999505e-01 -1.33416055e-04 -4.08949235e+00] [ 7.04938647e-03 1.26461358e-04 9.99975145e-01 -1.65835435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.099928851 meters 0.101519813304902 Centerline is valid? [True, False] Translation: X:45.85, Y:-4.09, Z:-1.66 [[ 9.99977020e-01 -5.37651173e-04 -6.75796728e-03 4.58540708e+01] [ 5.44123409e-04 9.99999395e-01 9.55917146e-04 -4.09274314e+00] [ 6.75744924e-03 -9.59572347e-04 9.99976708e-01 -1.65879839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.159928851 meters 0.10786157955096765 Centerline is valid? [False, False] Translation: X:45.85, Y:-4.10, Z:-1.66 [[ 9.99981594e-01 -6.53758226e-04 -6.03198322e-03 4.58524164e+01] [ 6.64077165e-04 9.99998319e-01 1.70886004e-03 -4.09637609e+00] [ 6.03085590e-03 -1.71283429e-03 9.99980347e-01 -1.65844869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.219928851 meters 0.10227456286381988 Centerline is valid? [False, False] Translation: X:45.85, Y:-4.10, Z:-1.66 [[ 9.99984427e-01 -7.10760753e-04 -5.53544968e-03 4.58512983e+01] [ 7.23262220e-04 9.99997192e-01 2.25676309e-03 -4.09870137e+00] [ 5.53383012e-03 -2.26073153e-03 9.99982133e-01 -1.65829413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.279928851 meters 0.1077895089256214 Centerline is valid? [False, False] Translation: X:45.85, Y:-4.10, Z:-1.66 [[ 9.99973906e-01 -4.44011671e-03 -5.69848673e-03 4.58516214e+01] [ 4.43402854e-03 9.99989586e-01 -1.08057408e-03 -4.10144334e+00] [ 5.70322526e-03 1.05527863e-03 9.99983180e-01 -1.65823488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.339928851 meters 0.10639434420140782 Centerline is valid? [False, False] Translation: X:45.85, Y:-4.11, Z:-1.66 [[ 9.99977561e-01 -4.44321598e-03 -5.01354305e-03 4.58501353e+01] [ 4.44291382e-03 9.99990128e-01 -7.14063543e-05 -4.10553567e+00] [ 5.01381083e-03 4.91300123e-05 9.99987430e-01 -1.65798607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.399928851 meters 0.11061028864971854 Centerline is valid? [False, False] Translation: X:45.85, Y:-4.11, Z:-1.66 [[ 9.99980645e-01 -3.97596137e-03 -4.78544462e-03 4.58501151e+01] [ 3.98118316e-03 9.99991490e-01 1.08215208e-03 -4.10856563e+00] [ 4.78110130e-03 -1.10118287e-03 9.99987964e-01 -1.65861282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.459928851 meters 0.1127729331161989 Centerline is valid? [False, False] Translation: X:45.85, Y:-4.11, Z:-1.66 [[ 9.99983231e-01 -3.86959769e-03 -4.30870008e-03 4.58488607e+01] [ 3.87772812e-03 9.99990714e-01 1.88022766e-03 -4.11251296e+00] [ 4.30138435e-03 -1.89690410e-03 9.99988950e-01 -1.65811771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.519928851 meters 0.11370477651327045 Centerline is valid? [False, False] Translation: X:45.85, Y:-4.11, Z:-1.66 [[ 9.99982769e-01 -3.53642788e-03 -4.68558454e-03 4.58498083e+01] [ 3.54595411e-03 9.99991660e-01 2.02634664e-03 -4.11255686e+00] [ 4.67837943e-03 -2.04292660e-03 9.99986970e-01 -1.65829136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.579928851 meters 0.10794071864454874 Centerline is valid? [False, False] Translation: X:45.85, Y:-4.11, Z:-1.66 [[ 9.99989278e-01 8.93199761e-04 -4.54385256e-03 4.58494526e+01] [-8.63430255e-04 9.99978180e-01 6.54934867e-03 -4.11385907e+00] [ 4.54960329e-03 -6.54535514e-03 9.99968229e-01 -1.65817881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.639928851 meters 0.10742405819404971 Centerline is valid? [False, False] Translation: X:45.85, Y:-4.11, Z:-1.66 [[ 9.99984151e-01 1.34079465e-03 -5.46812757e-03 4.58511477e+01] [-1.30667969e-03 9.99979692e-01 6.23768245e-03 -4.11259246e+00] [ 5.47637997e-03 -6.23043850e-03 9.99965595e-01 -1.65799669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.699928851 meters 0.10212422882148334 Centerline is valid? [False, False] Translation: X:45.85, Y:-4.11, Z:-1.66 [[ 9.99978910e-01 1.52425018e-03 -6.31311621e-03 4.58523839e+01] [-1.48988748e-03 9.99984070e-01 5.44419517e-03 -4.10999440e+00] [ 6.32131396e-03 -5.43467452e-03 9.99965252e-01 -1.65730844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.759928851 meters 0.0958875837645598 Centerline is valid? [False, True] Translation: X:45.85, Y:-4.11, Z:-1.66 [[ 9.99973442e-01 1.99223341e-03 -7.01037498e-03 4.58539641e+01] [-1.95445856e-03 9.99983558e-01 5.39115281e-03 -4.10932102e+00] [ 7.02100015e-03 -5.37730814e-03 9.99960894e-01 -1.65760818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.819928851 meters 0.09483937025662856 Centerline is valid? [True, True] Translation: X:45.91, Y:-4.11, Z:-1.66 [[ 9.99944845e-01 6.25096341e-03 -8.43997478e-03 4.59141203e+01] [-6.24361159e-03 9.99980106e-01 8.97138516e-04 -4.11052488e+00] [ 8.44541486e-03 -8.44393110e-04 9.99963980e-01 -1.65879050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.879928851 meters 0.09341216269745159 Centerline is valid? [True, True] Translation: X:45.98, Y:-4.11, Z:-1.66 [[ 9.99884820e-01 1.22669446e-02 -8.93698505e-03 4.59752551e+01] [-1.22589313e-02 9.99924404e-01 9.50875765e-04 -4.11216339e+00] [ 8.94797379e-03 -8.41208357e-04 9.99959612e-01 -1.66048028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.939928851 meters 0.09225449262565973 Centerline is valid? [True, True] Translation: X:46.04, Y:-4.12, Z:-1.66 [[ 9.99818448e-01 1.68270911e-02 -8.93977401e-03 4.60355729e+01] [-1.68192552e-02 9.99858094e-01 9.50983050e-04 -4.11503215e+00] [ 8.95450769e-03 -8.00450057e-04 9.99959587e-01 -1.66042732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.999928851 meters 0.09227218609491727 Centerline is valid? [True, True] Translation: X:46.09, Y:-4.12, Z:-1.66 [[ 9.99824841e-01 1.68288460e-02 -8.19004260e-03 4.60940958e+01] [-1.68222825e-02 9.99858117e-01 8.69638866e-04 -4.12022933e+00] [ 8.20351559e-03 -7.31711331e-04 9.99966083e-01 -1.65989262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.059928851 meters 0.09423741876156351 Centerline is valid? [True, True] Translation: X:46.15, Y:-4.13, Z:-1.66 [[ 9.99863806e-01 1.49071544e-02 -7.08145219e-03 4.61523390e+01] [-1.49022047e-02 9.99888674e-01 7.51215401e-04 -4.12995992e+00] [ 7.09186232e-03 -6.45583839e-04 9.99974644e-01 -1.66126566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.119928851 meters 0.09270318960588933 Centerline is valid? [True, True] Translation: X:46.21, Y:-4.13, Z:-1.66 [[ 9.99923447e-01 1.02947341e-02 -6.86432410e-03 4.62129546e+01] [-1.02899700e-02 9.99946791e-01 7.28984235e-04 -4.13357437e+00] [ 6.87146355e-03 -6.58294739e-04 9.99976175e-01 -1.66139617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.179928851 meters 0.09414253855422353 Centerline is valid? [True, True] Translation: X:46.27, Y:-4.14, Z:-1.66 [[ 9.99950175e-01 6.40854355e-03 -7.65363613e-03 4.62727245e+01] [-6.40250622e-03 9.99979173e-01 8.13060329e-04 -4.14330908e+00] [ 7.65868726e-03 -7.64017365e-04 9.99970380e-01 -1.66362452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.239928851 meters 0.09436170878255949 Centerline is valid? [True, True] Translation: X:46.33, Y:-4.15, Z:-1.66 [[ 9.99955245e-01 4.92200147e-03 -8.07970385e-03 4.63321952e+01] [-4.91522902e-03 9.99987552e-01 8.57848645e-04 -4.15007336e+00] [ 8.08382560e-03 -8.18096657e-04 9.99966991e-01 -1.66428046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.299928851 meters 0.09781339965192717 Centerline is valid? [True, True] Translation: X:46.39, Y:-4.16, Z:-1.67 [[ 9.99977244e-01 1.48144998e-03 -6.58159911e-03 4.63902766e+01] [-1.47688331e-03 9.99998665e-01 6.98659413e-04 -4.16498959e+00] [ 6.58262535e-03 -6.88923260e-04 9.99978097e-01 -1.66517181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.359928851 meters 0.09767552730041645 Centerline is valid? [True, True] Translation: X:46.45, Y:-4.17, Z:-1.66 [[ 9.99978974e-01 -3.05893959e-03 -5.71794998e-03 4.64502099e+01] [ 3.06246128e-03 9.99995126e-01 6.07247071e-04 -4.17398903e+00] [ 5.71606458e-03 -6.24745304e-04 9.99983468e-01 -1.66407649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.419928851 meters 0.10018698123015211 Centerline is valid? [True, False] Translation: X:46.45, Y:-4.18, Z:-1.66 [[ 9.99982437e-01 -3.25272111e-03 -4.95438349e-03 4.64485536e+01] [ 3.25983205e-03 9.99993667e-01 1.42788284e-03 -4.17818042e+00] [ 4.94970761e-03 -1.44400822e-03 9.99986708e-01 -1.66386376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.479928851 meters 0.10124963356567618 Centerline is valid? [False, False] Translation: X:46.45, Y:-4.18, Z:-1.66 [[ 9.99984855e-01 -3.14846836e-03 -4.51408510e-03 4.64477204e+01] [ 3.15884288e-03 9.99992382e-01 2.29297075e-03 -4.18117840e+00] [ 4.50683136e-03 -2.30719531e-03 9.99987183e-01 -1.66391340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.539928851 meters 0.10661491895521334 Centerline is valid? [False, False] Translation: X:46.45, Y:-4.18, Z:-1.66 [[ 9.99964252e-01 -7.17967288e-03 -4.46622347e-03 4.64473316e+01] [ 7.17382108e-03 9.99973390e-01 -1.32487802e-03 -4.18352465e+00] [ 4.47561682e-03 1.29279077e-03 9.99989149e-01 -1.66341248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.599928851 meters 0.10466753895611114 Centerline is valid? [False, False] Translation: X:46.45, Y:-4.19, Z:-1.66 [[ 9.99968957e-01 -6.64577152e-03 -4.23297198e-03 4.64470149e+01] [ 6.64552817e-03 9.99977916e-01 -7.15514324e-05 -4.18763399e+00] [ 4.23335401e-03 4.34188767e-05 9.99991038e-01 -1.66363792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.659928851 meters 0.10531084372667697 Centerline is valid? [False, False] Translation: X:46.45, Y:-4.19, Z:-1.66 [[ 9.99971171e-01 -6.10257499e-03 -4.51845451e-03 4.64479225e+01] [ 6.10539132e-03 9.99981176e-01 6.09765168e-04 -4.18888597e+00] [ 4.51464832e-03 -6.37334522e-04 9.99989606e-01 -1.66408104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.719928851 meters 0.10236353916637739 Centerline is valid? [False, False] Translation: X:46.45, Y:-4.19, Z:-1.66 [[ 9.99972684e-01 -5.59958605e-03 -4.82454968e-03 4.64483977e+01] [ 5.60553307e-03 9.99983545e-01 1.22001939e-03 -4.19072882e+00] [ 4.81763868e-03 -1.24703024e-03 9.99987618e-01 -1.66384837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.779928851 meters 0.10022455233552872 Centerline is valid? [False, False] Translation: X:46.45, Y:-4.19, Z:-1.66 [[ 9.99975404e-01 -4.66450013e-03 -5.23779724e-03 4.64494827e+01] [ 4.67703391e-03 9.99986223e-01 2.38325521e-03 -4.19347882e+00] [ 5.22660838e-03 -2.40769394e-03 9.99983443e-01 -1.66416785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.839928851 meters 0.09817426960347897 Centerline is valid? [False, True] Translation: X:46.45, Y:-4.19, Z:-1.66 [[ 9.99975452e-01 -4.48208532e-03 -5.38567668e-03 4.64495926e+01] [ 4.49606750e-03 9.99986547e-01 2.58688074e-03 -4.19420996e+00] [ 5.37400961e-03 -2.61103161e-03 9.99982151e-01 -1.66387785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.899928851 meters 0.09637379736136815 Centerline is valid? [True, True] Translation: X:46.51, Y:-4.20, Z:-1.67 [[ 9.99972724e-01 -2.41355231e-03 -6.98039197e-03 4.65086739e+01] [ 2.41884618e-03 9.99996793e-01 7.50048474e-04 -4.20088229e+00] [ 6.97855931e-03 -7.66912510e-04 9.99975355e-01 -1.66566993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.959928851 meters 0.09475590845246752 Centerline is valid? [True, True] Translation: X:46.57, Y:-4.21, Z:-1.67 [[ 9.99966189e-01 -2.99855491e-03 -7.65705120e-03 4.65664101e+01] [ 3.00490485e-03 9.99995151e-01 8.17923124e-04 -4.20978693e+00] [ 7.65456148e-03 -8.40904179e-04 9.99970350e-01 -1.66579933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.019928851 meters 0.09771610687056094 Centerline is valid? [True, True] Translation: X:46.62, Y:-4.22, Z:-1.67 [[ 9.99966061e-01 -3.76999424e-03 -7.32552457e-03 4.66229603e+01] [ 3.77583773e-03 9.99992564e-01 7.84022666e-04 -4.22436526e+00] [ 7.32251434e-03 -8.11656050e-04 9.99972861e-01 -1.66643018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.079928851 meters 0.0982233976002652 Centerline is valid? [True, True] Translation: X:46.68, Y:-4.23, Z:-1.67 [[ 9.99961929e-01 -4.47665744e-03 -7.48999965e-03 4.66805099e+01] [ 4.48277433e-03 9.99989632e-01 8.00086421e-04 -4.23436981e+00] [ 7.48634028e-03 -8.33631939e-04 9.99971629e-01 -1.66807462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.139928851 meters 0.09820373395773452 Centerline is valid? [True, True] Translation: X:46.74, Y:-4.24, Z:-1.67 [[ 9.99964109e-01 -4.15788037e-03 -7.38195558e-03 4.67391815e+01] [ 4.16379164e-03 9.99991023e-01 7.85585626e-04 -4.24370012e+00] [ 7.37862294e-03 -8.16294355e-04 9.99972444e-01 -1.66916530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.199928851 meters 0.09601324718663536 Centerline is valid? [True, True] Translation: X:46.80, Y:-4.25, Z:-1.67 [[ 9.99971473e-01 -3.91819371e-03 -6.45762982e-03 4.67975452e+01] [ 3.92269882e-03 9.99992071e-01 6.85122765e-04 -4.24795523e+00] [ 6.45489418e-03 -7.10434558e-04 9.99978915e-01 -1.66860908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.259928851 meters 0.09427131763317742 Centerline is valid? [True, True] Translation: X:46.86, Y:-4.25, Z:-1.67 [[ 9.99967203e-01 -2.26836813e-03 -7.77476848e-03 4.68571221e+01] [ 2.27487472e-03 9.99997070e-01 8.28143602e-04 -4.25202135e+00] [ 7.77286717e-03 -8.45803066e-04 9.99969433e-01 -1.67014726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.319928851 meters 0.09364090108056781 Centerline is valid? [True, True] Translation: X:46.92, Y:-4.26, Z:-1.67 [[ 9.99972577e-01 -1.17831764e-03 -7.31144099e-03 4.69169788e+01] [ 1.18403874e-03 9.99998996e-01 7.78206839e-04 -4.25725090e+00] [ 7.31051668e-03 -7.86842527e-04 9.99972968e-01 -1.67081237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.379928851 meters 0.09421498651899769 Centerline is valid? [True, True] Translation: X:46.98, Y:-4.27, Z:-1.67 [[ 9.99978769e-01 4.20459585e-04 -6.50260025e-03 4.69758632e+01] [-4.15968292e-04 9.99999674e-01 6.92029008e-04 -4.26717406e+00] [ 6.50288910e-03 -6.89309440e-04 9.99978618e-01 -1.67188257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.439928851 meters 0.09554781799979589 Centerline is valid? [True, True] Translation: X:47.03, Y:-4.28, Z:-1.67 [[ 9.99979792e-01 -3.54311157e-05 -6.35727043e-03 4.70335668e+01] [ 3.97272364e-05 9.99999771e-01 6.75655701e-04 -4.27728610e+00] [ 6.35724504e-03 -6.75894604e-04 9.99979564e-01 -1.67369763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.499928851 meters 0.09034925846509209 Centerline is valid? [True, True] Translation: X:47.09, Y:-4.28, Z:-1.67 [[ 9.99981829e-01 -6.28335821e-04 -5.99561720e-03 4.70924624e+01] [ 6.32164449e-04 9.99999597e-01 6.36697326e-04 -4.27644965e+00] [ 5.99521473e-03 -6.40475972e-04 9.99981823e-01 -1.67269302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.559928851 meters 0.09611927454486317 Centerline is valid? [True, True] Translation: X:47.15, Y:-4.30, Z:-1.68 [[ 9.99972244e-01 -2.99681454e-03 -6.82135143e-03 4.71496264e+01] [ 3.00182990e-03 9.99995232e-01 7.25124760e-04 -4.29645310e+00] [ 6.81914584e-03 -7.45581170e-04 9.99976471e-01 -1.67591220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.619928851 meters 0.09617283268059737 Centerline is valid? [True, True] Translation: X:47.21, Y:-4.31, Z:-1.68 [[ 9.99957432e-01 -5.37113673e-03 -7.50238883e-03 4.72095253e+01] [ 5.37727171e-03 9.99985224e-01 7.97804332e-04 -4.30573452e+00] [ 7.49799286e-03 -8.38112754e-04 9.99971538e-01 -1.67680748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.679928851 meters 0.09552186339535648 Centerline is valid? [True, True] Translation: X:47.27, Y:-4.31, Z:-1.68 [[ 9.99945816e-01 -6.78712837e-03 -7.89298369e-03 4.72689297e+01] [ 6.79395946e-03 9.99976569e-01 8.38973599e-04 -4.31433894e+00] [ 7.88710452e-03 -8.92552752e-04 9.99968498e-01 -1.67807180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.739928851 meters 0.09605889340852006 Centerline is valid? [True, True] Translation: X:47.33, Y:-4.32, Z:-1.68 [[ 9.99919857e-01 -8.34539853e-03 -9.52023358e-03 4.73282973e+01] [ 8.35540541e-03 9.99964581e-01 1.01182829e-03 -4.32423260e+00] [ 9.51145227e-03 -1.09129261e-03 9.99954170e-01 -1.67942621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.799928851 meters 0.09876454552978814 Centerline is valid? [True, True] Translation: X:47.39, Y:-4.34, Z:-1.68 [[ 9.99914789e-01 -8.70055725e-03 -9.73212204e-03 4.73859508e+01] [ 8.71102178e-03 9.99961524e-01 1.03338368e-03 -4.33588366e+00] [ 9.72275658e-03 -1.11807235e-03 9.99952108e-01 -1.68133834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.859928851 meters 0.09805412405027916 Centerline is valid? [True, True] Translation: X:47.45, Y:-4.34, Z:-1.68 [[ 9.99925681e-01 -6.83378465e-03 -1.00961637e-02 4.74457152e+01] [ 6.84495636e-03 9.99975998e-01 1.07239006e-03 -4.34090999e+00] [ 1.00885929e-02 -1.14141816e-03 9.99948457e-01 -1.68258472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.919928851 meters 0.09885005242740849 Centerline is valid? [True, True] Translation: X:47.50, Y:-4.35, Z:-1.68 [[ 9.99947485e-01 -3.16531180e-03 -9.74715713e-03 4.75049065e+01] [ 3.17555216e-03 9.99994422e-01 1.03530150e-03 -4.34747115e+00] [ 9.74382571e-03 -1.06619973e-03 9.99951959e-01 -1.68411123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.979928851 meters 0.09243766498189819 Centerline is valid? [True, True] Translation: X:47.57, Y:-4.34, Z:-1.68 [[ 9.99951781e-01 1.16343551e-03 -9.75101605e-03 4.75663379e+01] [-1.15339089e-03 9.99998799e-01 1.03567015e-03 -4.34102699e+00] [ 9.75220927e-03 -1.02437348e-03 9.99951921e-01 -1.68245598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.039928851 meters 0.09152454035971554 Centerline is valid? [True, True] Translation: X:47.63, Y:-4.34, Z:-1.68 [[ 9.99935077e-01 5.19411528e-03 -1.01421411e-02 4.76269128e+01] [-5.18345439e-03 9.99985986e-01 1.07715131e-03 -4.34319633e+00] [ 1.01475938e-02 -1.02451005e-03 9.99947987e-01 -1.68410205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.099928851 meters 0.09143710500327451 Centerline is valid? [True, True] Translation: X:47.69, Y:-4.35, Z:-1.69 [[ 9.99914944e-01 7.31072073e-03 -1.08008032e-02 4.76870828e+01] [-7.29875568e-03 9.99972706e-01 1.14679519e-03 -4.34857598e+00] [ 1.08088923e-02 -1.06786523e-03 9.99941012e-01 -1.68553565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.159928851 meters 0.09029305997860183 Centerline is valid? [True, True] Translation: X:47.75, Y:-4.35, Z:-1.69 [[ 9.99912110e-01 8.51099653e-03 -1.01654235e-02 4.77464695e+01] [-8.50046541e-03 9.99963289e-01 1.07873303e-03 -4.35221147e+00] [ 1.01742314e-02 -9.92227386e-04 9.99947749e-01 -1.68631104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.219928851 meters 0.08859509721829333 Centerline is valid? [True, True] Translation: X:47.81, Y:-4.35, Z:-1.69 [[ 9.99877725e-01 1.03827595e-02 -1.16932699e-02 4.78062019e+01] [-1.03689553e-02 9.99945471e-01 1.24053743e-03 -4.35359207e+00] [ 1.17055125e-02 -1.11913875e-03 9.99930862e-01 -1.68659300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.279928851 meters 0.08960122471174617 Centerline is valid? [True, True] Translation: X:47.86, Y:-4.36, Z:-1.69 [[ 9.99836107e-01 1.27502516e-02 -1.28526334e-02 4.78644413e+01] [-1.27337787e-02 9.99917994e-01 1.36270567e-03 -4.36046645e+00] [ 1.28689542e-02 -1.19881975e-03 9.99916473e-01 -1.68970133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.339928851 meters 0.08797263355057132 Centerline is valid? [True, True] Translation: X:47.92, Y:-4.36, Z:-1.69 [[ 9.99833804e-01 1.35903308e-02 -1.21518401e-02 4.79239971e+01] [-1.35756749e-02 9.99907017e-01 1.28774494e-03 -4.36279088e+00] [ 1.21682110e-02 -1.12256149e-03 9.99925334e-01 -1.68873841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.399928851 meters 0.08846366163338258 Centerline is valid? [True, True] Translation: X:47.98, Y:-4.37, Z:-1.69 [[ 9.99832278e-01 1.30136939e-02 -1.28863981e-02 4.79825878e+01] [-1.29971786e-02 9.99914602e-01 1.36452528e-03 -4.36925396e+00] [ 1.29030551e-02 -1.19680960e-03 9.99916036e-01 -1.68939933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.459928851 meters 0.09174298337108178 Centerline is valid? [True, True] Translation: X:48.04, Y:-4.38, Z:-1.69 [[ 9.99845035e-01 1.19271845e-02 -1.29478885e-02 4.80398163e+01] [-1.19104318e-02 9.99928130e-01 1.37019603e-03 -4.38231185e+00] [ 1.29633005e-02 -1.21576876e-03 9.99915234e-01 -1.69228268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.519928851 meters 0.08782823193990281 Centerline is valid? [True, True] Translation: X:48.10, Y:-4.38, Z:-1.69 [[ 9.99858957e-01 1.02199363e-02 -1.33273990e-02 4.81004862e+01] [-1.02020300e-02 9.99946963e-01 1.41086470e-03 -4.38029315e+00] [ 1.33411111e-02 -1.27469918e-03 9.99910191e-01 -1.68995453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.579928851 meters 0.0909934678773114 Centerline is valid? [True, True] Translation: X:48.16, Y:-4.39, Z:-1.69 [[ 9.99873196e-01 9.50093073e-03 -1.27798066e-02 4.81572708e+01] [-9.48443389e-03 9.99954109e-01 1.35084231e-03 -4.39255550e+00] [ 1.27920544e-02 -1.22946179e-03 9.99917422e-01 -1.69286320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.639928851 meters 0.09102496242306553 Centerline is valid? [True, True] Translation: X:48.22, Y:-4.40, Z:-1.69 [[ 9.99886119e-01 7.55955867e-03 -1.30615008e-02 4.82172235e+01] [-7.54215409e-03 9.99970604e-01 1.38125514e-03 -4.39898771e+00] [ 1.30715585e-02 -1.28258599e-03 9.99913741e-01 -1.69347876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.699928851 meters 0.08993066298460899 Centerline is valid? [True, True] Translation: X:48.28, Y:-4.40, Z:-1.69 [[ 9.99885711e-01 7.60931475e-03 -1.30638231e-02 4.82763318e+01] [-7.59192829e-03 9.99970229e-01 1.37996292e-03 -4.40216003e+00] [ 1.30739348e-02 -1.28062560e-03 9.99913712e-01 -1.69313068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.759928851 meters 0.09005434232354888 Centerline is valid? [True, True] Translation: X:48.34, Y:-4.41, Z:-1.69 [[ 9.99881785e-01 8.81404872e-03 -1.25987625e-02 4.83359681e+01] [-8.79797252e-03 9.99960411e-01 1.33087018e-03 -4.40670298e+00] [ 1.26099941e-02 -1.21986929e-03 9.99919747e-01 -1.69349929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.819928851 meters 0.09118110591184617 Centerline is valid? [True, True] Translation: X:48.39, Y:-4.41, Z:-1.69 [[ 9.99886393e-01 9.12639037e-03 -1.19962547e-02 4.83940014e+01] [-9.11185287e-03 9.99957685e-01 1.26593528e-03 -4.41453297e+00] [ 1.20073005e-02 -1.15648335e-03 9.99927241e-01 -1.69480550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.879928851 meters 0.0905280505675806 Centerline is valid? [True, True] Translation: X:48.45, Y:-4.42, Z:-1.69 [[ 9.99884482e-01 7.79397300e-03 -1.30490374e-02 4.84540498e+01] [-7.77665177e-03 9.99968812e-01 1.37761075e-03 -4.41755792e+00] [ 1.30593675e-02 -1.27597379e-03 9.99913909e-01 -1.69402277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.939928851 meters 0.09574496048503872 Centerline is valid? [True, True] Translation: X:48.51, Y:-4.43, Z:-1.70 [[ 9.99903748e-01 5.46041029e-03 -1.27545883e-02 4.85124067e+01] [-5.44367906e-03 9.99984277e-01 1.34613057e-03 -4.43205921e+00] [ 1.27617382e-02 -1.27656912e-03 9.99917751e-01 -1.69826230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.999928851 meters 0.09110774577678664 Centerline is valid? [True, True] Translation: X:48.57, Y:-4.43, Z:-1.70 [[ 9.99879404e-01 3.21730741e-03 -1.51929666e-02 4.85736975e+01] [-3.19330652e-03 9.99993615e-01 1.60373196e-03 -4.42792283e+00] [ 1.51980293e-02 -1.55502276e-03 9.99883294e-01 -1.69696987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.059928851 meters 0.08995893860142683 Centerline is valid? [True, True] Translation: X:48.63, Y:-4.43, Z:-1.70 [[ 9.99904938e-01 1.60458023e-03 -1.36945357e-02 4.86336065e+01] [-1.58494334e-03 9.99997700e-01 1.44465425e-03 -4.42986000e+00] [ 1.36968223e-02 -1.42281185e-03 9.99905182e-01 -1.69570129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.119928851 meters 0.09274896017293603 Centerline is valid? [True, True] Translation: X:48.69, Y:-4.44, Z:-1.70 [[ 9.99906142e-01 -4.14804039e-04 -1.36943154e-02 4.86915805e+01] [ 4.34627830e-04 9.99998862e-01 1.44464838e-03 -4.43926149e+00] [ 1.36937006e-02 -1.45046472e-03 9.99905185e-01 -1.69730497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.179928851 meters 0.09334020364347155 Centerline is valid? [True, True] Translation: X:48.75, Y:-4.44, Z:-1.70 [[ 9.99922465e-01 -1.18824621e-03 -1.23956626e-02 4.87496959e+01] [ 1.20450900e-03 9.99998424e-01 1.30459112e-03 -4.44406626e+00] [ 1.23940929e-02 -1.31942065e-03 9.99922320e-01 -1.69826613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.239928851 meters 0.09166224119540783 Centerline is valid? [True, True] Translation: X:48.81, Y:-4.44, Z:-1.70 [[ 9.99916076e-01 -7.34333102e-04 -1.29344873e-02 4.88090272e+01] [ 7.51941248e-04 9.99998797e-01 1.35652254e-03 -4.44401940e+00] [ 1.29334756e-02 -1.36613467e-03 9.99915426e-01 -1.69841157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.299928851 meters 0.0907007117610554 Centerline is valid? [True, True] Translation: X:48.87, Y:-4.44, Z:-1.70 [[ 9.99903452e-01 2.72831649e-03 -1.36250581e-02 4.88688911e+01] [-2.70905569e-03 9.99995305e-01 1.43188715e-03 -4.44463359e+00] [ 1.36289007e-02 -1.39483786e-03 9.99906149e-01 -1.70039027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.359928851 meters 0.09000993139208341 Centerline is valid? [True, True] Translation: X:48.93, Y:-4.44, Z:-1.70 [[ 9.99875309e-01 7.86685106e-03 -1.36923173e-02 4.89301108e+01] [-7.84787762e-03 9.99968170e-01 1.43887944e-03 -4.44484692e+00] [ 1.37032010e-02 -1.33124439e-03 9.99905221e-01 -1.70127568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.419928851 meters 0.08743763310540377 Centerline is valid? [True, True] Translation: X:48.99, Y:-4.44, Z:-1.70 [[ 9.99841262e-01 1.14724114e-02 -1.36320998e-02 4.89910832e+01] [-1.14539368e-02 9.99933375e-01 1.43252828e-03 -4.44109154e+00] [ 1.36476261e-02 -1.27615967e-03 9.99906052e-01 -1.70055435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.479928851 meters 0.0879381357825974 Centerline is valid? [True, True] Translation: X:49.05, Y:-4.45, Z:-1.70 [[ 9.99850812e-01 1.25548440e-02 -1.18629848e-02 4.90503917e+01] [-1.25409385e-02 9.99920583e-01 1.24584383e-03 -4.44559514e+00] [ 1.18776841e-02 -1.09688500e-03 9.99928856e-01 -1.70147783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.539928851 meters 0.09027856246424908 Centerline is valid? [True, True] Translation: X:49.11, Y:-4.45, Z:-1.70 [[ 9.99882198e-01 1.13510034e-02 -1.03317529e-02 4.91076436e+01] [-1.13404094e-02 9.99935109e-01 1.08339104e-03 -4.45318715e+00] [ 1.03433800e-02 -9.66097105e-04 9.99946039e-01 -1.70259534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.599928851 meters 0.09210809025235328 Centerline is valid? [True, True] Translation: X:49.17, Y:-4.46, Z:-1.70 [[ 9.99900682e-01 8.18046973e-03 -1.14763270e-02 4.91678559e+01] [-8.16717794e-03 9.99965923e-01 1.20458150e-03 -4.46042157e+00] [ 1.14857899e-02 -1.11073266e-03 9.99933419e-01 -1.70338970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.659928851 meters 0.09441708919427141 Centerline is valid? [True, True] Translation: X:49.23, Y:-4.47, Z:-1.71 [[ 9.99927953e-01 3.76562637e-03 -1.13977260e-02 4.92278217e+01] [-3.75223044e-03 9.99992245e-01 1.19647181e-03 -4.46930006e+00] [ 1.14021431e-02 -1.15361872e-03 9.99934328e-01 -1.70551138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.719928851 meters 0.096887769818833 Centerline is valid? [True, True] Translation: X:49.29, Y:-4.48, Z:-1.71 [[ 9.99928445e-01 4.65851587e-04 -1.19535812e-02 4.92873859e+01] [-4.50886743e-04 9.99999111e-01 1.25457743e-03 -4.47762237e+00] [ 1.19541550e-02 -1.24909795e-03 9.99927766e-01 -1.70764220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.779928851 meters 0.09963731459143454 Centerline is valid? [True, True] Translation: X:49.35, Y:-4.48, Z:-1.71 [[ 9.99925396e-01 -1.95030084e-03 -1.20581689e-02 4.93471636e+01] [ 1.96570316e-03 9.99997267e-01 1.26561535e-03 -4.48419499e+00] [ 1.20556676e-02 -1.28922371e-03 9.99926497e-01 -1.70867725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.839928851 meters 0.10362514311741043 Centerline is valid? [True, False] Translation: X:49.35, Y:-4.48, Z:-1.71 [[ 9.99924745e-01 -2.48456248e-03 -1.20138279e-02 4.93470719e+01] [ 2.48917351e-03 9.99996834e-01 3.68872771e-04 -4.48128219e+00] [ 1.20128734e-02 -3.98749514e-04 9.99927763e-01 -1.70871953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.899928851 meters 0.09557547923206833 Centerline is valid? [False, True] Translation: X:49.35, Y:-4.48, Z:-1.71 [[ 9.99934881e-01 -4.69490831e-04 -1.14023287e-02 4.93472333e+01] [ 4.93949706e-04 9.99997583e-01 2.14235568e-03 -4.47797451e+00] [ 1.14012954e-02 -2.14784835e-03 9.99932696e-01 -1.71030621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.959928851 meters 0.09641038989629083 Centerline is valid? [True, True] Translation: X:49.41, Y:-4.48, Z:-1.71 [[ 9.99942391e-01 1.03744432e-03 -1.06835685e-02 4.94068244e+01] [-1.02527192e-03 9.99998819e-01 1.14477099e-03 -4.48248806e+00] [ 1.06847435e-02 -1.13375148e-03 9.99942274e-01 -1.71039527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.019928851 meters 0.0963740581727134 Centerline is valid? [True, True] Translation: X:49.47, Y:-4.49, Z:-1.71 [[ 9.99943732e-01 3.16766812e-03 -1.01241226e-02 4.94673397e+01] [-3.15684342e-03 9.99994429e-01 1.08500044e-03 -4.48512802e+00] [ 1.01275031e-02 -1.05297912e-03 9.99948161e-01 -1.71192607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.079928851 meters 0.09639968588904037 Centerline is valid? [True, True] Translation: X:49.53, Y:-4.49, Z:-1.71 [[ 9.99936329e-01 3.49042782e-03 -1.07310109e-02 4.95259309e+01] [-3.47829990e-03 9.99993291e-01 1.14863063e-03 -4.49095431e+00] [ 1.07349481e-02 -1.11123183e-03 9.99941761e-01 -1.71320390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.139928851 meters 0.09619093994805279 Centerline is valid? [True, True] Translation: X:49.58, Y:-4.49, Z:-1.71 [[ 9.99931835e-01 2.96756091e-03 -1.12924597e-02 4.95848293e+01] [-2.95410601e-03 9.99994907e-01 1.20798741e-03 -4.49449303e+00] [ 1.12959870e-02 -1.17454594e-03 9.99935508e-01 -1.71424116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.199928851 meters 0.10204215045189084 Centerline is valid? [True, False] Translation: X:49.58, Y:-4.49, Z:-1.71 [[ 9.99937980e-01 2.70681180e-03 -1.08032356e-02 4.95841638e+01] [-2.69330599e-03 9.99995574e-01 1.26451656e-03 -4.49464120e+00] [ 1.08066106e-02 -1.23534171e-03 9.99940844e-01 -1.71478354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.259928851 meters 0.09970254830408358 Centerline is valid? [False, True] Translation: X:49.58, Y:-4.50, Z:-1.71 [[ 9.99945457e-01 2.29710392e-03 -1.01884911e-02 4.95828715e+01] [-2.28478594e-03 9.99996645e-01 1.22048375e-03 -4.49528331e+00] [ 1.01912605e-02 -1.19713866e-03 9.99947351e-01 -1.71473540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.319928851 meters 0.10345072193364592 Centerline is valid? [True, False] Translation: X:49.58, Y:-4.49, Z:-1.71 [[ 9.99944828e-01 -1.96185697e-03 -1.03195179e-02 4.95832259e+01] [ 1.93174869e-03 9.99993851e-01 -2.92676441e-03 -4.49499058e+00] [ 1.03251963e-02 2.90666822e-03 9.99942469e-01 -1.71490641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.379928851 meters 0.1052862489683348 Centerline is valid? [False, False] Translation: X:49.58, Y:-4.50, Z:-1.71 [[ 9.99950601e-01 -2.20822001e-03 -9.69123677e-03 4.95817674e+01] [ 2.18286669e-03 9.99994170e-01 -2.62590569e-03 -4.49667861e+00] [ 9.69697885e-03 2.60462129e-03 9.99949591e-01 -1.71465026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.439928851 meters 0.10953448581747237 Centerline is valid? [False, False] Translation: X:49.58, Y:-4.50, Z:-1.71 [[ 9.99955212e-01 -2.03746786e-03 -9.24242176e-03 4.95810827e+01] [ 2.02083895e-03 9.99996323e-01 -1.80817649e-03 -4.49913426e+00] [ 9.24607188e-03 1.78941806e-03 9.99955653e-01 -1.71498561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.499928851 meters 0.11284645367224674 Centerline is valid? [False, False] Translation: X:49.58, Y:-4.50, Z:-1.72 [[ 9.99958453e-01 -1.56167392e-03 -8.98075114e-03 4.95808255e+01] [ 1.55521359e-03 9.99998527e-01 -7.26291059e-04 -4.50236161e+00] [ 8.98187214e-03 7.12293897e-04 9.99959408e-01 -1.71532927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.559928851 meters 0.10728716842043629 Centerline is valid? [False, False] Translation: X:49.58, Y:-4.50, Z:-1.72 [[ 9.99960029e-01 -1.43037223e-03 -8.82577084e-03 4.95805139e+01] [ 1.42727533e-03 9.99998918e-01 -3.57181788e-04 -4.50395712e+00] [ 8.82627219e-03 3.44570707e-04 9.99960988e-01 -1.71531425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.619928851 meters 0.11362029842384314 Centerline is valid? [False, False] Translation: X:49.58, Y:-4.51, Z:-1.72 [[ 9.99958856e-01 -8.89732011e-04 -9.02741721e-03 4.95814120e+01] [ 8.92934480e-04 9.99999540e-01 3.50724865e-04 -4.50529366e+00] [ 9.02710100e-03 -3.58771327e-04 9.99959191e-01 -1.71596088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.679928851 meters 0.10525533107320895 Centerline is valid? [False, False] Translation: X:49.58, Y:-4.51, Z:-1.72 [[ 9.99957848e-01 -3.16350756e-04 -9.17618440e-03 4.95815722e+01] [ 3.26374581e-04 9.99999352e-01 1.09089703e-03 -4.50812134e+00] [ 9.17583335e-03 -1.09384592e-03 9.99957303e-01 -1.71564014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.739928851 meters 0.11040047872147743 Centerline is valid? [False, False] Translation: X:49.58, Y:-4.51, Z:-1.72 [[ 9.99955994e-01 -1.37025542e-04 -9.38034102e-03 4.95819184e+01] [ 1.48176693e-04 9.99999283e-01 1.18809415e-03 -4.50847679e+00] [ 9.38017150e-03 -1.18943181e-03 9.99955298e-01 -1.71552494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.799928851 meters 0.10648927336983614 Centerline is valid? [False, False] Translation: X:49.58, Y:-4.51, Z:-1.72 [[ 9.99949882e-01 1.95112173e-04 -1.00097702e-02 4.95830970e+01] [-1.83847353e-04 9.99999349e-01 1.12629037e-03 -4.50742020e+00] [ 1.00099835e-02 -1.12439365e-03 9.99949267e-01 -1.71541168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.859928851 meters 0.10081969992110008 Centerline is valid? [False, False] Translation: X:49.58, Y:-4.51, Z:-1.72 [[ 9.99947458e-01 3.85052008e-04 -1.02437070e-02 4.95835070e+01] [-3.73169928e-04 9.99999255e-01 1.16182555e-03 -4.50778605e+00] [ 1.02441467e-02 -1.15794186e-03 9.99946857e-01 -1.71526233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.919928851 meters 0.09616706018034447 Centerline is valid? [False, True] Translation: X:49.58, Y:-4.51, Z:-1.72 [[ 9.99942780e-01 9.49618726e-04 -1.06552506e-02 4.95845981e+01] [-9.32424702e-04 9.99998255e-01 1.61851847e-03 -4.50892350e+00] [ 1.06567690e-02 -1.60849064e-03 9.99941921e-01 -1.71562201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.979928851 meters 0.09620887466328809 Centerline is valid? [True, True] Translation: X:49.64, Y:-4.51, Z:-1.72 [[ 9.99933851e-01 2.04992890e-03 -1.13177849e-02 4.96429855e+01] [-2.03653230e-03 9.99997212e-01 1.19507504e-03 -4.51470655e+00] [ 1.13202031e-02 -1.17194695e-03 9.99935238e-01 -1.71583388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.039928851 meters 0.09480888684886692 Centerline is valid? [True, True] Translation: X:49.70, Y:-4.52, Z:-1.72 [[ 9.99922311e-01 1.50952463e-03 -1.23730678e-02 4.97010279e+01] [-1.49348764e-03 9.99998033e-01 1.30525764e-03 -4.51983745e+00] [ 1.23750138e-02 -1.28667722e-03 9.99922599e-01 -1.71744429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.099928851 meters 0.10042086800425162 Centerline is valid? [True, False] Translation: X:49.70, Y:-4.52, Z:-1.72 [[ 9.99930990e-01 1.07258206e-03 -1.16988947e-02 4.96990197e+01] [-1.05614617e-03 9.99998447e-01 1.41099731e-03 -4.52203925e+00] [ 1.17003899e-02 -1.39854420e-03 9.99930570e-01 -1.71642141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.159928851 meters 0.09877766516434738 Centerline is valid? [False, True] Translation: X:49.70, Y:-4.52, Z:-1.72 [[ 9.99935990e-01 7.34267391e-04 -1.12905814e-02 4.96976248e+01] [-7.18848672e-04 9.99998804e-01 1.36962423e-03 -4.52326271e+00] [ 1.12915736e-02 -1.36142035e-03 9.99935321e-01 -1.71556954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.219928851 meters 0.10019212234808834 Centerline is valid? [True, False] Translation: X:49.70, Y:-4.53, Z:-1.72 [[ 9.99941568e-01 5.36796205e-04 -1.07968947e-02 4.96962720e+01] [-5.19704106e-04 9.99998608e-01 1.58580027e-03 -4.52523936e+00] [ 1.07977309e-02 -1.58009641e-03 9.99940454e-01 -1.71504409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.279928851 meters 0.09842936920378027 Centerline is valid? [False, True] Translation: X:49.70, Y:-4.53, Z:-1.72 [[ 9.99940485e-01 5.72308365e-04 -1.08949284e-02 4.96965189e+01] [-5.55162558e-04 9.99998603e-01 1.57670138e-03 -4.52502269e+00] [ 1.08958155e-02 -1.57055909e-03 9.99939405e-01 -1.71511377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.339928851 meters 0.09719579901483204 Centerline is valid? [True, True] Translation: X:49.76, Y:-4.53, Z:-1.72 [[ 9.99931729e-01 3.93764882e-03 -1.10014273e-02 4.97566691e+01] [-3.92450864e-03 9.99991560e-01 1.21573977e-03 -4.52730770e+00] [ 1.10061216e-02 -1.17248158e-03 9.99938743e-01 -1.71581972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.399928851 meters 0.09383425320628079 Centerline is valid? [True, True] Translation: X:49.82, Y:-4.53, Z:-1.72 [[ 9.99912609e-01 6.85898972e-03 -1.13016748e-02 4.98177207e+01] [-6.84530235e-03 9.99975790e-01 1.24933046e-03 -4.52595826e+00] [ 1.13099704e-02 -1.17185790e-03 9.99935354e-01 -1.71605635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.459928851 meters 0.09837539852052107 Centerline is valid? [True, True] Translation: X:49.88, Y:-4.54, Z:-1.72 [[ 9.99876819e-01 1.20500882e-02 -1.00569554e-02 4.98756181e+01] [-1.20395149e-02 9.99926905e-01 1.11123011e-03 -4.53854537e+00] [ 1.00696107e-02 -9.90012361e-04 9.99948810e-01 -1.71962986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.519928851 meters 0.09202325507359475 Centerline is valid? [True, True] Translation: X:49.94, Y:-4.53, Z:-1.72 [[ 9.99816509e-01 1.64725710e-02 -9.77764317e-03 4.99368692e+01] [-1.64627875e-02 9.99863896e-01 1.08025366e-03 -4.52969649e+00] [ 9.79410695e-03 -9.19088186e-04 9.99951614e-01 -1.71761449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.579928851 meters 0.09367705818496454 Centerline is valid? [True, True] Translation: X:49.99, Y:-4.54, Z:-1.72 [[ 9.99797652e-01 1.75133563e-02 -9.89635335e-03 4.99942125e+01] [-1.75034109e-02 9.99846209e-01 1.09068402e-03 -4.53659060e+00] [ 9.91393291e-03 -9.17243387e-04 9.99950435e-01 -1.72027924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.639928851 meters 0.09136307045021326 Centerline is valid? [True, True] Translation: X:50.05, Y:-4.54, Z:-1.72 [[ 9.99816380e-01 1.61765340e-02 -1.02726281e-02 5.00534717e+01] [-1.61657423e-02 9.99868684e-01 1.13269918e-03 -4.53727699e+00] [ 1.02896023e-02 -9.66426533e-04 9.99946594e-01 -1.72017044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.699928851 meters 0.0939757002417075 Centerline is valid? [True, True] Translation: X:50.11, Y:-4.55, Z:-1.72 [[ 9.99849173e-01 1.27502960e-02 -1.17923929e-02 5.01126201e+01] [-1.27358328e-02 9.99918050e-01 1.30077688e-03 -4.54763333e+00] [ 1.18080118e-02 -1.15039474e-03 9.99929621e-01 -1.72235151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.759928851 meters 0.10223729978349852 Centerline is valid? [True, False] Translation: X:50.11, Y:-4.55, Z:-1.72 [[ 9.99895322e-01 8.09408363e-03 -1.19929130e-02 5.01126029e+01] [-8.13728605e-03 9.99960562e-01 -3.55792203e-03 -4.54620719e+00] [ 1.19636419e-02 3.65513936e-03 9.99921753e-01 -1.72185038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.819928851 meters 0.09983150780524834 Centerline is valid? [False, True] Translation: X:50.11, Y:-4.55, Z:-1.73 [[ 9.99971632e-01 6.51123933e-03 3.78656329e-03 5.01102656e+01] [-6.51362370e-03 9.99978595e-01 6.17699515e-04 -4.54932168e+00] [-3.78246025e-03 -6.42346241e-04 9.99992640e-01 -1.72836572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.879928851 meters 0.09924315658112806 Centerline is valid? [True, True] Translation: X:50.17, Y:-4.55, Z:-1.73 [[ 9.99977835e-01 5.82979288e-03 3.21621192e-03 5.01701302e+01] [-5.82867458e-03 9.99982949e-01 -3.56970858e-04 -4.55347088e+00] [-3.21823815e-03 3.38216693e-04 9.99994764e-01 -1.72864619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.939928851 meters 0.09962837080427175 Centerline is valid? [True, True] Translation: X:50.23, Y:-4.56, Z:-1.73 [[ 9.99962197e-01 8.12380840e-03 3.09973207e-03 5.02288410e+01] [-8.12278188e-03 9.99966951e-01 -3.43608309e-04 -4.55994449e+00] [-3.10242104e-03 3.18416872e-04 9.99995137e-01 -1.73115109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.999928851 meters 0.09456207485380964 Centerline is valid? [True, True] Translation: X:50.29, Y:-4.56, Z:-1.73 [[ 9.99944713e-01 1.01397002e-02 2.78515212e-03 5.02900656e+01] [-1.01388795e-02 9.99948553e-01 -3.08645821e-04 -4.55672623e+00] [-2.78813841e-03 2.80390435e-04 9.99996074e-01 -1.73106014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.059928851 meters 0.0945298331886393 Centerline is valid? [True, True] Translation: X:50.35, Y:-4.56, Z:-1.73 [[ 9.99905699e-01 1.32568979e-02 3.58446014e-03 5.03500460e+01] [-1.32555584e-02 9.99912062e-01 -3.97217780e-04 -4.56123474e+00] [-3.58941080e-03 3.49666302e-04 9.99993497e-01 -1.73258660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.119928851 meters 0.09308307898774684 Centerline is valid? [True, True] Translation: X:50.41, Y:-4.56, Z:-1.73 [[ 9.99838997e-01 1.72934945e-02 4.78702586e-03 5.04106309e+01] [-1.72911558e-02 9.99850357e-01 -5.29509173e-04 -4.56343719e+00] [-4.79546658e-03 4.46650711e-04 9.99988402e-01 -1.73400705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.179928851 meters 0.0943094093136193 Centerline is valid? [True, True] Translation: X:50.47, Y:-4.57, Z:-1.74 [[ 9.99834810e-01 1.75520432e-02 4.71992371e-03 5.04682680e+01] [-1.75497645e-02 9.99845854e-01 -5.23770978e-04 -4.57211794e+00] [-4.72838940e-03 4.40850906e-04 9.99988724e-01 -1.73694459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.239928851 meters 0.09388466041618254 Centerline is valid? [True, True] Translation: X:50.53, Y:-4.58, Z:-1.74 [[ 9.99862219e-01 1.60059963e-02 4.39892490e-03 5.05277567e+01] [-1.60040068e-02 9.99871809e-01 -4.87109260e-04 -4.57703932e+00] [-4.40615767e-03 4.16641722e-04 9.99990206e-01 -1.73813732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.299928851 meters 0.09701293012443622 Centerline is valid? [True, True] Translation: X:50.59, Y:-4.59, Z:-1.74 [[ 9.99930614e-01 1.12277942e-02 3.56417298e-03 5.05870532e+01] [-1.12264605e-02 9.99936904e-01 -3.94004896e-04 -4.59179355e+00] [-3.56837190e-03 3.53964511e-04 9.99993571e-01 -1.74081310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.359928851 meters 0.0998397189429407 Centerline is valid? [True, True] Translation: X:50.65, Y:-4.61, Z:-1.74 [[ 9.99957143e-01 8.44744732e-03 3.78850201e-03 5.06462701e+01] [-8.44592091e-03 9.99964245e-01 -4.18724050e-04 -4.60582162e+00] [-3.79190370e-03 3.86708717e-04 9.99992736e-01 -1.74386924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.419928851 meters 0.1005033458304719 Centerline is valid? [True, False] Translation: X:50.65, Y:-4.61, Z:-1.74 [[ 9.99983760e-01 4.14903513e-03 3.90713671e-03 5.06454799e+01] [-4.13179468e-03 9.99981738e-01 -4.41033712e-03 -4.60757510e+00] [-3.92536400e-03 4.39412200e-03 9.99982641e-01 -1.74306892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.479928851 meters 0.1053058494647137 Centerline is valid? [False, False] Translation: X:50.65, Y:-4.61, Z:-1.74 [[ 9.99992836e-01 6.68859236e-04 3.72567436e-03 5.06461765e+01] [-6.41304345e-04 9.99972471e-01 -7.39223839e-03 -4.61080723e+00] [-3.73051616e-03 7.38979614e-03 9.99965736e-01 -1.74355839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.539928851 meters 0.10485552402011432 Centerline is valid? [False, False] Translation: X:50.65, Y:-4.61, Z:-1.74 [[ 9.99991580e-01 1.15257512e-03 3.93845893e-03 5.06461387e+01] [-1.12776880e-03 9.99979551e-01 -6.29491243e-03 -4.61378705e+00] [-3.94563375e-03 6.29041776e-03 9.99972431e-01 -1.74411833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.599928851 meters 0.10523536533092638 Centerline is valid? [False, False] Translation: X:50.65, Y:-4.62, Z:-1.74 [[ 9.99990412e-01 1.19030455e-03 4.21418915e-03 5.06451274e+01] [-1.16586809e-03 9.99982522e-01 -5.79633036e-03 -4.61645748e+00] [-4.22101489e-03 5.79136159e-03 9.99974321e-01 -1.74340318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.659928851 meters 0.10747735340290421 Centerline is valid? [False, False] Translation: X:50.65, Y:-4.62, Z:-1.74 [[ 9.99990007e-01 1.99879509e-03 3.99877603e-03 5.06459370e+01] [-1.98031940e-03 9.99987372e-01 -4.61897211e-03 -4.61928398e+00] [-4.00795791e-03 4.61100710e-03 9.99981337e-01 -1.74393981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.719928851 meters 0.10316477425104736 Centerline is valid? [False, False] Translation: X:50.65, Y:-4.62, Z:-1.74 [[ 9.99989987e-01 2.51618207e-03 3.70076627e-03 5.06467736e+01] [-2.50129670e-03 9.99988786e-01 -4.02138394e-03 -4.62043467e+00] [-3.71084330e-03 4.01208695e-03 9.99985066e-01 -1.74427926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.779928851 meters 0.10140029756847856 Centerline is valid? [False, False] Translation: X:50.65, Y:-4.62, Z:-1.74 [[ 9.99990224e-01 3.23491126e-03 3.01443018e-03 5.06484469e+01] [-3.22409845e-03 9.99988376e-01 -3.58499845e-03 -4.62099677e+00] [-3.02599230e-03 3.57524459e-03 9.99989030e-01 -1.74469248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.839928851 meters 0.10156775060194674 Centerline is valid? [False, False] Translation: X:50.65, Y:-4.62, Z:-1.74 [[ 9.99990350e-01 3.66738801e-03 2.41873388e-03 5.06496520e+01] [-3.65891756e-03 9.99987191e-01 -3.49719193e-03 -4.62078177e+00] [-2.43152846e-03 3.48830824e-03 9.99990960e-01 -1.74478352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.899928851 meters 0.09619355033958102 Centerline is valid? [False, True] Translation: X:50.65, Y:-4.62, Z:-1.75 [[ 9.99984159e-01 5.42938846e-03 1.48445705e-03 5.06523148e+01] [-5.42502901e-03 9.99981006e-01 -2.92515181e-03 -4.61886948e+00] [-1.50031064e-03 2.91705225e-03 9.99994620e-01 -1.74543070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.959928851 meters 0.08976361440146689 Centerline is valid? [True, True] Translation: X:50.71, Y:-4.61, Z:-1.75 [[ 9.99881897e-01 1.51480581e-02 2.59394712e-03 5.07135274e+01] [-1.51474407e-02 9.99885238e-01 -2.57481063e-04 -4.61317907e+00] [-2.59754977e-03 2.18158993e-04 9.99996603e-01 -1.74514373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.019928851 meters 0.08816186006458081 Centerline is valid? [True, True] Translation: X:50.77, Y:-4.62, Z:-1.75 [[ 9.99779335e-01 2.09149719e-02 1.96113903e-03 5.07737650e+01] [-2.09146299e-02 9.99781246e-01 -1.94743355e-04 -4.61557579e+00] [-1.96478308e-03 1.53683885e-04 9.99998058e-01 -1.74711903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.079928851 meters 0.08400339037758979 Centerline is valid? [True, True] Translation: X:50.83, Y:-4.61, Z:-1.75 [[ 9.99543348e-01 3.01723703e-02 1.65046627e-03 5.08346691e+01] [-3.01721400e-02 9.99544704e-01 -1.64261180e-04 -4.61147893e+00] [-1.65467097e-03 1.14388071e-04 9.99998624e-01 -1.74700891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.139928851 meters 0.08154645182492665 Centerline is valid? [True, True] Translation: X:50.90, Y:-4.61, Z:-1.75 [[ 9.99299141e-01 3.73731127e-02 2.11579817e-03 5.08952942e+01] [-3.73727513e-02 9.99301373e-01 -2.10105776e-04 -4.61042976e+00] [-2.12217233e-03 1.30885323e-04 9.99997740e-01 -1.74782199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.199928851 meters 0.08059859167733799 Centerline is valid? [True, True] Translation: X:50.96, Y:-4.61, Z:-1.75 [[ 9.99187998e-01 4.02676817e-02 1.36335371e-03 5.09554666e+01] [-4.02675338e-02 9.99188925e-01 -1.35791420e-04 -4.61420125e+00] [-1.36771593e-03 8.07822661e-05 9.99999061e-01 -1.75026040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.259928851 meters 0.08058877020477727 Centerline is valid? [True, True] Translation: X:51.01, Y:-4.62, Z:-1.75 [[ 9.99126308e-01 4.17849700e-02 7.97513116e-04 5.10139332e+01] [-4.17849186e-02 9.99126626e-01 -8.10049566e-05 -4.62029558e+00] [-8.00201378e-04 4.76101626e-05 9.99999679e-01 -1.75298251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.319928851 meters 0.07920437603950194 Centerline is valid? [True, True] Translation: X:51.07, Y:-4.62, Z:-1.75 [[ 9.99076660e-01 4.29356355e-02 1.53607896e-03 5.10725762e+01] [-4.29354490e-02 9.99077837e-01 -1.54203443e-04 -4.62338080e+00] [-1.54128326e-03 8.81088207e-05 9.99998808e-01 -1.75179453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.379928851 meters 0.07978974628010035 Centerline is valid? [True, True] Translation: X:51.13, Y:-4.63, Z:-1.76 [[ 9.99078386e-01 4.29193444e-02 5.55924986e-04 5.11299828e+01] [-4.29193191e-02 9.99078540e-01 -5.74603895e-05 -4.63188555e+00] [-5.57878886e-04 3.35475113e-05 9.99999844e-01 -1.75595671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.439928851 meters 0.07981290317109019 Centerline is valid? [True, True] Translation: X:51.19, Y:-4.64, Z:-1.76 [[ 9.99064152e-01 4.32522696e-02 -2.48340041e-04 5.11879011e+01] [-4.32522655e-02 9.99064183e-01 2.17089765e-05 -4.63921842e+00] [ 2.49046603e-04 -1.09473908e-05 9.99999969e-01 -1.75612675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.499928851 meters 0.07928506651167885 Centerline is valid? [True, True] Translation: X:51.25, Y:-4.64, Z:-1.76 [[ 9.98940138e-01 4.60061147e-02 1.42732842e-03 5.12477516e+01] [-4.60059591e-02 9.98941155e-01 -1.41666000e-04 -4.64435064e+00] [-1.43233461e-03 7.58502405e-05 9.99998971e-01 -1.75650511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.559928851 meters 0.07898322364994213 Centerline is valid? [True, True] Translation: X:51.31, Y:-4.65, Z:-1.76 [[ 9.98725326e-01 5.04733162e-02 4.09418495e-04 5.13063682e+01] [-5.04733034e-02 9.98725410e-01 -4.14180010e-05 -4.65057117e+00] [-4.10987158e-04 2.07005026e-05 9.99999915e-01 -1.76014904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.619928851 meters 0.07831970687561879 Centerline is valid? [True, True] Translation: X:51.37, Y:-4.65, Z:-1.76 [[ 9.98488387e-01 5.49624074e-02 -2.74812463e-04 5.13666967e+01] [-5.49624021e-02 9.98488424e-01 2.67091413e-05 -4.65444316e+00] [ 2.75865062e-04 -1.15644143e-05 9.99999962e-01 -1.76277381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.679928851 meters 0.07573835126087566 Centerline is valid? [True, True] Translation: X:51.43, Y:-4.65, Z:-1.76 [[ 9.98039024e-01 6.25931293e-02 4.55574428e-04 5.14273734e+01] [-6.25931149e-02 9.98039127e-01 -4.57509551e-05 -4.64975174e+00] [-4.57544800e-04 1.71454161e-05 9.99999895e-01 -1.76008364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.739928851 meters 0.07490665350009171 Centerline is valid? [True, True] Translation: X:51.49, Y:-4.65, Z:-1.76 [[ 9.97445142e-01 7.14355399e-02 3.89651845e-04 5.14877580e+01] [-7.14355303e-02 9.97445218e-01 -3.86651838e-05 -4.65155549e+00] [-3.91418438e-04 1.07314136e-05 9.99999923e-01 -1.76285302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.799928851 meters 0.0744634109047558 Centerline is valid? [True, True] Translation: X:51.55, Y:-4.66, Z:-1.76 [[ 9.97008062e-01 7.72810418e-02 1.60123654e-03 5.15468955e+01] [-7.72808858e-02 9.97009348e-01 -1.59162037e-04 -4.65542730e+00] [-1.60874801e-03 3.49408556e-05 9.99998705e-01 -1.76477413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.859928851 meters 0.07433072484818788 Centerline is valid? [True, True] Translation: X:51.61, Y:-4.66, Z:-1.77 [[ 9.96810865e-01 7.98002637e-02 1.28465019e-04 5.16054154e+01] [-7.98002618e-02 9.96810874e-01 -1.94761803e-05 -4.66015515e+00] [-1.29609532e-04 9.16252596e-06 9.99999992e-01 -1.76504379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.919928851 meters 0.07438564179126063 Centerline is valid? [True, True] Translation: X:51.66, Y:-4.67, Z:-1.77 [[ 9.96856204e-01 7.92282125e-02 7.74403391e-04 5.16632872e+01] [-7.92281720e-02 9.96856504e-01 -8.28870278e-05 -4.66900932e+00] [-7.78536048e-04 2.12718828e-05 9.99999697e-01 -1.76856816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.979928851 meters 0.0745876061189564 Centerline is valid? [True, True] Translation: X:51.72, Y:-4.68, Z:-1.77 [[ 9.96993402e-01 7.74858214e-02 -3.22504898e-04 5.17213693e+01] [-7.74858174e-02 9.96993454e-01 2.49434762e-05 -4.67811386e+00] [ 3.23468038e-04 1.21074394e-07 9.99999948e-01 -1.77105281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.039928851 meters 0.07475363388843245 Centerline is valid? [True, True] Translation: X:51.78, Y:-4.69, Z:-1.77 [[ 9.97174446e-01 7.51175731e-02 -6.88699096e-04 5.17798298e+01] [-7.51175491e-02 9.97174684e-01 6.07825401e-05 -4.68706835e+00] [ 6.91319140e-04 -8.87740760e-06 9.99999761e-01 -1.77350085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.099928851 meters 0.07505115952259171 Centerline is valid? [True, True] Translation: X:51.84, Y:-4.70, Z:-1.77 [[ 9.97458071e-01 7.12404892e-02 -1.47951313e-03 5.18385793e+01] [-7.12403542e-02 9.97459168e-01 1.43805491e-04 -4.69765516e+00] [ 1.48599871e-03 -3.80389087e-05 9.99998895e-01 -1.77447568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.159928851 meters 0.07593993693795055 Centerline is valid? [True, True] Translation: X:51.90, Y:-4.71, Z:-1.78 [[ 9.97892167e-01 6.48547048e-02 -2.25626754e-03 5.18962851e+01] [-6.48543736e-02 9.97894715e-01 2.19754232e-04 -4.71272461e+00] [ 2.26576955e-03 -7.29622093e-05 9.99997430e-01 -1.77882508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.219928851 meters 0.07706951915197058 Centerline is valid? [True, True] Translation: X:51.95, Y:-4.72, Z:-1.78 [[ 9.98190715e-01 6.00791839e-02 -2.40604637e-03 5.19545173e+01] [-6.00787933e-02 9.98193610e-01 2.34344246e-04 -4.72463842e+00] [ 2.41577932e-03 -8.93678876e-05 9.99997078e-01 -1.78096925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.279928851 meters 0.07824252098586038 Centerline is valid? [True, True] Translation: X:52.01, Y:-4.74, Z:-1.78 [[ 9.98543370e-01 5.39361223e-02 -1.42586460e-03 5.20137578e+01] [-5.39359785e-02 9.98544386e-01 1.39119997e-04 -4.73759226e+00] [ 1.43129268e-03 -6.20119485e-05 9.99998974e-01 -1.78209517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.339928851 meters 0.07770134248835908 Centerline is valid? [True, True] Translation: X:52.07, Y:-4.74, Z:-1.78 [[ 9.98768779e-01 4.95818134e-02 -1.60320408e-03 5.20742307e+01] [-4.95816255e-02 9.98770063e-01 1.56761213e-04 -4.74228528e+00] [ 1.60900475e-03 -7.70787403e-05 9.99998703e-01 -1.78025399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.399928851 meters 0.07930077433708269 Centerline is valid? [True, True] Translation: X:52.13, Y:-4.75, Z:-1.78 [[ 9.99055047e-01 4.34177418e-02 -1.97804975e-03 5.21342052e+01] [-4.34174437e-02 9.99056999e-01 1.93440102e-04 -4.75373405e+00] [ 1.98458318e-03 -1.07375446e-04 9.99998025e-01 -1.78323442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.459928851 meters 0.08079320727829445 Centerline is valid? [True, True] Translation: X:52.19, Y:-4.76, Z:-1.79 [[ 9.99227700e-01 3.92143373e-02 -2.49794108e-03 5.21932155e+01] [-3.92138504e-02 9.99230811e-01 2.43643894e-04 -4.76413700e+00] [ 2.50557403e-03 -1.45501840e-04 9.99996850e-01 -1.78647317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.519928851 meters 0.08129463156195806 Centerline is valid? [True, True] Translation: X:52.25, Y:-4.77, Z:-1.79 [[ 9.99451854e-01 3.31032940e-02 -4.04561519e-04 5.22534051e+01] [-3.31032807e-02 9.99451935e-01 3.93920456e-05 -4.77173445e+00] [ 4.05643800e-04 -2.59781395e-05 9.99999917e-01 -1.78676772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.579928851 meters 0.08588431779065764 Centerline is valid? [True, True] Translation: X:52.31, Y:-4.79, Z:-1.79 [[ 9.99560396e-01 2.96236428e-02 -1.20631500e-03 5.23110388e+01] [-2.96235232e-02 9.99561120e-01 1.16831539e-04 -4.78609201e+00] [ 1.20924655e-03 -8.10448785e-05 9.99999266e-01 -1.79256886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.639928851 meters 0.08351389221954894 Centerline is valid? [True, True] Translation: X:52.37, Y:-4.78, Z:-1.79 [[ 9.99592697e-01 2.85117434e-02 -1.23317358e-03 5.23700974e+01] [-2.85116188e-02 9.99593454e-01 1.18513951e-04 -4.78388037e+00] [ 1.23605128e-03 -8.33059047e-05 9.99999233e-01 -1.79154000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.699928851 meters 0.08283727213537712 Centerline is valid? [True, True] Translation: X:52.43, Y:-4.78, Z:-1.79 [[ 9.99630518e-01 2.71545131e-02 -1.20842783e-03 5.24294755e+01] [-2.71543921e-02 9.99631245e-01 1.16482312e-04 -4.78346387e+00] [ 1.21114524e-03 -8.36251504e-05 9.99999263e-01 -1.79184531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.759928851 meters 0.08358977099937963 Centerline is valid? [True, True] Translation: X:52.49, Y:-4.79, Z:-1.79 [[ 9.99658595e-01 2.61148705e-02 -8.40740317e-04 5.24879701e+01] [-2.61148123e-02 9.99658947e-01 8.00719958e-05 -4.78781871e+00] [ 8.42544650e-04 -5.80888832e-05 9.99999643e-01 -1.79339497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.819928851 meters 0.08320518750944411 Centerline is valid? [True, True] Translation: X:52.55, Y:-4.79, Z:-1.79 [[ 9.99716515e-01 2.37639021e-02 -1.47169404e-03 5.25484352e+01] [-2.37637171e-02 9.99717593e-01 1.43028947e-04 -4.78740744e+00] [ 1.47467735e-03 -1.08015480e-04 9.99998907e-01 -1.79432867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.879928851 meters 0.08505037021875936 Centerline is valid? [True, True] Translation: X:52.61, Y:-4.79, Z:-1.80 [[ 9.99769573e-01 2.14287082e-02 -1.26970046e-03 5.26079467e+01] [-2.14285688e-02 9.99770374e-01 1.23316564e-04 -4.79143941e+00] [ 1.27205142e-03 -9.60802851e-05 9.99999186e-01 -1.79786140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.939928851 meters 0.08967812825775509 Centerline is valid? [True, True] Translation: X:52.66, Y:-4.80, Z:-1.80 [[ 9.99777467e-01 2.10808666e-02 7.83371461e-04 5.26647047e+01] [-2.10808107e-02 9.99777772e-01 -7.94552037e-05 -4.80085661e+00] [-7.84872358e-04 6.29234167e-05 9.99999690e-01 -1.80219443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.999928851 meters 0.08675017554357921 Centerline is valid? [True, True] Translation: X:52.73, Y:-4.79, Z:-1.80 [[ 9.99755058e-01 2.18721498e-02 3.38125576e-03 5.27255811e+01] [-2.18711575e-02 9.99760743e-01 -3.30155120e-04 -4.79347970e+00] [-3.38766798e-03 2.56122274e-04 9.99994229e-01 -1.79919002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.059928851 meters 0.08528731610663332 Centerline is valid? [True, True] Translation: X:52.78, Y:-4.79, Z:-1.80 [[ 9.99763446e-01 2.13362115e-02 4.22119623e-03 5.27847471e+01] [-2.13346583e-02 9.99772305e-01 -4.12651697e-04 -4.79161749e+00] [-4.22903951e-03 3.22496304e-04 9.99991006e-01 -1.79943159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.119928851 meters 0.08505936727176737 Centerline is valid? [True, True] Translation: X:52.84, Y:-4.79, Z:-1.80 [[ 9.99794703e-01 1.99065883e-02 3.77890996e-03 5.28448916e+01] [-1.99053367e-02 9.99801801e-01 -3.68531003e-04 -4.78928673e+00] [-3.78549718e-03 2.93234869e-04 9.99992792e-01 -1.80079521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.179928851 meters 0.08535632467229672 Centerline is valid? [True, True] Translation: X:52.90, Y:-4.79, Z:-1.80 [[ 9.99806779e-01 1.90846429e-02 4.70967864e-03 5.29039818e+01] [-1.90826877e-02 9.99817803e-01 -4.59732020e-04 -4.79229490e+00] [-4.71759437e-03 3.69769864e-04 9.99988804e-01 -1.80291509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.239928851 meters 0.0858463919840829 Centerline is valid? [True, True] Translation: X:52.96, Y:-4.79, Z:-1.81 [[ 9.99831850e-01 1.78089394e-02 4.37186865e-03 5.29630284e+01] [-1.78072450e-02 9.99841348e-01 -4.26190118e-04 -4.79482402e+00] [-4.37876503e-03 3.48267518e-04 9.99990353e-01 -1.80515370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.299928851 meters 0.08936727619480685 Centerline is valid? [True, True] Translation: X:53.02, Y:-4.81, Z:-1.81 [[ 9.99846296e-01 1.67732929e-02 5.10304603e-03 5.30201415e+01] [-1.67709695e-02 9.99859234e-01 -4.97752457e-04 -4.80587888e+00] [-5.11067664e-03 4.12092921e-04 9.99986855e-01 -1.80930448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.359928851 meters 0.09157865716458652 Centerline is valid? [True, True] Translation: X:53.08, Y:-4.81, Z:-1.81 [[ 9.99873873e-01 1.48654791e-02 5.59059421e-03 5.30787086e+01] [-1.48626695e-02 9.99889397e-01 -5.43776684e-04 -4.81203755e+00] [-5.59805937e-03 4.60616945e-04 9.99984225e-01 -1.81253698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.419928851 meters 0.08853062930798702 Centerline is valid? [True, True] Translation: X:53.14, Y:-4.81, Z:-1.81 [[ 9.99930667e-01 1.06825557e-02 4.95429381e-03 5.31396101e+01] [-1.06803035e-02 9.99942848e-01 -4.80840190e-04 -4.80729746e+00] [-4.95914727e-03 4.27893490e-04 9.99987612e-01 -1.81266210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.479928851 meters 0.09600536282369938 Centerline is valid? [True, True] Translation: X:53.20, Y:-4.82, Z:-1.82 [[ 9.99963080e-01 6.27314879e-03 5.87250297e-03 5.31970867e+01] [-6.26991429e-03 9.99980182e-01 -5.69034858e-04 -4.82474007e+00] [-5.87595623e-03 5.32193758e-04 9.99982595e-01 -1.81705310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.539928851 meters 0.09549423231250512 Centerline is valid? [True, True] Translation: X:53.26, Y:-4.83, Z:-1.82 [[ 9.99971573e-01 2.59114260e-03 7.08088585e-03 5.32580051e+01] [-2.58634214e-03 9.99996419e-01 -6.87019019e-04 -4.82672814e+00] [-7.08264066e-03 6.68685896e-04 9.99974694e-01 -1.81705886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.599928851 meters 0.09672770576933871 Centerline is valid? [True, True] Translation: X:53.32, Y:-4.83, Z:-1.82 [[ 9.99962689e-01 2.25643081e-03 8.33846844e-03 5.33203534e+01] [-2.24980213e-03 9.99997146e-01 -8.04246468e-04 -4.83187188e+00] [-8.34025936e-03 7.85456556e-04 9.99964911e-01 -1.81832779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.659928851 meters 0.09838664125426319 Centerline is valid? [True, True] Translation: X:53.38, Y:-4.84, Z:-1.82 [[ 9.99954796e-01 3.02238483e-03 9.01504081e-03 5.33809928e+01] [-3.01460692e-03 9.99995072e-01 -8.76234218e-04 -4.83745173e+00] [-9.01764471e-03 8.49017804e-04 9.99958980e-01 -1.82078634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.719928851 meters 0.09742662172090631 Centerline is valid? [True, True] Translation: X:53.44, Y:-4.84, Z:-1.82 [[ 9.99956717e-01 3.74692538e-03 8.51615953e-03 5.34435792e+01] [-3.74004378e-03 9.99992667e-01 -8.23846136e-04 -4.83846037e+00] [-8.51918397e-03 7.91959668e-04 9.99963397e-01 -1.82288960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.779928851 meters 0.09728967003454055 Centerline is valid? [True, True] Translation: X:53.51, Y:-4.84, Z:-1.82 [[ 9.99955546e-01 3.62492835e-03 8.70438183e-03 5.35053360e+01] [-3.61771561e-03 9.99993100e-01 -8.44236550e-04 -4.84294926e+00] [-8.70738206e-03 8.12709042e-04 9.99961760e-01 -1.82449840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.839928851 meters 0.09593272093615657 Centerline is valid? [True, True] Translation: X:53.57, Y:-4.85, Z:-1.83 [[ 9.99950552e-01 4.02707513e-03 9.09262628e-03 5.35681189e+01] [-4.01917191e-03 9.99991529e-01 -8.87295490e-04 -4.84502150e+00] [-9.09612246e-03 8.50706787e-04 9.99958268e-01 -1.82643450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.899928851 meters 0.09685998505986537 Centerline is valid? [True, True] Translation: X:53.63, Y:-4.85, Z:-1.83 [[ 9.99947100e-01 4.52649657e-03 9.23618204e-03 5.36301109e+01] [-4.51838294e-03 9.99989388e-01 -8.99139404e-04 -4.84898468e+00] [-9.24015398e-03 8.57359232e-04 9.99956941e-01 -1.82988606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.959928851 meters 0.09720542329011422 Centerline is valid? [True, True] Translation: X:53.69, Y:-4.85, Z:-1.83 [[ 9.99941235e-01 5.82159779e-03 9.14525291e-03 5.36917566e+01] [-5.81364829e-03 9.99982700e-01 -8.95592401e-04 -4.85247107e+00] [-9.15030848e-03 8.42372488e-04 9.99957780e-01 -1.83210514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.019928851 meters 0.09661347593266419 Centerline is valid? [True, True] Translation: X:53.75, Y:-4.85, Z:-1.83 [[ 9.99921968e-01 7.81092963e-03 9.74919872e-03 5.37522852e+01] [-7.80196741e-03 9.99969106e-01 -9.56972048e-04 -4.85405591e+00] [-9.75637237e-03 8.80834443e-04 9.99952018e-01 -1.83429713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.079928851 meters 0.10179655482804045 Centerline is valid? [True, False] Translation: X:53.76, Y:-4.85, Z:-1.83 [[ 9.99994292e-01 2.91280053e-03 1.71227468e-03 5.37613512e+01] [-2.91291616e-03 9.99995755e-01 6.50385607e-05 -4.84930112e+00] [-1.71207797e-03 -7.00259020e-05 9.99998532e-01 -1.82806651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.139928851 meters 0.09102496434959315 Centerline is valid? [False, True] Translation: X:53.76, Y:-4.85, Z:-1.83 [[ 9.99995023e-01 2.74537896e-03 1.55490107e-03 5.37615817e+01] [-2.74473161e-03 9.99996146e-01 -4.18311834e-04 -4.84777021e+00] [-1.55604351e-03 4.14041966e-04 9.99998704e-01 -1.82791570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.199928851 meters 0.09059491899147862 Centerline is valid? [True, True] Translation: X:53.82, Y:-4.85, Z:-1.83 [[ 9.99992444e-01 3.11757314e-03 2.32222091e-03 5.38216715e+01] [-3.11708767e-03 9.99995119e-01 -2.12644709e-04 -4.85150046e+00] [-2.32287251e-03 2.05404536e-04 9.99997281e-01 -1.82916764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.259928851 meters 0.09367280670197423 Centerline is valid? [True, True] Translation: X:53.88, Y:-4.86, Z:-1.83 [[ 9.99996815e-01 2.52268271e-03 8.23612490e-05 5.38806042e+01] [-2.52268207e-03 9.99996818e-01 -7.88388628e-06 -4.86277389e+00] [-8.23808755e-05 7.67608992e-06 9.99999997e-01 -1.83299249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.319928851 meters 0.09459172383582143 Centerline is valid? [True, True] Translation: X:53.94, Y:-4.87, Z:-1.83 [[ 9.99999554e-01 -2.31832457e-04 -9.15294999e-04 5.39402651e+01] [ 2.31909083e-04 9.99999970e-01 8.36117330e-05 -4.87017103e+00] [ 9.15275587e-04 -8.38239609e-05 9.99999578e-01 -1.83479122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.379928851 meters 0.09547382161381594 Centerline is valid? [True, True] Translation: X:54.00, Y:-4.88, Z:-1.83 [[ 9.99994472e-01 -3.12390402e-03 -1.13911490e-03 5.40002918e+01] [ 3.12402459e-03 9.99995115e-01 1.04076162e-04 -4.87668581e+00] [ 1.13878421e-03 -1.07634210e-04 9.99999346e-01 -1.83470213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.439928851 meters 0.0961077843292917 Centerline is valid? [True, True] Translation: X:54.06, Y:-4.88, Z:-1.84 [[ 9.99995516e-01 -2.90526116e-03 -7.26845431e-04 5.40609825e+01] [ 2.90531073e-03 9.99995777e-01 6.71576536e-05 -4.88209105e+00] [ 7.26647251e-04 -6.92690643e-05 9.99999734e-01 -1.83593304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.499928851 meters 0.09702854073404925 Centerline is valid? [True, True] Translation: X:54.12, Y:-4.89, Z:-1.84 [[ 9.99998631e-01 -1.65048132e-03 1.20511989e-04 5.41213983e+01] [ 1.65048258e-03 9.99998638e-01 -1.03240724e-05 -4.88791808e+00] [-1.20494785e-04 1.05229612e-05 9.99999993e-01 -1.83585254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.559928851 meters 0.09628366672772268 Centerline is valid? [True, True] Translation: X:54.18, Y:-4.89, Z:-1.84 [[ 9.99997329e-01 2.02433975e-03 1.11546248e-03 5.41820809e+01] [-2.02422718e-03 9.99997946e-01 -1.02042278e-04 -4.88774748e+00] [-1.11566676e-03 9.97840558e-05 9.99999373e-01 -1.83692393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.619928851 meters 0.09769445091323979 Centerline is valid? [True, True] Translation: X:54.24, Y:-4.89, Z:-1.84 [[ 9.99994576e-01 2.55614669e-03 2.07699963e-03 5.42411584e+01] [-2.55575886e-03 9.99996716e-01 -1.89358168e-04 -4.89439131e+00] [-2.07747684e-03 1.84048831e-04 9.99997825e-01 -1.83981583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.679928851 meters 0.09883065809464196 Centerline is valid? [True, True] Translation: X:54.30, Y:-4.90, Z:-1.84 [[ 9.99993559e-01 3.38676881e-03 1.18815438e-03 5.43006569e+01] [-3.38664165e-03 9.99994259e-01 -1.09018045e-04 -4.89861537e+00] [-1.18851678e-03 1.04993490e-04 9.99999288e-01 -1.84222427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.739928851 meters 0.10052463682447588 Centerline is valid? [True, False] Translation: X:54.30, Y:-4.90, Z:-1.84 [[ 9.99994920e-01 2.91746836e-03 1.28362325e-03 5.43003872e+01] [-2.91634817e-03 9.99995366e-01 -8.73685337e-04 -4.89629132e+00] [-1.28616625e-03 8.69937406e-04 9.99998794e-01 -1.84214925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.799928851 meters 0.10147001832700774 Centerline is valid? [False, False] Translation: X:54.30, Y:-4.90, Z:-1.84 [[ 9.99994971e-01 2.75598723e-03 1.56930659e-03 5.43001803e+01] [-2.75466679e-03 9.99995851e-01 -8.42953524e-04 -4.89570499e+00] [-1.57162325e-03 8.38626368e-04 9.99998413e-01 -1.84284819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.859928851 meters 0.10738163152749597 Centerline is valid? [False, False] Translation: X:54.30, Y:-4.90, Z:-1.84 [[ 9.99994664e-01 2.26100149e-03 2.35790026e-03 5.42986376e+01] [-2.25938532e-03 9.99997211e-01 -6.87868122e-04 -4.89648186e+00] [-2.35944895e-03 6.82537046e-04 9.99996984e-01 -1.84315897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.919928851 meters 0.10393789721204696 Centerline is valid? [False, False] Translation: X:54.30, Y:-4.90, Z:-1.84 [[ 9.99993088e-01 1.99158457e-03 3.13967962e-03 5.42975746e+01] [-1.99113656e-03 9.99998007e-01 -1.45809166e-04 -4.89787160e+00] [-3.13996375e-03 1.39556627e-04 9.99995061e-01 -1.84426768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.979928851 meters 0.1167317763232142 Centerline is valid? [False, False] Translation: X:54.30, Y:-4.90, Z:-1.84 [[ 9.99992505e-01 1.78219721e-03 3.43698665e-03 5.42971960e+01] [-1.78170933e-03 9.99998402e-01 -1.45009138e-04 -4.89734711e+00] [-3.43723960e-03 1.38884340e-04 9.99994083e-01 -1.84474792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.039928851 meters 0.10587034895486437 Centerline is valid? [False, False] Translation: X:54.30, Y:-4.90, Z:-1.84 [[ 9.99992364e-01 1.86630538e-03 3.43358121e-03 5.42972204e+01] [-1.86628939e-03 9.99998258e-01 -7.85944025e-06 -4.89788989e+00] [-3.43358990e-03 1.45132404e-06 9.99994105e-01 -1.84474942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.099928851 meters 0.10619365316988733 Centerline is valid? [False, False] Translation: X:54.30, Y:-4.90, Z:-1.84 [[ 9.99992544e-01 1.59610195e-03 3.51625715e-03 5.42966676e+01] [-1.59498510e-03 9.99998677e-01 -3.20404741e-04 -4.89728609e+00] [-3.51676390e-03 3.14793974e-04 9.99993767e-01 -1.84420204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.159928851 meters 0.1055838413026506 Centerline is valid? [False, False] Translation: X:54.30, Y:-4.90, Z:-1.84 [[ 9.99993015e-01 1.80455792e-03 3.27303127e-03 5.42971291e+01] [-1.80387220e-03 9.99998350e-01 -2.12444857e-04 -4.89759227e+00] [-3.27340924e-03 2.06539244e-04 9.99994621e-01 -1.84409947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.219928851 meters 0.10217360987350535 Centerline is valid? [False, False] Translation: X:54.30, Y:-4.90, Z:-1.84 [[ 9.99993898e-01 2.27438232e-03 2.65155472e-03 5.42983746e+01] [-2.27404294e-03 9.99997406e-01 -1.31001385e-04 -4.89811166e+00] [-2.65184578e-03 1.24970836e-04 9.99996476e-01 -1.84387695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.279928851 meters 0.09339004487477935 Centerline is valid? [False, True] Translation: X:54.30, Y:-4.90, Z:-1.84 [[ 9.99994839e-01 2.96534138e-03 1.23681256e-03 5.43008602e+01] [-2.96426114e-03 9.99995224e-01 -8.74326044e-04 -4.89538698e+00] [-1.23939933e-03 8.70655295e-04 9.99998853e-01 -1.84302365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.339928851 meters 0.08693662820520931 Centerline is valid? [True, True] Translation: X:54.36, Y:-4.89, Z:-1.84 [[ 9.99933643e-01 1.14679876e-02 1.09315541e-03 5.43620522e+01] [-1.14678843e-02 9.99934237e-01 -1.00697695e-04 -4.88861754e+00] [-1.09423832e-03 8.81548334e-05 9.99999397e-01 -1.84361770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.399928851 meters 0.08395267483666018 Centerline is valid? [True, True] Translation: X:54.42, Y:-4.89, Z:-1.85 [[ 9.99663104e-01 2.57467842e-02 3.28345631e-03 5.44219630e+01] [-2.57459292e-02 9.99668473e-01 -3.02411214e-04 -4.88889524e+00] [-3.29015387e-03 2.17773699e-04 9.99994564e-01 -1.84557754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.459928851 meters 0.07576393874379249 Centerline is valid? [True, True] Translation: X:54.48, Y:-4.87, Z:-1.84 [[ 9.99179936e-01 4.04018208e-02 2.67354303e-03 5.44843043e+01] [-4.04013063e-02 9.99183504e-01 -2.46167618e-04 -4.87304319e+00] [-2.68130572e-03 1.37951114e-04 9.99996396e-01 -1.84273625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.519928851 meters 0.0737969779890179 Centerline is valid? [True, True] Translation: X:54.54, Y:-4.87, Z:-1.85 [[ 9.98575687e-01 5.33180350e-02 1.94520463e-03 5.45439119e+01] [-5.33177863e-02 9.98577579e-01 -1.79491400e-04 -4.87413772e+00] [-1.95200786e-03 7.55217430e-05 9.99998092e-01 -1.84547367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.579928851 meters 0.07228252807516022 Centerline is valid? [True, True] Translation: X:54.60, Y:-4.88, Z:-1.85 [[ 9.98017044e-01 6.29095904e-02 2.08867055e-03 5.46043769e+01] [-6.29093243e-02 9.98019228e-01 -1.92927426e-04 -4.87547986e+00] [-2.09667036e-03 6.11480063e-05 9.99997800e-01 -1.84767523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.639928851 meters 0.07130689871482715 Centerline is valid? [True, True] Translation: X:54.66, Y:-4.88, Z:-1.85 [[ 9.97704036e-01 6.77022077e-02 1.75139046e-03 5.46644378e+01] [-6.77020286e-02 9.97705572e-01 -1.61429302e-04 -4.87832009e+00] [-1.75830114e-03 4.24859790e-05 9.99998453e-01 -1.84751039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.699928851 meters 0.07109558222299822 Centerline is valid? [True, True] Translation: X:54.72, Y:-4.89, Z:-1.85 [[ 9.97493747e-01 7.07441328e-02 1.22193852e-03 5.47229491e+01] [-7.07440424e-02 9.97494495e-01 -1.17166073e-04 -4.88523194e+00] [-1.22716576e-03 3.04275548e-05 9.99999247e-01 -1.85003593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.759928851 meters 0.07098753164318584 Centerline is valid? [True, True] Translation: X:54.78, Y:-4.89, Z:-1.85 [[ 9.97370517e-01 7.24646830e-02 9.59710909e-04 5.47813514e+01] [-7.24646272e-02 9.97370979e-01 -9.28847064e-05 -4.89295503e+00] [-9.63918670e-04 2.30953745e-05 9.99999535e-01 -1.85181071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.819928851 meters 0.0707182865141195 Centerline is valid? [True, True] Translation: X:54.84, Y:-4.90, Z:-1.85 [[ 9.97231903e-01 7.43537951e-02 2.10133250e-04 5.48399722e+01] [-7.43537917e-02 9.97231925e-01 -2.43198547e-05 -4.90101911e+00] [-2.11359859e-04 8.62833115e-06 9.99999978e-01 -1.85127811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.879928851 meters 0.07105293843128015 Centerline is valid? [True, True] Translation: X:54.90, Y:-4.92, Z:-1.85 [[ 9.97469542e-01 7.10891443e-02 9.20250112e-04 5.48977882e+01] [-7.10890924e-02 9.97469966e-01 -8.89990290e-05 -4.91641786e+00] [-9.24248712e-04 2.33540754e-05 9.99999573e-01 -1.85200889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.939928851 meters 0.071895758165552 Centerline is valid? [True, True] Translation: X:54.96, Y:-4.94, Z:-1.85 [[ 9.98000979e-01 6.31981277e-02 2.08085372e-04 5.49562701e+01] [-6.31981251e-02 9.98001000e-01 -1.93225020e-05 -4.93557732e+00] [-2.08890556e-04 6.13327055e-06 9.99999978e-01 -1.85282532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.999928851 meters 0.07325987032753559 Centerline is valid? [True, True] Translation: X:55.02, Y:-4.96, Z:-1.85 [[ 9.98546654e-01 5.38899359e-02 6.74534264e-04 5.50152429e+01] [-5.38899066e-02 9.98546881e-01 -6.14447777e-05 -4.95679326e+00] [-6.76865340e-04 2.50048887e-05 9.99999771e-01 -1.85304364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.059928851 meters 0.07551886605528328 Centerline is valid? [True, True] Translation: X:55.07, Y:-4.98, Z:-1.86 [[ 9.98943993e-01 4.59382867e-02 7.56444452e-04 5.50726364e+01] [-4.59382474e-02 9.98944279e-01 -6.92226402e-05 -4.98077858e+00] [-7.58825827e-04 3.43998083e-05 9.99999711e-01 -1.85579820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.119928851 meters 0.07678076719731465 Centerline is valid? [True, True] Translation: X:55.13, Y:-5.00, Z:-1.86 [[ 9.99226444e-01 3.93230270e-02 4.60664268e-04 5.51320000e+01] [-3.93230119e-02 9.99226550e-01 -4.19144245e-05 -4.99863749e+00] [-4.61956170e-04 2.37672948e-05 9.99999893e-01 -1.85575335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.179928851 meters 0.07729786719500198 Centerline is valid? [True, True] Translation: X:55.19, Y:-5.01, Z:-1.86 [[ 9.99358957e-01 3.57986181e-02 3.66997040e-04 5.51909290e+01] [-3.57986081e-02 9.99359024e-01 -3.37808561e-05 -5.01001213e+00] [-3.67971111e-04 2.06212179e-05 9.99999932e-01 -1.85683077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.239928851 meters 0.07771188408539412 Centerline is valid? [True, True] Translation: X:55.25, Y:-5.02, Z:-1.86 [[ 9.99508196e-01 3.13577161e-02 2.43700019e-04 5.52502001e+01] [-3.13577116e-02 9.99508226e-01 -2.22420760e-05 -5.02381128e+00] [-2.44277635e-04 1.45892624e-05 9.99999970e-01 -1.85894720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.299928851 meters 0.08095688017404981 Centerline is valid? [True, True] Translation: X:55.31, Y:-5.04, Z:-1.86 [[ 9.99596257e-01 2.84040747e-02 -7.29642258e-04 5.53084090e+01] [-2.84040340e-02 9.99596522e-01 6.60183902e-05 -5.03995435e+00] [ 7.31223055e-04 -4.52669522e-05 9.99999732e-01 -1.86330551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.359928851 meters 0.07923432902084346 Centerline is valid? [True, True] Translation: X:55.37, Y:-5.04, Z:-1.86 [[ 9.99624698e-01 2.73014260e-02 -2.25734739e-03 5.53677292e+01] [-2.73010343e-02 9.99627236e-01 2.04162779e-04 -5.04138242e+00] [ 2.26207987e-03 -1.42458237e-04 9.99997431e-01 -1.86374039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.419928851 meters 0.0799630951229887 Centerline is valid? [True, True] Translation: X:55.43, Y:-5.05, Z:-1.87 [[ 9.99690842e-01 2.46901198e-02 -2.93558870e-03 5.54273058e+01] [-2.46894430e-02 9.99695134e-01 2.66562520e-04 -5.04932499e+00] [ 2.94127520e-03 -1.94002061e-04 9.99995656e-01 -1.86629245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.479928851 meters 0.08206234100964092 Centerline is valid? [True, True] Translation: X:55.49, Y:-5.06, Z:-1.87 [[ 9.99778650e-01 2.08841807e-02 -2.55005630e-03 5.54859171e+01] [-2.08836567e-02 9.99781886e-01 2.31936954e-04 -5.05844969e+00] [ 2.55434391e-03 -1.78631114e-04 9.99996722e-01 -1.86733825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.539928851 meters 0.08254348471828392 Centerline is valid? [True, True] Translation: X:55.55, Y:-5.06, Z:-1.87 [[ 9.99825300e-01 1.85474539e-02 -2.31554241e-03 5.55460793e+01] [-1.85470157e-02 9.99827967e-01 2.10564813e-04 -5.06404349e+00] [ 2.31904950e-03 -1.67581626e-04 9.99997297e-01 -1.86865473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.599928851 meters 0.08196570953179559 Centerline is valid? [True, True] Translation: X:55.60, Y:-5.07, Z:-1.87 [[ 9.99837362e-01 1.78981478e-02 -2.21505005e-03 5.56046759e+01] [-1.78977490e-02 9.99839803e-01 1.99747042e-04 -5.06558261e+00] [ 2.21827031e-03 -1.60070146e-04 9.99997527e-01 -1.86928280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.659928851 meters 0.08095246005016356 Centerline is valid? [True, True] Translation: X:55.67, Y:-5.06, Z:-1.87 [[ 9.99797310e-01 2.00965016e-02 -1.21200140e-03 5.56656651e+01] [-2.00963832e-02 9.99798041e-01 1.09728689e-04 -5.06251591e+00] [ 1.21396179e-03 -8.53496039e-05 9.99999260e-01 -1.86996749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.719928851 meters 0.08360135301210761 Centerline is valid? [True, True] Translation: X:55.72, Y:-5.07, Z:-1.87 [[ 9.99781203e-01 2.09102840e-02 -5.53032484e-04 5.57233063e+01] [-2.09102602e-02 9.99781355e-01 4.87026400e-05 -5.07047177e+00] [ 5.53929953e-04 -3.71279309e-05 9.99999846e-01 -1.87384199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.779928851 meters 0.08536875108725682 Centerline is valid? [True, True] Translation: X:55.78, Y:-5.07, Z:-1.88 [[ 9.99767025e-01 2.15794444e-02 4.73107025e-04 5.57811021e+01] [-2.15794257e-02 9.99767136e-01 -4.47105556e-05 -5.07492560e+00] [-4.73961684e-04 3.44907613e-05 9.99999887e-01 -1.87731175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.839928851 meters 0.0820895481094054 Centerline is valid? [True, True] Translation: X:55.84, Y:-5.07, Z:-1.87 [[ 9.99781452e-01 2.08981191e-02 5.62416675e-04 5.58412559e+01] [-2.08980929e-02 9.99781610e-01 -5.24851122e-05 -5.06579198e+00] [-5.63390689e-04 4.07202057e-05 9.99999840e-01 -1.87472093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.899928851 meters 0.08365242893678441 Centerline is valid? [True, True] Translation: X:55.90, Y:-5.07, Z:-1.88 [[ 9.99817691e-01 1.90460822e-02 1.35314627e-03 5.59005480e+01] [-1.90459326e-02 9.99818602e-01 -1.23357128e-04 -5.07001424e+00] [-1.35525028e-03 9.75627064e-05 9.99999077e-01 -1.87789479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.959928851 meters 0.08734055397250531 Centerline is valid? [True, True] Translation: X:55.96, Y:-5.08, Z:-1.88 [[ 9.99877273e-01 1.56397435e-02 9.15253013e-04 5.59589254e+01] [-1.56396738e-02 9.99877689e-01 -8.33317253e-05 -5.07875236e+00] [-9.16444354e-04 6.90072397e-05 9.99999578e-01 -1.88223312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.019928851 meters 0.08684554375394532 Centerline is valid? [True, True] Translation: X:56.02, Y:-5.08, Z:-1.88 [[ 9.99916973e-01 1.28622195e-02 7.81441590e-04 5.60197523e+01] [-1.28621680e-02 9.99917276e-01 -7.07873512e-05 -5.07921269e+00] [-7.82287429e-04 6.07304409e-05 9.99999692e-01 -1.88174441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.079928851 meters 0.08717013328681748 Centerline is valid? [True, True] Translation: X:56.08, Y:-5.08, Z:-1.88 [[ 9.99941091e-01 1.05366642e-02 2.60619233e-03 5.60793528e+01] [-1.05360826e-02 9.99944466e-01 -2.36771839e-04 -5.08209964e+00] [-2.60854238e-03 2.09298834e-04 9.99996576e-01 -1.88194486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.139928851 meters 0.08619650499180986 Centerline is valid? [True, True] Translation: X:56.14, Y:-5.08, Z:-1.88 [[ 9.99965598e-01 7.30432151e-03 3.93049169e-03 5.61394256e+01] [-7.30297751e-03 9.99973269e-01 -3.56186399e-04 -5.08151671e+00] [-3.93298832e-03 3.27469854e-04 9.99992212e-01 -1.88132256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.199928851 meters 0.08924628441313501 Centerline is valid? [True, True] Translation: X:56.20, Y:-5.09, Z:-1.88 [[ 9.99984464e-01 4.42311158e-03 3.39245121e-03 5.61987528e+01] [-4.42209504e-03 9.99990175e-01 -3.07090710e-04 -5.08939513e+00] [-3.39377618e-03 2.92084197e-04 9.99994198e-01 -1.88477960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.259928851 meters 0.09219712404424509 Centerline is valid? [True, True] Translation: X:56.26, Y:-5.10, Z:-1.89 [[ 9.99994653e-01 2.55637192e-03 2.03948543e-03 5.62576472e+01] [-2.55600057e-03 9.99996716e-01 -1.84670186e-04 -5.09826488e+00] [-2.03995082e-03 1.79456273e-04 9.99997903e-01 -1.89030536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.319928851 meters 0.0922699087699383 Centerline is valid? [True, True] Translation: X:56.32, Y:-5.10, Z:-1.89 [[ 9.99988420e-01 3.80421827e-03 2.94767197e-03 5.63182295e+01] [-3.80344792e-03 9.99992731e-01 -2.66904153e-04 -5.10017480e+00] [-2.94866591e-03 2.55689745e-04 9.99995620e-01 -1.89121863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.379928851 meters 0.09302472412036669 Centerline is valid? [True, True] Translation: X:56.38, Y:-5.10, Z:-1.89 [[ 9.99982526e-01 5.43325164e-03 2.32981253e-03 5.63778661e+01] [-5.43277478e-03 9.99985220e-01 -2.10958562e-04 -5.10405178e+00] [-2.33092429e-03 1.98297529e-04 9.99997264e-01 -1.89416092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.439928851 meters 0.09375787882524561 Centerline is valid? [True, True] Translation: X:56.44, Y:-5.11, Z:-1.90 [[ 9.99978980e-01 5.64647314e-03 3.18696613e-03 5.64374798e+01] [-5.64557987e-03 9.99984022e-01 -2.89214442e-04 -5.11099154e+00] [-3.18854825e-03 2.71216091e-04 9.99994880e-01 -1.89587121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.49992885099999 meters 0.09834058673821454 Centerline is valid? [True, True] Translation: X:56.50, Y:-5.12, Z:-1.90 [[ 9.99993919e-01 1.65151170e-03 3.07144073e-03 5.64959280e+01] [-1.65066762e-03 9.99998599e-01 -2.77332628e-04 -5.12263901e+00] [-3.07189445e-03 2.72261014e-04 9.99995245e-01 -1.89748835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.559928851 meters 0.09977462739842788 Centerline is valid? [True, True] Translation: X:56.56, Y:-5.13, Z:-1.90 [[ 9.99994263e-01 3.80680228e-04 3.36596252e-03 5.65562586e+01] [-3.79657522e-04 9.99999882e-01 -3.04471617e-04 -5.13086215e+00] [-3.36607803e-03 3.03191957e-04 9.99994289e-01 -1.89873200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.619928851 meters 0.09626495974351948 Centerline is valid? [True, True] Translation: X:56.62, Y:-5.13, Z:-1.90 [[ 9.99991165e-01 -3.37228508e-03 2.50969809e-03 5.66176448e+01] [ 3.37286466e-03 9.99994286e-01 -2.26737758e-04 -5.12949692e+00] [-2.50891912e-03 2.35200626e-04 9.99996825e-01 -1.89958375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.679928851 meters 0.09695797263931016 Centerline is valid? [True, True] Translation: X:56.68, Y:-5.14, Z:-1.90 [[ 9.99981878e-01 -5.28494040e-03 2.88319658e-03 5.66788183e+01] [ 5.28571329e-03 9.99985997e-01 -2.60513333e-04 -5.13540241e+00] [-2.88177941e-03 2.75748363e-04 9.99995810e-01 -1.90018462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.739928851 meters 0.09709144855749859 Centerline is valid? [True, True] Translation: X:56.74, Y:-5.14, Z:-1.90 [[ 9.99974048e-01 -6.31411005e-03 3.46930345e-03 5.67402652e+01] [ 6.31523199e-03 9.99980010e-01 -3.12528436e-04 -5.14050026e+00] [-3.46726076e-03 3.34429781e-04 9.99993933e-01 -1.90176589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.799928851 meters 0.09832909214611027 Centerline is valid? [True, True] Translation: X:56.80, Y:-5.15, Z:-1.90 [[ 9.99974997e-01 -6.34851489e-03 3.11474746e-03 5.68019724e+01] [ 6.34942139e-03 9.99979803e-01 -2.81235647e-04 -5.14836575e+00] [-3.11289912e-03 3.01005459e-04 9.99995110e-01 -1.90348255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.859928851 meters 0.10016032808140903 Centerline is valid? [True, False] Translation: X:56.80, Y:-5.15, Z:-1.90 [[ 9.99974743e-01 -6.33516429e-03 3.22160450e-03 5.68015573e+01] [ 6.33549792e-03 9.99979926e-01 -9.33651815e-05 -5.14910745e+00] [-3.22094834e-03 1.13773292e-04 9.99994806e-01 -1.90320808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.919928851 meters 0.0963801489438373 Centerline is valid? [False, True] Translation: X:56.80, Y:-5.15, Z:-1.90 [[ 9.99977076e-01 -5.96785182e-03 3.19881667e-03 5.68018872e+01] [ 5.96618945e-03 9.99982062e-01 5.28972981e-04 -5.15063447e+00] [-3.20191612e-03 -5.09876108e-04 9.99994744e-01 -1.90362294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.979928851 meters 0.10206794707035316 Centerline is valid? [True, False] Translation: X:56.80, Y:-5.15, Z:-1.90 [[ 9.99980192e-01 -5.33213382e-03 3.34411149e-03 5.68022729e+01] [ 5.32602383e-03 9.99984136e-01 1.83334051e-03 -5.15374508e+00] [-3.35383405e-03 -1.81549338e-03 9.99992728e-01 -1.90474239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.039928851 meters 0.09936451031392844 Centerline is valid? [False, True] Translation: X:56.80, Y:-5.16, Z:-1.91 [[ 9.99983428e-01 -4.63158306e-03 3.41925921e-03 5.68027277e+01] [ 4.62056002e-03 9.99984126e-01 3.22469872e-03 -5.15720577e+00] [-3.43414039e-03 -3.20884639e-03 9.99988955e-01 -1.90572616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.099928851 meters 0.10294817004733543 Centerline is valid? [True, False] Translation: X:56.80, Y:-5.16, Z:-1.91 [[ 9.99984403e-01 -4.34422598e-03 3.51007886e-03 5.68024670e+01] [ 4.33028290e-03 9.99982743e-01 3.97018131e-03 -5.15979165e+00] [-3.52726565e-03 -3.95491975e-03 9.99985958e-01 -1.90565064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.159928851 meters 0.101151618592294 Centerline is valid? [False, False] Translation: X:56.80, Y:-5.16, Z:-1.91 [[ 9.99985849e-01 -4.04447934e-03 3.45594486e-03 5.68022626e+01] [ 4.02899634e-03 9.99981869e-01 4.47538346e-03 -5.16205049e+00] [-3.47398280e-03 -4.46139614e-03 9.99984014e-01 -1.90512072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.219928851 meters 0.09964072587878002 Centerline is valid? [False, True] Translation: X:56.80, Y:-5.16, Z:-1.90 [[ 9.99987546e-01 -3.82021319e-03 3.21165949e-03 5.68025327e+01] [ 3.80540949e-03 9.99982166e-01 4.60290368e-03 -5.16295596e+00] [-3.22918629e-03 -4.59062468e-03 9.99984249e-01 -1.90465549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.279928851 meters 0.09871659587069848 Centerline is valid? [True, True] Translation: X:56.86, Y:-5.17, Z:-1.90 [[ 9.99996041e-01 -7.71141783e-04 2.70606987e-03 5.68632492e+01] [ 7.71859740e-04 9.99999667e-01 -2.64279123e-04 -5.16592847e+00] [-2.70586517e-03 2.66366783e-04 9.99996304e-01 -1.90453365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.339928851 meters 0.09990430182256793 Centerline is valid? [True, True] Translation: X:56.92, Y:-5.18, Z:-1.91 [[ 9.99990513e-01 1.46016597e-03 4.10380569e-03 5.69222890e+01] [-1.45853245e-03 9.99998856e-01 -4.01014740e-04 -5.17554039e+00] [-4.10438655e-03 3.95025402e-04 9.99991499e-01 -1.90623159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.399928851 meters 0.1020045707952146 Centerline is valid? [True, False] Translation: X:56.92, Y:-5.18, Z:-1.91 [[ 9.99989842e-01 1.84917426e-03 4.11064980e-03 5.69224332e+01] [-1.85047324e-03 9.99998239e-01 3.12221877e-04 -5.17772112e+00] [-4.11006521e-03 -3.19825353e-04 9.99991503e-01 -1.90645180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.459928851 meters 0.09832248633408562 Centerline is valid? [False, True] Translation: X:56.92, Y:-5.18, Z:-1.91 [[ 9.99987824e-01 1.84579683e-03 4.57647537e-03 5.69212918e+01] [-1.85024552e-03 9.99997820e-01 9.68035422e-04 -5.18050628e+00] [-4.57467859e-03 -9.76491239e-04 9.99989059e-01 -1.90623223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.519928851 meters 0.09896654571964784 Centerline is valid? [True, True] Translation: X:56.98, Y:-5.19, Z:-1.91 [[ 9.99992109e-01 -9.27260251e-04 3.86278934e-03 5.69814267e+01] [ 9.28761070e-04 9.99999494e-01 -3.86756598e-04 -5.18829674e+00] [-3.86242876e-03 3.90341155e-04 9.99992465e-01 -1.90676624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.579928851 meters 0.10298359036752422 Centerline is valid? [True, False] Translation: X:56.98, Y:-5.19, Z:-1.91 [[ 9.99988821e-01 -1.16382439e-03 4.58295016e-03 5.69796928e+01] [ 1.16245155e-03 9.99999279e-01 3.02206942e-04 -5.19191965e+00] [-4.58329857e-03 -2.96876106e-04 9.99989453e-01 -1.90628858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.639928851 meters 0.10497285124930071 Centerline is valid? [False, False] Translation: X:56.98, Y:-5.19, Z:-1.91 [[ 9.99988270e-01 -7.15034013e-04 4.79041707e-03 5.69795491e+01] [ 7.08936469e-04 9.99998937e-01 1.27444003e-03 -5.19498759e+00] [-4.79132324e-03 -1.27102898e-03 9.99987714e-01 -1.90665936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.699928851 meters 0.10474490539014579 Centerline is valid? [False, False] Translation: X:56.98, Y:-5.19, Z:-1.91 [[ 9.99989242e-01 -7.50176220e-04 4.57753222e-03 5.69797774e+01] [ 7.45776529e-04 9.99999258e-01 9.62780310e-04 -5.19439004e+00] [-4.57825108e-03 -9.59356136e-04 9.99989060e-01 -1.90628809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.759928851 meters 0.10445399673382774 Centerline is valid? [False, False] Translation: X:56.98, Y:-5.19, Z:-1.91 [[ 9.99991063e-01 -2.73276890e-04 4.21882127e-03 5.69810785e+01] [ 2.67532605e-04 9.99999037e-01 1.36208958e-03 -5.19449100e+00] [-4.21918943e-03 -1.36094873e-03 9.99990173e-01 -1.90707630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.819928851 meters 0.10287566803968039 Centerline is valid? [False, False] Translation: X:56.98, Y:-5.19, Z:-1.91 [[ 9.99991150e-01 -4.90412725e-04 4.17841832e-03 5.69808162e+01] [ 4.86318405e-04 9.99999401e-01 9.80832809e-04 -5.19386314e+00] [-4.17889682e-03 -9.78792087e-04 9.99990789e-01 -1.90654743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.879928851 meters 0.10365629007935509 Centerline is valid? [False, False] Translation: X:56.98, Y:-5.19, Z:-1.91 [[ 9.99991441e-01 -2.68671489e-04 4.12860881e-03 5.69812443e+01] [ 2.63503165e-04 9.99999181e-01 1.25232488e-03 -5.19406730e+00] [-4.12894189e-03 -1.25122626e-03 9.99990693e-01 -1.90701355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.939928851 meters 0.10678731835506898 Centerline is valid? [False, False] Translation: X:56.98, Y:-5.20, Z:-1.91 [[ 9.99991341e-01 -1.24186628e-04 4.15955995e-03 5.69812046e+01] [ 1.17872434e-04 9.99998841e-01 1.51820635e-03 -5.19505983e+00] [-4.15974367e-03 -1.51770291e-03 9.99990197e-01 -1.90703816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.99992885099999 meters 0.10960092602738895 Centerline is valid? [False, False] Translation: X:56.98, Y:-5.20, Z:-1.91 [[ 9.99990413e-01 -1.96625118e-04 4.37430412e-03 5.69807274e+01] [ 1.89429471e-04 9.99998628e-01 1.64533467e-03 -5.19578018e+00] [-4.37462164e-03 -1.64449027e-03 9.99989079e-01 -1.90701394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.059928851 meters 0.1127261187190705 Centerline is valid? [False, False] Translation: X:56.98, Y:-5.20, Z:-1.91 [[ 9.99990468e-01 8.57450183e-05 4.36538613e-03 5.69810539e+01] [-9.49549362e-05 9.99997770e-01 2.10959665e-03 -5.19677908e+00] [-4.36519551e-03 -2.10999106e-03 9.99988246e-01 -1.90747225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.119928851 meters 0.11648136332139376 Centerline is valid? [False, False] Translation: X:56.98, Y:-5.20, Z:-1.91 [[ 9.99983377e-01 -3.98970129e-03 4.16266220e-03 5.69812382e+01] [ 3.99780836e-03 9.99990125e-01 -1.94106854e-03 -5.19764068e+00] [-4.15487681e-03 1.95767780e-03 9.99989452e-01 -1.90707856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.179928851 meters 0.12254358548270641 Centerline is valid? [False, False] Translation: X:56.98, Y:-5.20, Z:-1.91 [[ 9.99980888e-01 -4.01941379e-03 4.69769931e-03 5.69801392e+01] [ 4.02514167e-03 9.99991166e-01 -1.21047606e-03 -5.20034976e+00] [-4.69279241e-03 1.22936183e-03 9.99988233e-01 -1.90709406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.239928851 meters 0.1086795057497526 Centerline is valid? [False, False] Translation: X:56.98, Y:-5.21, Z:-1.91 [[ 9.99978569e-01 -3.71208896e-03 5.39273345e-03 5.69792516e+01] [ 3.71005386e-03 9.99993043e-01 3.87333554e-04 -5.20520614e+00] [-5.39413374e-03 -3.67317922e-04 9.99985384e-01 -1.90798212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.299928851 meters 0.1179616300025168 Centerline is valid? [False, False] Translation: X:56.98, Y:-5.21, Z:-1.91 [[ 9.99975005e-01 -3.75529202e-03 5.99051846e-03 5.69777831e+01] [ 3.74870616e-03 9.99992357e-01 1.11023138e-03 -5.20879898e+00] [-5.99464192e-03 -1.08774694e-03 9.99981440e-01 -1.90752201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.359928851 meters 0.11046592392066636 Centerline is valid? [False, False] Translation: X:56.98, Y:-5.21, Z:-1.91 [[ 9.99978115e-01 -3.24852161e-03 5.76334446e-03 5.69782555e+01] [ 3.23832590e-03 9.99993177e-01 1.77751251e-03 -5.21090509e+00] [-5.76907942e-03 -1.75881002e-03 9.99981812e-01 -1.90744040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.419928851 meters 0.10864609836034098 Centerline is valid? [False, False] Translation: X:56.98, Y:-5.21, Z:-1.91 [[ 9.99984344e-01 -2.50481467e-03 5.00383221e-03 5.69800137e+01] [ 2.49399263e-03 9.99994540e-01 2.16782136e-03 -5.21147482e+00] [-5.00923488e-03 -2.15530790e-03 9.99985131e-01 -1.90770353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.479928851 meters 0.10576002597164649 Centerline is valid? [False, False] Translation: X:56.98, Y:-5.21, Z:-1.91 [[ 9.99987252e-01 -2.11960398e-03 4.58294266e-03 5.69809587e+01] [ 2.10850443e-03 9.99994836e-01 2.42540205e-03 -5.21190889e+00] [-4.58805988e-03 -2.41570798e-03 9.99986557e-01 -1.90774469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.539928851 meters 0.10140194609120146 Centerline is valid? [False, False] Translation: X:56.98, Y:-5.21, Z:-1.91 [[ 9.99992490e-01 -1.41068415e-03 3.60983365e-03 5.69827840e+01] [ 1.40146448e-03 9.99995753e-01 2.55529679e-03 -5.21196821e+00] [-3.61342304e-03 -2.55021855e-03 9.99990220e-01 -1.90747923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.599928851 meters 0.09870569966308786 Centerline is valid? [False, True] Translation: X:56.99, Y:-5.21, Z:-1.91 [[ 9.99996753e-01 -4.84932587e-04 2.50163967e-03 5.69850066e+01] [ 4.77718551e-04 9.99995729e-01 2.88351489e-03 -5.21251412e+00] [-2.50302730e-03 -2.88231045e-03 9.99992714e-01 -1.90739876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.659928851 meters 0.09562947397717966 Centerline is valid? [True, True] Translation: X:57.05, Y:-5.21, Z:-1.91 [[ 9.99983550e-01 5.06998415e-03 2.68219275e-03 5.70460393e+01] [-5.06926546e-03 9.99987113e-01 -2.74677110e-04 -5.21185085e+00] [-2.68355079e-03 2.61075845e-04 9.99996365e-01 -1.90658472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.719928851 meters 0.09426368146911293 Centerline is valid? [True, True] Translation: X:57.11, Y:-5.22, Z:-1.91 [[ 9.99921258e-01 1.21977629e-02 2.94812545e-03 5.71058154e+01] [-1.21969257e-02 9.99925569e-01 -3.01816982e-04 -5.21665518e+00] [-2.95158751e-03 2.65835150e-04 9.99995609e-01 -1.90887692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.779928851 meters 0.09269282036133221 Centerline is valid? [True, True] Translation: X:57.17, Y:-5.22, Z:-1.91 [[ 9.99861600e-01 1.64006597e-02 2.79269300e-03 5.71654242e+01] [-1.63999225e-02 9.99865471e-01 -2.86663003e-04 -5.22254348e+00] [-2.79701877e-03 2.40823380e-04 9.99996059e-01 -1.91032061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.839928851 meters 0.09253019237140128 Centerline is valid? [True, True] Translation: X:57.22, Y:-5.23, Z:-1.91 [[ 9.99870065e-01 1.58307026e-02 3.04005087e-03 5.72235519e+01] [-1.58298246e-02 9.99874652e-01 -3.12670398e-04 -5.23175692e+00] [-3.04461959e-03 2.64506299e-04 9.99995330e-01 -1.91117458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.899928851 meters 0.09591996844112155 Centerline is valid? [True, True] Translation: X:57.28, Y:-5.25, Z:-1.91 [[ 9.99930504e-01 1.16188168e-02 1.99749987e-03 5.72811480e+01] [-1.16184316e-02 9.99932483e-01 -2.04319800e-04 -5.24796438e+00] [-1.99973896e-03 1.81097785e-04 9.99997984e-01 -1.91466643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.959928851 meters 0.0956880014957424 Centerline is valid? [True, True] Translation: X:57.34, Y:-5.26, Z:-1.92 [[ 9.99983003e-01 5.50878664e-03 1.90970975e-03 5.73407816e+01] [-5.50842318e-03 9.99984809e-01 -1.95527205e-04 -5.25828112e+00] [-1.91075786e-03 1.85004392e-04 9.99998157e-01 -1.91527275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.019928851 meters 0.10296740624702759 Centerline is valid? [True, False] Translation: X:57.34, Y:-5.26, Z:-1.92 [[ 9.99997039e-01 1.39357593e-03 1.99513318e-03 5.73404313e+01] [-1.38563999e-03 9.99991146e-01 -3.97352284e-03 -5.26023073e+00] [-2.00065292e-03 3.97074654e-03 9.99990115e-01 -1.91505079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.079928851 meters 0.09848001066369184 Centerline is valid? [False, True] Translation: X:57.34, Y:-5.26, Z:-1.92 [[ 9.99996170e-01 1.85463273e-03 2.05457177e-03 5.73408920e+01] [-1.84825054e-03 9.99993475e-01 -3.10389439e-03 -5.26202197e+00] [-2.06031495e-03 3.10008514e-03 9.99993072e-01 -1.91594188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.139928851 meters 0.09766530149458008 Centerline is valid? [True, True] Translation: X:57.40, Y:-5.27, Z:-1.92 [[ 9.99993439e-01 1.79746496e-04 3.61793638e-03 5.74007541e+01] [-1.78373162e-04 9.99999912e-01 -3.79909453e-04 -5.27078738e+00] [-3.61800435e-03 3.79261618e-04 9.99993383e-01 -1.91597845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.199928851 meters 0.10187711677248171 Centerline is valid? [True, False] Translation: X:57.40, Y:-5.27, Z:-1.92 [[ 9.99993335e-01 8.80996826e-05 3.65002246e-03 5.74001272e+01] [-8.64297849e-05 9.99999892e-01 -4.57658627e-04 -5.27146766e+00] [-3.65006238e-03 4.57340106e-04 9.99993234e-01 -1.91512459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.259928851 meters 0.0971890090961743 Centerline is valid? [False, True] Translation: X:57.40, Y:-5.27, Z:-1.91 [[ 9.99993481e-01 2.44026365e-04 3.60269243e-03 5.74000616e+01] [-2.43233958e-04 9.99999946e-01 -2.20384908e-04 -5.27230566e+00] [-3.60274601e-03 2.19507174e-04 9.99993486e-01 -1.91485585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.319928851 meters 0.09814358273115428 Centerline is valid? [True, True] Translation: X:57.46, Y:-5.28, Z:-1.92 [[ 9.99994374e-01 1.10490288e-03 3.16726180e-03 5.74598635e+01] [-1.10386442e-03 9.99999336e-01 -3.29601685e-04 -5.28394841e+00] [-3.16762388e-03 3.26103603e-04 9.99994930e-01 -1.91879559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.379928851 meters 0.09699944130965263 Centerline is valid? [True, True] Translation: X:57.52, Y:-5.29, Z:-1.92 [[ 9.99995273e-01 2.29960699e-03 2.04118396e-03 5.75212451e+01] [-2.29917861e-03 9.99997334e-01 -2.12189316e-04 -5.28915250e+00] [-2.04166647e-03 2.07495266e-04 9.99997894e-01 -1.92092835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.439928851 meters 0.09539406681735295 Centerline is valid? [True, True] Translation: X:57.58, Y:-5.29, Z:-1.92 [[ 9.99992125e-01 3.92471764e-03 5.88958554e-04 5.75823715e+01] [-3.92468235e-03 9.99992297e-01 -6.10582061e-05 -5.29175046e+00] [-5.89193654e-04 5.87462500e-05 9.99999825e-01 -1.92248883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.49992885099999 meters 0.09632176545428531 Centerline is valid? [True, True] Translation: X:57.64, Y:-5.30, Z:-1.93 [[ 9.99988233e-01 4.85087291e-03 -5.78397384e-05 5.76412476e+01] [-4.85087262e-03 9.99988234e-01 5.21121340e-06 -5.30137426e+00] [ 5.78643368e-05 -4.93057887e-06 9.99999998e-01 -1.92523969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.559928851 meters 0.09412195904864146 Centerline is valid? [True, True] Translation: X:57.70, Y:-5.30, Z:-1.93 [[ 9.99989810e-01 4.43301487e-03 -8.53854112e-04 5.77003632e+01] [-4.43294189e-03 9.99990171e-01 8.73494080e-05 -5.30266939e+00] [ 8.54232941e-04 -8.35634322e-05 9.99999632e-01 -1.92642020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.619928851 meters 0.09561816798147871 Centerline is valid? [True, True] Translation: X:57.76, Y:-5.31, Z:-1.93 [[ 9.99994282e-01 3.15853769e-03 -1.20814536e-03 5.77589805e+01] [-3.15838935e-03 9.99995005e-01 1.24670737e-04 -5.31159526e+00] [ 1.20853310e-03 -1.20854231e-04 9.99999262e-01 -1.92791521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.679928851 meters 0.09889748770359726 Centerline is valid? [True, True] Translation: X:57.82, Y:-5.33, Z:-1.93 [[ 9.99988043e-01 -4.39904137e-03 -2.13588453e-03 5.78180539e+01] [ 4.39952676e-03 9.99990297e-01 2.22613043e-04 -5.32657443e+00] [ 2.13488452e-03 -2.32007263e-04 9.99997694e-01 -1.93050873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.739928851 meters 0.10129458731936221 Centerline is valid? [True, False] Translation: X:57.82, Y:-5.33, Z:-1.93 [[ 9.99989093e-01 -4.37126722e-03 -1.64522659e-03 5.78171836e+01] [ 4.37283325e-03 9.99989988e-01 9.49475386e-04 -5.32910389e+00] [ 1.64105970e-03 -9.56659331e-04 9.99998196e-01 -1.93061993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.799928851 meters 0.10416984231557921 Centerline is valid? [False, False] Translation: X:57.82, Y:-5.33, Z:-1.93 [[ 9.99990273e-01 -4.22645877e-03 -1.26098871e-03 5.78166717e+01] [ 4.22855243e-03 9.99989678e-01 1.66230777e-03 -5.33113665e+00] [ 1.25395002e-03 -1.66762376e-03 9.99997823e-01 -1.93095945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.859928851 meters 0.10690379743206438 Centerline is valid? [False, False] Translation: X:57.82, Y:-5.33, Z:-1.93 [[ 9.99991243e-01 -4.02756027e-03 -1.13697199e-03 5.78163236e+01] [ 4.02998919e-03 9.99989585e-01 2.14215646e-03 -5.33296052e+00] [ 1.12833248e-03 -2.14671969e-03 9.99997059e-01 -1.93078306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.919928851 meters 0.10212658498343569 Centerline is valid? [False, False] Translation: X:57.82, Y:-5.33, Z:-1.93 [[ 9.99991882e-01 -3.67997919e-03 -1.64144050e-03 5.78174347e+01] [ 3.68356419e-03 9.99990825e-01 2.18641179e-03 -5.33243665e+00] [ 1.63337950e-03 -2.19244039e-03 9.99996263e-01 -1.93092691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.979928851 meters 0.10286747614271116 Centerline is valid? [False, False] Translation: X:57.82, Y:-5.33, Z:-1.93 [[ 9.99992187e-01 -3.45502921e-03 -1.92049824e-03 5.78181625e+01] [ 3.45935006e-03 9.99991483e-01 2.25111251e-03 -5.33218171e+00] [ 1.91270422e-03 -2.25773860e-03 9.99995622e-01 -1.93115178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.039928851 meters 0.10155277460161818 Centerline is valid? [False, False] Translation: X:57.82, Y:-5.33, Z:-1.93 [[ 9.99992052e-01 -3.27061351e-03 -2.28021851e-03 5.78190570e+01] [ 3.27540418e-03 9.99992430e-01 2.10040737e-03 -5.33138246e+00] [ 2.27333163e-03 -2.10785931e-03 9.99995194e-01 -1.93146256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.099928851 meters 0.1035147060931381 Centerline is valid? [False, False] Translation: X:57.82, Y:-5.33, Z:-1.93 [[ 9.99991629e-01 -2.97203487e-03 -2.81221639e-03 5.78204595e+01] [ 2.97771073e-03 9.99993534e-01 2.01625455e-03 -5.33003164e+00] [ 2.80620583e-03 -2.02461164e-03 9.99994013e-01 -1.93198333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.159928851 meters 0.10183190152057407 Centerline is valid? [False, False] Translation: X:57.82, Y:-5.33, Z:-1.93 [[ 9.99990795e-01 -2.53920666e-03 -3.45874275e-03 5.78221817e+01] [ 2.54591020e-03 9.99994887e-01 1.93512324e-03 -5.32836911e+00] [ 3.45381139e-03 -1.94391108e-03 9.99992146e-01 -1.93270873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.219928851 meters 0.09458220457833263 Centerline is valid? [False, True] Translation: X:57.82, Y:-5.33, Z:-1.93 [[ 9.99989462e-01 -2.35158396e-03 -3.94285023e-03 5.78234689e+01] [ 2.35800721e-03 9.99995899e-01 1.62523227e-03 -5.32636730e+00] [ 3.93901219e-03 -1.63451241e-03 9.99990906e-01 -1.93316432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.279928851 meters 0.09620582637862057 Centerline is valid? [True, True] Translation: X:57.88, Y:-5.33, Z:-1.93 [[ 9.99989630e-01 -2.14318648e-03 -4.01826027e-03 5.78823126e+01] [ 2.14478260e-03 9.99997623e-01 3.92950927e-04 -5.33253589e+00] [ 4.01740855e-03 -4.01565147e-04 9.99991850e-01 -1.93386460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.339928851 meters 0.09779826832276424 Centerline is valid? [True, True] Translation: X:57.94, Y:-5.34, Z:-1.94 [[ 9.99979710e-01 -5.11233009e-03 -3.80052179e-03 5.79418049e+01] [ 5.11378020e-03 9.99986855e-01 3.71937062e-04 -5.34055541e+00] [ 3.79857037e-03 -3.91364548e-04 9.99992709e-01 -1.93568566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.399928851 meters 0.0956334350610962 Centerline is valid? [True, True] Translation: X:58.00, Y:-5.34, Z:-1.94 [[ 9.99975186e-01 -5.69848184e-03 -4.14170668e-03 5.80028978e+01] [ 5.70021273e-03 9.99983671e-01 4.06233604e-04 -5.34150475e+00] [ 4.13932414e-03 -4.29832133e-04 9.99991341e-01 -1.93650977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.459928851 meters 0.09766286569965153 Centerline is valid? [True, True] Translation: X:58.06, Y:-5.35, Z:-1.94 [[ 9.99974159e-01 -6.19951671e-03 -3.63963576e-03 5.80631889e+01] [ 6.20085539e-03 9.99980711e-01 3.56635720e-04 -5.34744174e+00] [ 3.63735459e-03 -3.79195359e-04 9.99993313e-01 -1.93804529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.519928851 meters 0.10118227894592878 Centerline is valid? [True, False] Translation: X:58.06, Y:-5.35, Z:-1.94 [[ 9.99972426e-01 -6.51528054e-03 -3.56336778e-03 5.80630779e+01] [ 6.51478653e-03 9.99978767e-01 -1.50225295e-04 -5.34568973e+00] [ 3.56427088e-03 1.27006572e-04 9.99993640e-01 -1.93813272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.579928851 meters 0.09910061896920161 Centerline is valid? [False, True] Translation: X:58.06, Y:-5.34, Z:-1.94 [[ 9.99970815e-01 -6.80618298e-03 -3.47062085e-03 5.80631289e+01] [ 6.80414951e-03 9.99976673e-01 -5.97382453e-04 -5.34384193e+00] [ 3.47460579e-03 5.73750395e-04 9.99993799e-01 -1.93852490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.639928851 meters 0.09887964084922989 Centerline is valid? [True, True] Translation: X:58.12, Y:-5.35, Z:-1.94 [[ 9.99968317e-01 -7.30321441e-03 -3.16673290e-03 5.81246123e+01] [ 7.30425705e-03 9.99973273e-01 3.17807723e-04 -5.34698157e+00] [ 3.16432724e-03 -3.40928285e-04 9.99994935e-01 -1.93952795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.699928851 meters 0.10087440134450507 Centerline is valid? [True, False] Translation: X:58.13, Y:-5.35, Z:-1.94 [[ 9.99969742e-01 -7.04317960e-03 -3.30279992e-03 5.81256360e+01] [ 7.04487576e-03 9.99975058e-01 5.02197303e-04 -5.34645404e+00] [ 3.29918048e-03 -5.25449923e-04 9.99994420e-01 -1.94061401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.759928851 meters 0.10319682037519755 Centerline is valid? [False, False] Translation: X:58.13, Y:-5.35, Z:-1.94 [[ 9.99969162e-01 -7.01738222e-03 -3.52569815e-03 5.81262950e+01] [ 7.01852995e-03 9.99975321e-01 3.13266144e-04 -5.34529042e+00] [ 3.52341283e-03 -3.38001702e-04 9.99993736e-01 -1.94090802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.819928851 meters 0.0956887916634274 Centerline is valid? [False, True] Translation: X:58.13, Y:-5.34, Z:-1.94 [[ 9.99969220e-01 -6.76228888e-03 -3.97878187e-03 5.81275367e+01] [ 6.76315574e-03 9.99977109e-01 2.04456189e-04 -5.34394528e+00] [ 3.97730820e-03 -2.31359017e-04 9.99992064e-01 -1.94132856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.879928851 meters 0.1040151346365094 Centerline is valid? [True, False] Translation: X:58.13, Y:-5.34, Z:-1.94 [[ 9.99969673e-01 -6.55578752e-03 -4.20410465e-03 5.81280220e+01] [ 6.55734232e-03 9.99978437e-01 3.56153153e-04 -5.34420561e+00] [ 4.20167914e-03 -3.83710105e-04 9.99991099e-01 -1.94135760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.939928851 meters 0.0948321439189513 Centerline is valid? [False, True] Translation: X:58.13, Y:-5.34, Z:-1.94 [[ 9.99970807e-01 -6.20808006e-03 -4.45480115e-03 5.81286246e+01] [ 6.21115551e-03 9.99980482e-01 6.76864907e-04 -5.34485538e+00] [ 4.45051216e-03 -7.04514610e-04 9.99989848e-01 -1.94143348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.99992885099999 meters 0.09528924577296893 Centerline is valid? [True, True] Translation: X:58.19, Y:-5.35, Z:-1.94 [[ 9.99982995e-01 -2.77796915e-03 -5.12755820e-03 5.81880841e+01] [ 2.78050782e-03 9.99996015e-01 4.88040767e-04 -5.35211765e+00] [ 5.12618200e-03 -5.02289683e-04 9.99986735e-01 -1.94366802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.059928851 meters 0.09395717921014624 Centerline is valid? [True, True] Translation: X:58.25, Y:-5.36, Z:-1.94 [[ 9.99987902e-01 -8.54811474e-05 -4.91818510e-03 5.82487579e+01] [ 8.77840723e-05 9.99999887e-01 4.68032927e-04 -5.35659136e+00] [ 4.91814453e-03 -4.68459003e-04 9.99987796e-01 -1.94499112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.119928851 meters 0.09418588209504682 Centerline is valid? [True, True] Translation: X:58.31, Y:-5.36, Z:-1.95 [[ 9.99976630e-01 4.58512415e-03 -5.07112517e-03 5.83075775e+01] [-4.58273870e-03 9.99989383e-01 4.81918808e-04 -5.36368251e+00] [ 5.07328099e-03 -4.58667904e-04 9.99987026e-01 -1.94662009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.179928851 meters 0.0920323080645997 Centerline is valid? [True, True] Translation: X:58.37, Y:-5.37, Z:-1.95 [[ 9.99933512e-01 1.04431456e-02 -4.89006940e-03 5.83680226e+01] [-1.04409945e-02 9.99945383e-01 4.65228991e-04 -5.36582589e+00] [ 4.89466078e-03 -4.14140871e-04 9.99987935e-01 -1.94670807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.239928851 meters 0.08733299507384254 Centerline is valid? [True, True] Translation: X:58.43, Y:-5.36, Z:-1.94 [[ 9.99901484e-01 1.36729489e-02 -3.17387733e-03 5.84287323e+01] [-1.36720589e-02 9.99906487e-01 3.01928112e-04 -5.36401903e+00] [ 3.17770878e-03 -2.58504929e-04 9.99994918e-01 -1.94427056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.299928851 meters 0.08642522071405602 Centerline is valid? [True, True] Translation: X:58.49, Y:-5.37, Z:-1.95 [[ 9.99914661e-01 1.22640487e-02 -4.50148144e-03 5.84881154e+01] [-1.22622480e-02 9.99924724e-01 4.27414392e-04 -5.37028372e+00] [ 4.50638441e-03 -3.72179636e-04 9.99989777e-01 -1.94605500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.359928851 meters 0.0896140098333369 Centerline is valid? [True, True] Translation: X:58.55, Y:-5.39, Z:-1.95 [[ 9.99953314e-01 7.67018204e-03 -5.87699850e-03 5.85459022e+01] [-7.66702879e-03 9.99970452e-01 5.58884564e-04 -5.38570636e+00] [ 5.88111159e-03 -5.13799355e-04 9.99982574e-01 -1.94962494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.419928851 meters 0.08831221042768946 Centerline is valid? [True, True] Translation: X:58.61, Y:-5.39, Z:-1.95 [[ 9.99970317e-01 5.19559296e-03 -5.68949504e-03 5.86061370e+01] [-5.19260115e-03 9.99986372e-01 5.40493239e-04 -5.39114635e+00] [ 5.69222569e-03 -5.10933917e-04 9.99983669e-01 -1.94902824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.479928851 meters 0.09045313292762043 Centerline is valid? [True, True] Translation: X:58.67, Y:-5.40, Z:-1.95 [[ 9.99984813e-01 1.24107403e-03 -5.36960645e-03 5.86656374e+01] [-1.23834990e-03 9.99999103e-01 5.10619961e-04 -5.40439709e+00] [ 5.37023535e-03 -5.03962755e-04 9.99985453e-01 -1.95039441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.539928851 meters 0.09427790403892601 Centerline is valid? [True, True] Translation: X:58.72, Y:-5.42, Z:-1.95 [[ 9.99955895e-01 -4.40001921e-03 -8.29741489e-03 5.87248388e+01] [ 4.40671403e-03 9.99989979e-01 7.88746474e-04 -5.42059961e+00] [ 8.29386125e-03 -8.25276022e-04 9.99965265e-01 -1.95453583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.599928851 meters 0.09566661491932064 Centerline is valid? [True, True] Translation: X:58.78, Y:-5.43, Z:-1.96 [[ 9.99938497e-01 -7.33870615e-03 -8.31537079e-03 5.87847214e+01] [ 7.34553205e-03 9.99972709e-01 7.90633827e-04 -5.43093080e+00] [ 8.30934162e-03 -8.51666024e-04 9.99965114e-01 -1.95649184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.659928851 meters 0.09846051295340962 Centerline is valid? [True, True] Translation: X:58.84, Y:-5.44, Z:-1.96 [[ 9.99923523e-01 -9.76142486e-03 -7.59363432e-03 5.88432742e+01] [ 9.76718004e-03 9.99952040e-01 7.21179249e-04 -5.44413923e+00] [ 7.58623039e-03 -7.95292489e-04 9.99970908e-01 -1.95746018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.719928851 meters 0.09942928425762448 Centerline is valid? [True, True] Translation: X:58.90, Y:-5.45, Z:-1.96 [[ 9.99938320e-01 -9.37605866e-03 -5.95364157e-03 5.89029117e+01] [ 9.37958977e-03 9.99955851e-01 5.65455155e-04 -5.45182407e+00] [ 5.94807698e-03 -6.21262993e-04 9.99982117e-01 -1.95753970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.779928851 meters 0.10004934042349195 Centerline is valid? [True, False] Translation: X:58.90, Y:-5.45, Z:-1.96 [[ 9.99971628e-01 -5.15753535e-03 -5.49027079e-03 5.89022276e+01] [ 5.18552323e-03 9.99973571e-01 5.09575303e-03 -5.45273424e+00] [ 5.46384417e-03 -5.12407838e-03 9.99971945e-01 -1.95800096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.839928851 meters 0.09463312186321021 Centerline is valid? [False, True] Translation: X:58.90, Y:-5.45, Z:-1.96 [[ 9.99970692e-01 -5.48566526e-03 -5.34061141e-03 5.89018490e+01] [ 5.51056652e-03 9.99973963e-01 4.65912762e-03 -5.45164159e+00] [ 5.31491394e-03 -4.68842087e-03 9.99974885e-01 -1.95790360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.899928851 meters 0.09465237312291934 Centerline is valid? [True, True] Translation: X:58.96, Y:-5.46, Z:-1.96 [[ 9.99945313e-01 -7.38145195e-03 -7.40851953e-03 5.89622583e+01] [ 7.38698213e-03 9.99972457e-01 7.19375313e-04 -5.45502254e+00] [ 7.40300544e-03 -7.74062574e-04 9.99972298e-01 -1.95859540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.959928851 meters 0.09787812237043472 Centerline is valid? [True, True] Translation: X:59.02, Y:-5.47, Z:-1.96 [[ 9.99891390e-01 -1.26110674e-02 -7.62689740e-03 5.90222886e+01] [ 1.26170785e-02 9.99920127e-01 7.40538276e-04 -5.46514220e+00] [ 7.61694924e-03 -8.36687009e-04 9.99970641e-01 -1.96029827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.019928851 meters 0.10039169785107269 Centerline is valid? [True, False] Translation: X:59.02, Y:-5.47, Z:-1.96 [[ 9.99891917e-01 -1.28692415e-02 -7.10888766e-03 5.90213854e+01] [ 1.28754879e-02 9.99916760e-01 8.33618282e-04 -5.46589193e+00] [ 7.09756789e-03 -9.25058579e-04 9.99974384e-01 -1.96048282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.079928851 meters 0.10272910932685568 Centerline is valid? [False, False] Translation: X:59.02, Y:-5.47, Z:-1.96 [[ 9.99890666e-01 -1.31468585e-02 -6.76879247e-03 5.90207078e+01] [ 1.31523459e-02 9.99913210e-01 7.66828430e-04 -5.46581335e+00] [ 6.75812362e-03 -8.55770090e-04 9.99976797e-01 -1.96048841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.139928851 meters 0.10038704859606613 Centerline is valid? [False, False] Translation: X:59.02, Y:-5.47, Z:-1.96 [[ 9.99889604e-01 -1.33050607e-02 -6.61473420e-03 5.90203430e+01] [ 1.33101667e-02 9.99911150e-01 7.28485379e-04 -5.46558564e+00] [ 6.60445394e-03 -8.16448172e-04 9.99977857e-01 -1.96044646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.199928851 meters 0.10350311261897024 Centerline is valid? [False, False] Translation: X:59.02, Y:-5.47, Z:-1.96 [[ 9.99891848e-01 -1.31772898e-02 -6.53075148e-03 5.90202578e+01] [ 1.31846330e-02 9.99912493e-01 1.08262289e-03 -5.46642289e+00] [ 6.51591396e-03 -1.16861137e-03 9.99978088e-01 -1.96058461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.259928851 meters 0.10224307665621389 Centerline is valid? [False, False] Translation: X:59.02, Y:-5.47, Z:-1.96 [[ 9.99894546e-01 -1.29896224e-02 -6.49351053e-03 5.90202763e+01] [ 1.29992637e-02 9.99914462e-01 1.44476076e-03 -5.46727413e+00] [ 6.47418819e-03 -1.52901926e-03 9.99977873e-01 -1.96069134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.319928851 meters 0.10314706428141286 Centerline is valid? [False, False] Translation: X:59.02, Y:-5.47, Z:-1.96 [[ 9.99894683e-01 -1.30489523e-02 -6.35199398e-03 5.90198174e+01] [ 1.30589824e-02 9.99913542e-01 1.54013623e-03 -5.46784329e+00] [ 6.33134764e-03 -1.62292461e-03 9.99978640e-01 -1.96045289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.379928851 meters 0.10305291845901815 Centerline is valid? [False, False] Translation: X:59.01, Y:-5.47, Z:-1.97 [[ 9.99966721e-01 -8.07862742e-03 1.13653693e-03 5.90110195e+01] [ 8.07825277e-03 9.99967315e-01 3.33849807e-04 -5.47021232e+00] [-1.13919683e-03 -3.24657464e-04 9.99999298e-01 -1.96607256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.439928851 meters 0.10135489912190809 Centerline is valid? [False, False] Translation: X:59.01, Y:-5.47, Z:-1.97 [[ 9.99971169e-01 -7.56748157e-03 6.28220469e-04 5.90128352e+01] [ 7.56709411e-03 9.99971179e-01 6.16866285e-04 -5.46936693e+00] [-6.32870487e-04 -6.12094696e-04 9.99999612e-01 -1.96730963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.49992885099999 meters 0.1025061545166097 Centerline is valid? [False, False] Translation: X:59.02, Y:-5.47, Z:-1.97 [[ 9.99989667e-01 -4.53847493e-03 2.62795912e-04 5.90160584e+01] [ 4.53761578e-03 9.99984641e-01 3.18241798e-03 -5.46869272e+00] [-2.77235200e-04 -3.18119263e-03 9.99994902e-01 -1.97017496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.559928851 meters 0.10045090448086509 Centerline is valid? [False, False] Translation: X:59.02, Y:-5.47, Z:-1.97 [[ 9.99991947e-01 -3.98219671e-03 -4.97261038e-04 5.90177776e+01] [ 3.98376699e-03 9.99986952e-01 3.19784012e-03 -5.46770900e+00] [ 4.84520122e-04 -3.19979534e-03 9.99994763e-01 -1.97048103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.619928851 meters 0.09672093362453782 Centerline is valid? [False, True] Translation: X:59.02, Y:-5.47, Z:-1.97 [[ 9.99999934e-01 -1.68715007e-04 -3.21156899e-04 5.90168142e+01] [ 1.70901976e-04 9.99976716e-01 6.82185696e-03 -5.46690839e+00] [ 3.19998472e-04 -6.82191140e-03 9.99976679e-01 -1.96963293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.679928851 meters 0.09538519281185368 Centerline is valid? [True, True] Translation: X:59.08, Y:-5.47, Z:-1.97 [[ 9.99994045e-01 3.08363940e-03 -1.54945532e-03 5.90773085e+01] [-3.08339009e-03 9.99995233e-01 1.63264335e-04 -5.46781511e+00] [ 1.54995139e-03 -1.58485787e-04 9.99998786e-01 -1.97008209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.739928851 meters 0.09925238779561599 Centerline is valid? [True, True] Translation: X:59.13, Y:-5.48, Z:-1.97 [[ 9.99988665e-01 4.44207293e-03 -1.71421827e-03 5.91346136e+01] [-4.44177194e-03 9.99990119e-01 1.79354179e-04 -5.48049979e+00] [ 1.71499804e-03 -1.71737980e-04 9.99998515e-01 -1.97408795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.799928851 meters 0.09912826686216124 Centerline is valid? [True, True] Translation: X:59.19, Y:-5.49, Z:-1.98 [[ 9.99975917e-01 6.16218769e-03 -3.19255156e-03 5.91939734e+01] [-6.16114774e-03 9.99980964e-01 3.35474792e-04 -5.48604942e+00] [ 3.19455804e-03 -3.15796931e-04 9.99994848e-01 -1.97718291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.859928851 meters 0.09339702089344232 Centerline is valid? [True, True] Translation: X:59.25, Y:-5.48, Z:-1.98 [[ 9.99972288e-01 5.32405313e-03 -5.20352836e-03 5.92544580e+01] [-5.32127767e-03 9.99985692e-01 5.47081409e-04 -5.48197577e+00] [ 5.20636660e-03 -5.19376830e-04 9.99986312e-01 -1.97580112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.919928851 meters 0.09685850265938509 Centerline is valid? [True, True] Translation: X:59.31, Y:-5.49, Z:-1.98 [[ 9.99976671e-01 4.82771012e-03 -4.83228720e-03 5.93109770e+01] [-4.82532034e-03 9.99988230e-01 5.06080339e-04 -5.49412078e+00] [ 4.83467353e-03 -4.82751199e-04 9.99988196e-01 -1.97856789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.979928851 meters 0.09296198140023798 Centerline is valid? [True, True] Translation: X:59.37, Y:-5.49, Z:-1.98 [[ 9.99968975e-01 6.82746285e-03 -3.92861948e-03 5.93723833e+01] [-6.82589176e-03 9.99976618e-01 4.13177804e-04 -5.49140545e+00] [ 3.93134857e-03 -3.86348654e-04 9.99992198e-01 -1.97765160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.039928851 meters 0.09181192039994839 Centerline is valid? [True, True] Translation: X:59.43, Y:-5.49, Z:-1.98 [[ 9.99960980e-01 8.41330409e-03 -2.69330248e-03 5.94327452e+01] [-8.41257243e-03 9.99964574e-01 2.82871061e-04 -5.49379294e+00] [ 2.69558695e-03 -2.60202422e-04 9.99996333e-01 -1.97823482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.099928851 meters 0.09091288894460187 Centerline is valid? [True, True] Translation: X:59.49, Y:-5.50, Z:-1.98 [[ 9.99961508e-01 8.65834146e-03 -1.41987519e-03 5.94913044e+01] [-8.65814066e-03 9.99962507e-01 1.47505126e-04 -5.49680893e+00] [ 1.42109910e-03 -1.35205969e-04 9.99998981e-01 -1.97958310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.159928851 meters 0.09367892631890529 Centerline is valid? [True, True] Translation: X:59.55, Y:-5.51, Z:-1.98 [[ 9.99961934e-01 8.16411388e-03 -3.07848401e-03 5.95492644e+01] [-8.16316042e-03 9.99966629e-01 3.22154617e-04 -5.50702119e+00] [ 3.08101139e-03 -2.97012195e-04 9.99995210e-01 -1.98300125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.219928851 meters 0.09384914617530649 Centerline is valid? [True, True] Translation: X:59.61, Y:-5.51, Z:-1.99 [[ 9.99967048e-01 7.62428426e-03 -2.78804445e-03 5.96073835e+01] [-7.62350219e-03 9.99970898e-01 2.91029783e-04 -5.51273207e+00] [ 2.79018220e-03 -2.69765530e-04 9.99996071e-01 -1.98514390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.279928851 meters 0.09706262227425086 Centerline is valid? [True, True] Translation: X:59.67, Y:-5.52, Z:-1.99 [[ 9.99973638e-01 6.08708743e-03 -3.95857941e-03 5.96665322e+01] [-6.08549113e-03 9.99981397e-01 4.15170287e-04 -5.52371254e+00] [ 3.96103295e-03 -3.91069443e-04 9.99992079e-01 -1.98882549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.339928851 meters 0.09901189033848448 Centerline is valid? [True, True] Translation: X:59.72, Y:-5.53, Z:-1.99 [[ 9.99974226e-01 5.95470703e-03 -4.01108809e-03 5.97239254e+01] [-5.95307509e-03 9.99982193e-01 4.18673020e-04 -5.53200321e+00] [ 4.01350974e-03 -3.94783921e-04 9.99991868e-01 -1.99233728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.399928851 meters 0.10022866060339951 Centerline is valid? [True, False] Translation: X:59.72, Y:-5.53, Z:-1.99 [[ 9.99976738e-01 5.48642386e-03 -4.05255013e-03 5.97238117e+01] [-5.48833663e-03 9.99984833e-01 -4.61022781e-04 -5.52960009e+00] [ 4.04995929e-03 4.83253816e-04 9.99991682e-01 -1.99204489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.459928851 meters 0.102647118726335 Centerline is valid? [False, False] Translation: X:59.72, Y:-5.53, Z:-1.99 [[ 9.99977995e-01 5.23554787e-03 -4.07411993e-03 5.97238399e+01] [-5.23935980e-03 9.99985846e-01 -9.25533730e-04 -5.52787403e+00] [ 4.06921659e-03 9.46859144e-04 9.99991272e-01 -1.99203565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.519928851 meters 0.09692189896423958 Centerline is valid? [False, True] Translation: X:59.72, Y:-5.53, Z:-1.99 [[ 9.99977884e-01 5.25273651e-03 -4.07931787e-03 5.97240257e+01] [-5.25653191e-03 9.99985761e-01 -9.20236875e-04 -5.52747847e+00] [ 4.07442602e-03 9.41659588e-04 9.99991256e-01 -1.99230445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.579928851 meters 0.0966817429044858 Centerline is valid? [True, True] Translation: X:59.78, Y:-5.53, Z:-1.99 [[ 9.99992810e-01 2.52009538e-03 -2.83361424e-03 5.97844426e+01] [-2.51926720e-03 9.99996783e-01 2.95803706e-04 -5.53273153e+00] [ 2.83435058e-03 -2.88662948e-04 9.99995942e-01 -1.99320727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.639928851 meters 0.10375423286693221 Centerline is valid? [True, False] Translation: X:59.78, Y:-5.53, Z:-1.99 [[ 9.99992776e-01 2.48640524e-03 -2.87493318e-03 5.97848117e+01] [-2.48585198e-03 9.99996891e-01 1.95999501e-04 -5.53185930e+00] [ 2.87541157e-03 -1.88851427e-04 9.99995848e-01 -1.99364008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.699928851 meters 0.09641384548588582 Centerline is valid? [False, True] Translation: X:59.78, Y:-5.53, Z:-1.99 [[ 9.99994279e-01 2.07944709e-03 -2.66784400e-03 5.97841964e+01] [-2.08018527e-03 9.99997799e-01 -2.73949788e-04 -5.53085245e+00] [ 2.66726846e-03 2.79497830e-04 9.99996404e-01 -1.99340476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.759928851 meters 0.10163961647620369 Centerline is valid? [True, False] Translation: X:59.79, Y:-5.53, Z:-1.99 [[ 9.99993450e-01 -1.78556581e-03 -3.14838453e-03 5.97853968e+01] [ 1.77208142e-03 9.99989268e-01 -4.28055623e-03 -5.53070878e+00] [ 3.15599395e-03 4.27494900e-03 9.99985882e-01 -1.99368990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.819928851 meters 0.10003148934198097 Centerline is valid? [False, False] Translation: X:59.79, Y:-5.53, Z:-1.99 [[ 9.99993778e-01 -1.71268266e-03 -3.08402272e-03 5.97851436e+01] [ 1.70023910e-03 9.99990422e-01 -4.03296100e-03 -5.53162393e+00] [ 3.09090036e-03 4.02769233e-03 9.99987112e-01 -1.99353769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.879928851 meters 0.10165872826111727 Centerline is valid? [False, False] Translation: X:59.79, Y:-5.53, Z:-1.99 [[ 9.99994256e-01 -1.38814756e-03 -3.09205722e-03 5.97852287e+01] [ 1.37745678e-03 9.99993076e-01 -3.45694769e-03 -5.53322085e+00] [ 3.09683457e-03 3.45266866e-03 9.99989244e-01 -1.99362200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.939928851 meters 0.09793851038993696 Centerline is valid? [False, True] Translation: X:59.79, Y:-5.54, Z:-1.99 [[ 9.99994634e-01 -8.43580219e-04 -3.16533502e-03 5.97854136e+01] [ 8.35440879e-04 9.99996344e-01 -2.57184092e-03 -5.53585676e+00] [ 3.16749300e-03 2.56918267e-03 9.99991683e-01 -1.99363604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.99992885099999 meters 0.09854487250268162 Centerline is valid? [True, True] Translation: X:59.84, Y:-5.55, Z:-2.00 [[ 9.99996751e-01 -6.93132156e-04 -2.45308142e-03 5.98438642e+01] [ 6.93771235e-04 9.99999726e-01 2.59679696e-04 -5.54663592e+00] [ 2.45290076e-03 -2.61380729e-04 9.99996957e-01 -1.99541681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.059928851 meters 0.10008210394168539 Centerline is valid? [True, False] Translation: X:59.84, Y:-5.55, Z:-2.00 [[ 9.99996882e-01 -3.21660764e-04 -2.47654464e-03 5.98440177e+01] [ 3.23820557e-04 9.99999568e-01 8.71747771e-04 -5.54858428e+00] [ 2.47626316e-03 -8.72547009e-04 9.99996553e-01 -1.99554273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.119928851 meters 0.09513898759107296 Centerline is valid? [False, True] Translation: X:59.84, Y:-5.55, Z:-2.00 [[ 9.99996622e-01 1.95052667e-04 -2.59173267e-03 5.98443585e+01] [-1.90721412e-04 9.99998585e-01 1.67132323e-03 -5.55095859e+00] [ 2.59205500e-03 -1.67082329e-03 9.99995245e-01 -1.99565078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.179928851 meters 0.10008762691001022 Centerline is valid? [True, False] Translation: X:59.84, Y:-5.55, Z:-2.00 [[ 9.99996805e-01 2.41040483e-04 -2.51633262e-03 5.98441279e+01] [-2.36413033e-04 9.99998281e-01 1.83910156e-03 -5.55170199e+00] [ 2.51677159e-03 -1.83850079e-03 9.99995143e-01 -1.99552643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.239928851 meters 0.0978930869712119 Centerline is valid? [False, True] Translation: X:59.84, Y:-5.56, Z:-1.99 [[ 9.99997764e-01 3.42958392e-04 -2.08670844e-03 5.98428558e+01] [-3.37495934e-04 9.99996517e-01 2.61752812e-03 -5.55541428e+00] [ 2.08759888e-03 -2.61681801e-03 9.99994397e-01 -1.99487692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.299928851 meters 0.09984611884065543 Centerline is valid? [True, True] Translation: X:59.90, Y:-5.57, Z:-2.00 [[ 9.99996200e-01 -1.20617062e-03 -2.47877425e-03 5.99018270e+01] [ 1.20682844e-03 9.99999237e-01 2.63900062e-04 -5.56756772e+00] [ 2.47845405e-03 -2.66890514e-04 9.99996893e-01 -1.99592877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.359928851 meters 0.09916492010063056 Centerline is valid? [True, True] Translation: X:59.96, Y:-5.58, Z:-2.00 [[ 9.99993087e-01 -2.80801006e-03 -2.43725886e-03 5.99614740e+01] [ 2.80865175e-03 9.99996022e-01 2.59897635e-04 -5.57801043e+00] [ 2.43651937e-03 -2.66741250e-04 9.99996996e-01 -1.99783917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.419928851 meters 0.10148784224125196 Centerline is valid? [True, False] Translation: X:59.96, Y:-5.58, Z:-2.00 [[ 9.99994802e-01 -2.43616823e-03 -2.11201027e-03 5.99605315e+01] [ 2.43898873e-03 9.99996136e-01 1.33391240e-03 -5.58246073e+00] [ 2.10875247e-03 -1.33905663e-03 9.99996880e-01 -1.99733051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.479928851 meters 0.1009676016133691 Centerline is valid? [False, False] Translation: X:59.96, Y:-5.59, Z:-2.00 [[ 9.99995859e-01 -2.08935566e-03 -1.97926707e-03 5.99601269e+01] [ 2.09353700e-03 9.99995576e-01 2.11285684e-03 -5.58515995e+00] [ 1.97484381e-03 -2.11699176e-03 9.99995809e-01 -1.99709336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.539928851 meters 0.10226285210144449 Centerline is valid? [False, False] Translation: X:59.96, Y:-5.59, Z:-2.00 [[ 9.99997331e-01 -1.53353591e-03 -1.72785641e-03 5.99592675e+01] [ 1.53943450e-03 9.99992975e-01 3.41768107e-03 -5.59016414e+00] [ 1.72260314e-03 -3.42033187e-03 9.99992667e-01 -1.99647006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.599928851 meters 0.09828914859446919 Centerline is valid? [False, True] Translation: X:59.96, Y:-5.59, Z:-2.00 [[ 9.99998331e-01 -7.09207658e-04 -1.68372117e-03 5.99592317e+01] [ 7.17427066e-04 9.99987806e-01 4.88611730e-03 -5.59497398e+00] [ 1.68023536e-03 -4.88731710e-03 9.99986645e-01 -1.99649176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.659928851 meters 0.09375683719079536 Centerline is valid? [True, True] Translation: X:60.02, Y:-5.59, Z:-1.99 [[ 9.99994718e-01 2.35684735e-03 -2.23802453e-03 6.00206398e+01] [-2.35631623e-03 9.99997195e-01 2.39923389e-04 -5.59389556e+00] [ 2.23858371e-03 -2.34648629e-04 9.99997467e-01 -1.99402454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.719928851 meters 0.09905000705454402 Centerline is valid? [True, True] Translation: X:60.08, Y:-5.61, Z:-2.00 [[ 9.99991942e-01 3.43879854e-03 -2.07151899e-03 6.00773751e+01] [-3.43834955e-03 9.99994065e-01 2.20267371e-04 -5.61247742e+00] [ 2.07226415e-03 -2.13142989e-04 9.99997830e-01 -1.99847909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.779928851 meters 0.0908187919025436 Centerline is valid? [True, True] Translation: X:60.14, Y:-5.61, Z:-2.00 [[ 9.99984275e-01 5.43069566e-03 -1.39908541e-03 6.01390673e+01] [-5.43049181e-03 9.99985244e-01 1.49458224e-04 -5.60617264e+00] [ 1.39987643e-03 -1.41858152e-04 9.99999010e-01 -1.99700882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.839928851 meters 0.09332346422155638 Centerline is valid? [True, True] Translation: X:60.20, Y:-5.62, Z:-2.00 [[ 9.99980183e-01 6.25328151e-03 -7.27580690e-04 6.01967074e+01] [-6.25322755e-03 9.99980445e-01 7.64202298e-05 -5.61898418e+00] [ 7.28044340e-04 -7.18689877e-05 9.99999732e-01 -1.99956440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.899928851 meters 0.09135376780884252 Centerline is valid? [True, True] Translation: X:60.25, Y:-5.62, Z:-2.00 [[ 9.99983778e-01 5.67314441e-03 -5.09647692e-04 6.02548181e+01] [-5.67311856e-03 9.99983906e-01 5.21560043e-05 -5.62463685e+00] [ 5.09935378e-04 -4.92638665e-05 9.99999869e-01 -2.00065425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.959928851 meters 0.09217370433464911 Centerline is valid? [True, True] Translation: X:60.31, Y:-5.64, Z:-2.00 [[ 9.99989338e-01 4.22288595e-03 -1.86835188e-03 6.03138939e+01] [-4.22252121e-03 9.99991065e-01 1.99119349e-04 -5.63513590e+00] [ 1.86917604e-03 -1.91228071e-04 9.99998235e-01 -2.00269737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.019928851 meters 0.09122751746458634 Centerline is valid? [True, True] Translation: X:60.37, Y:-5.64, Z:-2.00 [[ 9.99995377e-01 1.38432910e-03 -2.70715265e-03 6.03735611e+01] [-1.38355141e-03 9.99999001e-01 2.89123850e-04 -5.64133985e+00] [ 2.70755019e-03 -2.85377028e-04 9.99996294e-01 -2.00323408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.079928851 meters 0.09390355405527517 Centerline is valid? [True, True] Translation: X:60.43, Y:-5.66, Z:-2.01 [[ 9.99994553e-01 -8.41380066e-04 -3.19166396e-03 6.04316878e+01] [ 8.42470291e-04 9.99999587e-01 3.40256345e-04 -5.65523921e+00] [ 3.19137636e-03 -3.42943374e-04 9.99994849e-01 -2.00708253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.139928851 meters 0.09547900438641345 Centerline is valid? [True, True] Translation: X:60.49, Y:-5.66, Z:-2.01 [[ 9.99987367e-01 -2.34390537e-03 -4.44657956e-03 6.04916059e+01] [ 2.34603987e-03 9.99997135e-01 4.74876898e-04 -5.66465758e+00] [ 4.44545376e-03 -4.85302752e-04 9.99990001e-01 -2.00910853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.199928851 meters 0.0977169324840892 Centerline is valid? [True, True] Translation: X:60.55, Y:-5.67, Z:-2.01 [[ 9.99983038e-01 -4.47416176e-03 -3.72899104e-03 6.05514742e+01] [ 4.47567755e-03 9.99989905e-01 3.98241316e-04 -5.67431023e+00] [ 3.72717160e-03 -4.14924323e-04 9.99992968e-01 -2.01144737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.259928851 meters 0.09793139953036889 Centerline is valid? [True, True] Translation: X:60.61, Y:-5.68, Z:-2.01 [[ 9.99971416e-01 -6.02528315e-03 -4.56769016e-03 6.06117053e+01] [ 6.02757101e-03 9.99981715e-01 4.87277959e-04 -5.67782936e+00] [ 4.56467066e-03 -5.14796107e-04 9.99989449e-01 -2.01330553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.319928851 meters 0.0976410569589105 Centerline is valid? [True, True] Translation: X:60.67, Y:-5.68, Z:-2.01 [[ 9.99976993e-01 -5.05507200e-03 -4.52329854e-03 6.06725329e+01] [ 5.05730784e-03 9.99987095e-01 4.82993352e-04 -5.68021971e+00] [ 4.52079860e-03 -5.05857953e-04 9.99989653e-01 -2.01435644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.379928851 meters 0.09518584937837062 Centerline is valid? [True, True] Translation: X:60.73, Y:-5.68, Z:-2.02 [[ 9.99986650e-01 -2.91962863e-03 -4.26335581e-03 6.07334432e+01] [ 2.92159524e-03 9.99995629e-01 4.55125972e-04 -5.67682911e+00] [ 4.26200838e-03 -4.67575696e-04 9.99990808e-01 -2.01545271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.439928851 meters 0.09791672371236887 Centerline is valid? [True, True] Translation: X:60.79, Y:-5.68, Z:-2.02 [[ 9.99989361e-01 -5.12646905e-04 -4.58431381e-03 6.07924933e+01] [ 5.14893270e-04 9.99999748e-01 4.88844394e-04 -5.68485017e+00] [ 4.58406205e-03 -4.91199625e-04 9.99989372e-01 -2.02002999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.49992885099999 meters 0.0959344104484043 Centerline is valid? [True, True] Translation: X:60.85, Y:-5.68, Z:-2.02 [[ 9.99996244e-01 2.18269594e-04 -2.73194825e-03 6.08532061e+01] [-2.17477284e-04 9.99999934e-01 2.90310318e-04 -5.68251867e+00] [ 2.73201144e-03 -2.89715091e-04 9.99996226e-01 -2.01986509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.559928851 meters 0.09480608117459975 Centerline is valid? [True, True] Translation: X:60.91, Y:-5.68, Z:-2.02 [[ 9.99992857e-01 -5.80604605e-04 -3.73486188e-03 6.09123948e+01] [ 5.82091271e-04 9.99999752e-01 3.96976498e-04 -5.68364245e+00] [ 3.73463046e-03 -3.99147693e-04 9.99992947e-01 -2.02087469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.619928851 meters 0.0946942234494459 Centerline is valid? [True, True] Translation: X:60.97, Y:-5.69, Z:-2.02 [[ 9.99994600e-01 -7.03685286e-04 -3.21019904e-03 6.09707172e+01] [ 7.04781407e-04 9.99999694e-01 3.40331005e-04 -5.68695832e+00] [ 3.20995857e-03 -3.42591655e-04 9.99994789e-01 -2.02297095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.679928851 meters 0.09610144773925944 Centerline is valid? [True, True] Translation: X:61.03, Y:-5.69, Z:-2.03 [[ 9.99991558e-01 -1.58144430e-03 -3.79254203e-03 6.10303519e+01] [ 1.58298470e-03 9.99998666e-01 4.03198248e-04 -5.69289496e+00] [ 3.79189934e-03 -4.09198380e-04 9.99992727e-01 -2.02515149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.739928851 meters 0.0964645390175955 Centerline is valid? [True, True] Translation: X:61.09, Y:-5.70, Z:-2.03 [[ 9.99986959e-01 -1.35049628e-03 -4.92517702e-03 6.10899152e+01] [ 1.35309191e-03 9.99998947e-01 5.23717993e-04 -5.69697784e+00] [ 4.92446455e-03 -5.30375380e-04 9.99987734e-01 -2.02757109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.799928851 meters 0.09850484326568 Centerline is valid? [True, True] Translation: X:61.15, Y:-5.70, Z:-2.03 [[ 9.99987111e-01 -1.82115438e-03 -4.73929517e-03 6.11478258e+01] [ 1.82353180e-03 9.99998214e-01 4.97368207e-04 -5.70373828e+00] [ 4.73838092e-03 -5.06004052e-04 9.99988646e-01 -2.03040742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.859928851 meters 0.09820761499574619 Centerline is valid? [True, True] Translation: X:61.21, Y:-5.71, Z:-2.03 [[ 9.99989859e-01 -2.46175007e-03 -3.77113957e-03 6.12065409e+01] [ 2.46327104e-03 9.99996887e-01 3.98728632e-04 -5.70739733e+00] [ 3.77014626e-03 -4.08013927e-04 9.99992810e-01 -2.03081580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.919928851 meters 0.09744123956715088 Centerline is valid? [True, True] Translation: X:61.27, Y:-5.71, Z:-2.03 [[ 9.99991399e-01 -1.19799463e-03 -3.97067506e-03 6.12667022e+01] [ 1.19967653e-03 9.99999192e-01 4.21223460e-04 -5.71090957e+00] [ 3.97016723e-03 -4.25983363e-04 9.99992028e-01 -2.03232944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.979928851 meters 0.09647351557837733 Centerline is valid? [True, True] Translation: X:61.33, Y:-5.71, Z:-2.03 [[ 9.99995747e-01 3.45455918e-04 -2.89602754e-03 6.13264873e+01] [-3.44570223e-04 9.99999894e-01 3.06324468e-04 -5.71333932e+00] [ 2.89613306e-03 -3.05325281e-04 9.99995760e-01 -2.03333067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.039928851 meters 0.09622119578893815 Centerline is valid? [True, True] Translation: X:61.39, Y:-5.72, Z:-2.04 [[ 9.99991680e-01 1.94168060e-03 -3.58751977e-03 6.13860409e+01] [-1.94033195e-03 9.99998046e-01 3.79370648e-04 -5.71867489e+00] [ 3.58824937e-03 -3.72406513e-04 9.99993493e-01 -2.03525993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.099928851 meters 0.09649987644936223 Centerline is valid? [True, True] Translation: X:61.44, Y:-5.73, Z:-2.04 [[ 9.99990159e-01 2.19992790e-03 -3.85259941e-03 6.14449038e+01] [-2.19837513e-03 9.99997501e-01 4.07231000e-04 -5.72558856e+00] [ 3.85348566e-03 -3.98757534e-04 9.99992496e-01 -2.03667042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.159928851 meters 0.0979444683730558 Centerline is valid? [True, True] Translation: X:61.50, Y:-5.74, Z:-2.04 [[ 9.99991540e-01 2.74661842e-03 -3.06203683e-03 6.15022091e+01] [-2.74564439e-03 9.99996179e-01 3.22255454e-04 -5.73546946e+00] [ 3.06291024e-03 -3.13845464e-04 9.99995260e-01 -2.03897082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.219928851 meters 0.09956572350688044 Centerline is valid? [True, True] Translation: X:61.56, Y:-5.75, Z:-2.04 [[ 9.99990595e-01 2.88122486e-03 -3.24173238e-03 6.15605017e+01] [-2.88013258e-03 9.99995794e-01 3.41563934e-04 -5.74616621e+00] [ 3.24270287e-03 -3.32224103e-04 9.99994687e-01 -2.04141684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.279928851 meters 0.09531002930699846 Centerline is valid? [True, True] Translation: X:61.62, Y:-5.75, Z:-2.04 [[ 9.99990314e-01 2.87579328e-03 -3.33203546e-03 6.16198134e+01] [-2.87464009e-03 9.99995807e-01 3.50829236e-04 -5.74679136e+00] [ 3.33303040e-03 -3.41247435e-04 9.99994387e-01 -2.04224003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.339928851 meters 0.09553395265576906 Centerline is valid? [True, True] Translation: X:61.68, Y:-5.75, Z:-2.05 [[ 9.99990206e-01 2.13613173e-03 -3.87623013e-03 6.16790701e+01] [-2.13456139e-03 9.99997638e-01 4.09213365e-04 -5.75490030e+00] [ 3.87709510e-03 -4.00935306e-04 9.99992404e-01 -2.04500305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.399928851 meters 0.09726615397747833 Centerline is valid? [True, True] Translation: X:61.74, Y:-5.76, Z:-2.05 [[ 9.99993148e-01 1.88558182e-04 -3.69706209e-03 6.17389373e+01] [-1.87113258e-04 9.99999906e-01 3.91172504e-04 -5.76475620e+00] [ 3.69713550e-03 -3.90478055e-04 9.99993089e-01 -2.04676655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.459928851 meters 0.09825903334444253 Centerline is valid? [True, True] Translation: X:61.80, Y:-5.77, Z:-2.05 [[ 9.99997159e-01 -9.75379639e-04 -2.17486220e-03 6.17975717e+01] [ 9.75879180e-04 9.99999498e-01 2.28638838e-04 -5.77262874e+00] [ 2.17463810e-03 -2.30760591e-04 9.99997609e-01 -2.04849579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.519928851 meters 0.09642415866706082 Centerline is valid? [True, True] Translation: X:61.86, Y:-5.77, Z:-2.05 [[ 9.99993494e-01 -7.40593321e-04 -3.53039587e-03 6.18569376e+01] [ 7.41912289e-04 9.99999655e-01 3.72308567e-04 -5.77393035e+00] [ 3.53011892e-03 -3.74925389e-04 9.99993699e-01 -2.04995277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.579928851 meters 0.09919342041085498 Centerline is valid? [True, True] Translation: X:61.92, Y:-5.78, Z:-2.05 [[ 9.99999313e-01 -1.93392521e-04 -1.15578613e-03 6.19152305e+01] [ 1.93532775e-04 9.99999974e-01 1.21239326e-04 -5.78444565e+00] [ 1.15576265e-03 -1.21462925e-04 9.99999325e-01 -2.05212953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.639928851 meters 0.09794667336874388 Centerline is valid? [True, True] Translation: X:61.98, Y:-5.79, Z:-2.05 [[ 9.99998214e-01 1.73113847e-03 7.57899939e-04 6.19755539e+01] [-1.73107819e-03 9.99998498e-01 -8.01833724e-05 -5.78701716e+00] [-7.58037610e-04 7.88712452e-05 9.99999710e-01 -2.05197062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.699928851 meters 0.0972624526383838 Centerline is valid? [True, True] Translation: X:62.04, Y:-5.79, Z:-2.05 [[ 9.99991583e-01 4.04530129e-03 6.85504677e-04 6.20358090e+01] [-4.04525240e-03 9.99991815e-01 -7.26899383e-05 -5.79056529e+00] [-6.85793119e-04 6.99162870e-05 9.99999762e-01 -2.05185830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.759928851 meters 0.09545717907016613 Centerline is valid? [True, True] Translation: X:62.10, Y:-5.79, Z:-2.05 [[ 9.99987310e-01 5.02569593e-03 -3.50204623e-04 6.20950709e+01] [-5.02568360e-03 9.99987371e-01 3.60829280e-05 -5.79405723e+00] [ 3.50381542e-04 -3.43224525e-05 9.99999938e-01 -2.05384958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.819928851 meters 0.0975691481180574 Centerline is valid? [True, True] Translation: X:62.15, Y:-5.81, Z:-2.06 [[ 9.99993097e-01 3.64454791e-03 -7.23400530e-04 6.21539984e+01] [-3.64449391e-03 9.99993356e-01 7.59591724e-05 -5.80557672e+00] [ 7.23672561e-04 -7.33222192e-05 9.99999735e-01 -2.05617209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.879928851 meters 0.09383878734558632 Centerline is valid? [True, True] Translation: X:62.21, Y:-5.81, Z:-2.06 [[ 9.99996296e-01 8.45024750e-04 -2.58724128e-03 6.22145418e+01] [-8.44320465e-04 9.99999606e-01 2.73294849e-04 -5.80590092e+00] [ 2.58747120e-03 -2.71109376e-04 9.99996616e-01 -2.05573346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.939928851 meters 0.09700845025326464 Centerline is valid? [True, True] Translation: X:62.27, Y:-5.82, Z:-2.06 [[ 9.99990635e-01 -2.49492277e-03 -3.53638327e-03 6.22723020e+01] [ 2.49626240e-03 9.99996814e-01 3.74450028e-04 -5.82106734e+00] [ 3.53543778e-03 -3.83274262e-04 9.99993677e-01 -2.05990552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.99992885099999 meters 0.09900520701987435 Centerline is valid? [True, True] Translation: X:62.33, Y:-5.83, Z:-2.06 [[ 9.99975332e-01 -5.02103081e-03 -4.91158258e-03 6.23320590e+01] [ 5.02363952e-03 9.99987247e-01 5.18942018e-04 -5.83262734e+00] [ 4.90891432e-03 -5.43603238e-04 9.99987803e-01 -2.06218048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.059928851 meters 0.09908261736087667 Centerline is valid? [True, True] Translation: X:62.39, Y:-5.84, Z:-2.06 [[ 9.99972414e-01 -6.10041611e-03 -4.23742172e-03 6.23912358e+01] [ 6.10236284e-03 9.99981281e-01 4.46635393e-04 -5.83905725e+00] [ 4.23461773e-03 -4.72481357e-04 9.99990922e-01 -2.06264575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.119928851 meters 0.10104304578193034 Centerline is valid? [True, False] Translation: X:62.39, Y:-5.84, Z:-2.06 [[ 9.99972554e-01 -5.98983094e-03 -4.36051465e-03 6.23916785e+01] [ 5.99194171e-03 9.99981937e-01 4.71162480e-04 -5.83867356e+00] [ 4.35761370e-03 -4.97277498e-04 9.99990382e-01 -2.06291784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.179928851 meters 0.09706040430608626 Centerline is valid? [False, True] Translation: X:62.39, Y:-5.84, Z:-2.06 [[ 9.99990691e-01 -2.44608966e-03 -3.55460246e-03 6.23894891e+01] [ 2.46153808e-03 9.99987517e-01 4.34817530e-03 -5.83941969e+00] [ 3.54392206e-03 -4.35688461e-03 9.99984229e-01 -2.06204774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.239928851 meters 0.09735773147078508 Centerline is valid? [True, True] Translation: X:62.45, Y:-5.84, Z:-2.06 [[ 9.99988206e-01 -3.44585478e-03 -3.42261219e-03 6.24486823e+01] [ 3.44714676e-03 9.99993990e-01 3.71654314e-04 -5.84491663e+00] [ 3.42131095e-03 -3.83448177e-04 9.99994074e-01 -2.06184515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.299928851 meters 0.1000044652909165 Centerline is valid? [True, False] Translation: X:62.45, Y:-5.85, Z:-2.06 [[ 9.99989200e-01 -3.10477451e-03 -3.45827471e-03 6.24492233e+01] [ 3.10787147e-03 9.99994774e-01 8.90507343e-04 -5.84565275e+00] [ 3.45549181e-03 -9.01245599e-04 9.99993624e-01 -2.06256105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.359928851 meters 0.0995400604991853 Centerline is valid? [False, True] Translation: X:62.45, Y:-5.85, Z:-2.06 [[ 9.99989196e-01 -2.92285525e-03 -3.61463171e-03 6.24498305e+01] [ 2.92654214e-03 9.99995202e-01 1.01512239e-03 -5.84540750e+00] [ 3.61164732e-03 -1.02568980e-03 9.99992952e-01 -2.06296744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.419928851 meters 0.09957625168056079 Centerline is valid? [True, True] Translation: X:62.51, Y:-5.85, Z:-2.06 [[ 9.99992148e-01 -1.17548306e-03 -3.78442100e-03 6.25096553e+01] [ 1.17705196e-03 9.99999222e-01 4.12366388e-04 -5.85039322e+00] [ 3.78393333e-03 -4.16817610e-04 9.99992754e-01 -2.06431484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.479928851 meters 0.09752568053312059 Centerline is valid? [True, True] Translation: X:62.57, Y:-5.85, Z:-2.06 [[ 9.99988202e-01 2.54668340e-03 -4.13637730e-03 6.25699565e+01] [-2.54484225e-03 9.99996660e-01 4.50314038e-04 -5.84985671e+00] [ 4.13751029e-03 -4.39782298e-04 9.99991344e-01 -2.06442828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.539928851 meters 0.09407333403557046 Centerline is valid? [True, True] Translation: X:62.63, Y:-5.84, Z:-2.06 [[ 9.99975790e-01 6.08359486e-03 -3.37766927e-03 6.26310455e+01] [-6.08238874e-03 9.99981435e-01 3.67244434e-04 -5.84456738e+00] [ 3.37984073e-03 -3.46691246e-04 9.99994228e-01 -2.06454458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.599928851 meters 0.0932222839775197 Centerline is valid? [True, True] Translation: X:62.69, Y:-5.85, Z:-2.07 [[ 9.99968279e-01 7.38696376e-03 -2.97881033e-03 6.26906387e+01] [-7.38603191e-03 9.99972670e-01 3.23707374e-04 -5.84645455e+00] [ 2.98112013e-03 -3.01695518e-04 9.99995511e-01 -2.06524060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.659928851 meters 0.09635444362582715 Centerline is valid? [True, True] Translation: X:62.75, Y:-5.85, Z:-2.07 [[ 9.99961267e-01 8.43796432e-03 -2.50314500e-03 6.27484574e+01] [-8.43731140e-03 9.99964368e-01 2.71286395e-04 -5.85388190e+00] [ 2.50534491e-03 -2.50156073e-04 9.99996830e-01 -2.06964058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.719928851 meters 0.0934525515692384 Centerline is valid? [True, True] Translation: X:62.81, Y:-5.85, Z:-2.07 [[ 9.99960882e-01 8.70726308e-03 -1.55481750e-03 6.28084486e+01] [-8.70701462e-03 9.99962079e-01 1.66500810e-04 -5.84951605e+00] [ 1.55620831e-03 -1.52956478e-04 9.99998777e-01 -2.06981936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.779928851 meters 0.0951340428235616 Centerline is valid? [True, True] Translation: X:62.87, Y:-5.85, Z:-2.07 [[ 9.99962053e-01 8.54771344e-03 -1.68175933e-03 6.28664149e+01] [-8.54742178e-03 9.99963454e-01 1.80535487e-04 -5.85433326e+00] [ 1.68324104e-03 -1.66153930e-04 9.99998570e-01 -2.07225016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.839928851 meters 0.09815631836082711 Centerline is valid? [True, True] Translation: X:62.92, Y:-5.86, Z:-2.08 [[ 9.99962246e-01 8.57290254e-03 -1.41815504e-03 6.29236130e+01] [-8.57269582e-03 9.99963242e-01 1.51783000e-04 -5.86118016e+00] [ 1.41940413e-03 -1.39619858e-04 9.99998983e-01 -2.07515941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.899928851 meters 0.09575264735417133 Centerline is valid? [True, True] Translation: X:62.98, Y:-5.86, Z:-2.08 [[ 9.99966645e-01 8.05200516e-03 -1.36881332e-03 6.29829432e+01] [-8.05181173e-03 9.99967573e-01 1.46764236e-04 -5.86008669e+00] [ 1.36995068e-03 -1.35737913e-04 9.99999052e-01 -2.07565396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.959928851 meters 0.10014970770586097 Centerline is valid? [True, False] Translation: X:62.98, Y:-5.86, Z:-2.08 [[ 9.99970305e-01 7.60680629e-03 -1.23488431e-03 6.29829330e+01] [-7.60751354e-03 9.99970901e-01 -5.69041563e-04 -5.85757533e+00] [ 1.23051978e-03 5.78419064e-04 9.99999076e-01 -2.07607187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.019928851 meters 0.09778941743821695 Centerline is valid? [False, True] Translation: X:62.98, Y:-5.86, Z:-2.08 [[ 9.99974781e-01 7.01082475e-03 -1.13412095e-03 6.29824839e+01] [-7.01246819e-03 9.99974359e-01 -1.45165532e-03 -5.85502960e+00] [ 1.12391457e-03 1.45957170e-03 9.99998303e-01 -2.07574765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.079928851 meters 0.09861481942915488 Centerline is valid? [True, True] Translation: X:63.04, Y:-5.86, Z:-2.08 [[ 9.99982970e-01 5.81607494e-03 4.82691765e-04 6.30407110e+01] [-5.81604914e-03 9.99983085e-01 -5.48214850e-05 -5.85979814e+00] [-4.83002447e-04 5.20131923e-05 9.99999882e-01 -2.07730503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.139928851 meters 0.10056914979179073 Centerline is valid? [True, False] Translation: X:63.04, Y:-5.86, Z:-2.08 [[ 9.99984976e-01 5.45072818e-03 5.80248402e-04 6.30405535e+01] [-5.45038148e-03 9.99984968e-01 -5.97426376e-04 -5.85799913e+00] [-5.83496088e-04 5.94254826e-04 9.99999653e-01 -2.07739681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.199928851 meters 0.10032953651715958 Centerline is valid? [False, False] Translation: X:63.04, Y:-5.85, Z:-2.08 [[ 9.99988310e-01 4.77530196e-03 7.59183610e-04 6.30403247e+01] [-4.77412805e-03 9.99987417e-01 -1.54064820e-03 -5.85472317e+00] [-7.66531118e-04 1.53700575e-03 9.99998525e-01 -2.07770702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.259928851 meters 0.10598222070322033 Centerline is valid? [False, False] Translation: X:63.04, Y:-5.85, Z:-2.08 [[ 9.99990221e-01 4.32932331e-03 9.02749622e-04 6.30403759e+01] [-4.32735541e-03 9.99988281e-01 -2.17057414e-03 -5.85221098e+00] [-9.12136160e-04 2.16664640e-03 9.99997237e-01 -2.07831061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.319928851 meters 0.10626208371275568 Centerline is valid? [False, False] Translation: X:63.04, Y:-5.85, Z:-2.08 [[ 9.99991047e-01 4.07712763e-03 1.13250206e-03 6.30400955e+01] [-4.07435428e-03 9.99988722e-01 -2.44047404e-03 -5.85115903e+00] [-1.14243941e-03 2.43583797e-03 9.99996381e-01 -2.07865799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.379928851 meters 0.1097927313045525 Centerline is valid? [False, False] Translation: X:63.04, Y:-5.85, Z:-2.08 [[ 9.99992674e-01 3.59441853e-03 1.31579373e-03 6.30397115e+01] [-3.59041206e-03 9.99988950e-01 -3.03470446e-03 -5.84911929e+00] [-1.32668719e-03 3.02995799e-03 9.99994530e-01 -2.07873107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.439928851 meters 0.11570475301903516 Centerline is valid? [False, False] Translation: X:63.04, Y:-5.85, Z:-2.08 [[ 9.99992836e-01 3.27560905e-03 1.89712769e-03 6.30383475e+01] [-3.27019283e-03 9.99990589e-01 -2.85106098e-03 -5.85037088e+00] [-1.90644880e-03 2.84483658e-03 9.99994136e-01 -2.07850295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.49992885099999 meters 0.10682199857304327 Centerline is valid? [False, False] Translation: X:63.04, Y:-5.85, Z:-2.08 [[ 9.99991564e-01 3.48847848e-03 2.16867530e-03 6.30380683e+01] [-3.48379964e-03 9.99991604e-01 -2.15750779e-03 -5.85224660e+00] [-2.17618351e-03 2.14993436e-03 9.99995321e-01 -2.07895123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.559928851 meters 0.1065836866821938 Centerline is valid? [False, False] Translation: X:63.04, Y:-5.85, Z:-2.08 [[ 9.99991122e-01 3.21554905e-03 2.72336221e-03 6.30365702e+01] [-3.21040892e-03 9.99993061e-01 -1.88969352e-03 -5.85408970e+00] [-2.72941972e-03 1.88093364e-03 9.99994506e-01 -2.07841055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.619928851 meters 0.1091732201978533 Centerline is valid? [False, False] Translation: X:63.04, Y:-5.86, Z:-2.08 [[ 9.99997535e-01 -3.53476748e-04 2.19210495e-03 6.30378402e+01] [ 3.65314200e-04 9.99985342e-01 -5.40199156e-03 -5.85586211e+00] [-2.19016334e-03 5.40277905e-03 9.99983006e-01 -2.07862671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.679928851 meters 0.11006754904712515 Centerline is valid? [False, False] Translation: X:63.04, Y:-5.86, Z:-2.08 [[ 9.99998181e-01 3.17303946e-04 1.88094804e-03 6.30388118e+01] [-3.08647111e-04 9.99989368e-01 -4.60088368e-03 -5.85785186e+00] [-1.88238792e-03 4.60029476e-03 9.99987647e-01 -2.07904326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.739928851 meters 0.10463888324787586 Centerline is valid? [False, False] Translation: X:63.04, Y:-5.86, Z:-2.08 [[ 9.99998434e-01 8.24375899e-04 1.56610168e-03 6.30393911e+01] [-8.17989963e-04 9.99991367e-01 -4.07387382e-03 -5.85949632e+00] [-1.56944656e-03 4.07258638e-03 9.99990475e-01 -2.07887283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.799928851 meters 0.10545822664340923 Centerline is valid? [False, False] Translation: X:63.04, Y:-5.86, Z:-2.08 [[ 9.99998142e-01 1.58441027e-03 1.09810574e-03 6.30406847e+01] [-1.58076258e-03 9.99993257e-01 -3.31475252e-03 -5.86120051e+00] [-1.10335027e-03 3.31301051e-03 9.99993903e-01 -2.07926507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.859928851 meters 0.1045782090656759 Centerline is valid? [False, False] Translation: X:63.04, Y:-5.86, Z:-2.08 [[ 9.99997902e-01 1.77437394e-03 1.02335796e-03 6.30408324e+01] [-1.77120700e-03 9.99993666e-01 -3.08729771e-03 -5.86204254e+00] [-1.02882950e-03 3.08547866e-03 9.99994711e-01 -2.07921665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.919928851 meters 0.10360615749496332 Centerline is valid? [False, False] Translation: X:63.04, Y:-5.86, Z:-2.08 [[ 9.99996659e-01 2.44896598e-03 8.27858568e-04 6.30414144e+01] [-2.44718558e-03 9.99994706e-01 -2.14481698e-03 -5.86474049e+00] [-8.33106769e-04 2.14278389e-03 9.99997357e-01 -2.07942306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.979928851 meters 0.10241984893193008 Centerline is valid? [False, False] Translation: X:63.04, Y:-5.87, Z:-2.08 [[ 9.99994818e-01 3.12593733e-03 7.69657561e-04 6.30418294e+01] [-3.12510238e-03 9.99994530e-01 -1.08366287e-03 -5.86783657e+00] [-7.73040813e-04 1.08125199e-03 9.99999117e-01 -2.07980728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.039928851 meters 0.10303747674299898 Centerline is valid? [False, False] Translation: X:63.04, Y:-5.87, Z:-2.08 [[ 9.99994078e-01 3.26829325e-03 1.07796672e-03 6.30409039e+01] [-3.26785572e-03 9.99994578e-01 -4.07396955e-04 -5.87076452e+00] [-1.07929237e-03 4.03871902e-04 9.99999336e-01 -2.07936431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.099928851 meters 0.10209960317094013 Centerline is valid? [False, False] Translation: X:63.04, Y:-5.87, Z:-2.08 [[ 9.99991749e-01 3.91729795e-03 1.07555209e-03 6.30409356e+01] [-3.91817662e-03 9.99991991e-01 8.16055468e-04 -5.87466668e+00] [-1.07234674e-03 -8.20262938e-04 9.99999089e-01 -2.07937756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.159928851 meters 0.10218599598507092 Centerline is valid? [False, False] Translation: X:63.04, Y:-5.88, Z:-2.08 [[ 9.99999796e-01 6.30696873e-04 1.02699822e-04 6.30431950e+01] [-6.30413946e-04 9.99996069e-01 -2.73200738e-03 -5.87549560e+00] [-1.04422487e-04 2.73194208e-03 9.99996263e-01 -2.07974568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.219928851 meters 0.10313971018947017 Centerline is valid? [False, False] Translation: X:63.04, Y:-5.88, Z:-2.08 [[ 9.99999547e-01 9.38290218e-04 1.60238649e-04 6.30424812e+01] [-9.37957046e-04 9.99997424e-01 -2.06678935e-03 -5.87848183e+00] [-1.62177484e-04 2.06663812e-03 9.99997851e-01 -2.07881675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.279928851 meters 0.1002812210150433 Centerline is valid? [False, False] Translation: X:63.04, Y:-5.88, Z:-2.08 [[ 9.99998864e-01 1.50653029e-03 5.26994431e-05 6.30427337e+01] [-1.50646769e-03 9.99998183e-01 -1.16831579e-03 -5.88128152e+00] [-5.44594504e-05 1.16823507e-03 9.99999316e-01 -2.07883147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.339928851 meters 0.1023796382458459 Centerline is valid? [False, False] Translation: X:63.04, Y:-5.88, Z:-2.08 [[ 9.99998017e-01 1.97052467e-03 -2.89477904e-04 6.30436612e+01] [-1.97073072e-03 9.99997804e-01 -7.13239444e-04 -5.88228607e+00] [ 2.88071812e-04 7.13808512e-04 9.99999704e-01 -2.07913901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.399928851 meters 0.10184375782192584 Centerline is valid? [False, False] Translation: X:63.04, Y:-5.88, Z:-2.08 [[ 9.99997623e-01 2.12212470e-03 -5.01125192e-04 6.30439939e+01] [-2.12245735e-03 9.99997527e-01 -6.64190320e-04 -5.88262603e+00] [ 4.99714458e-04 6.65252358e-04 9.99999654e-01 -2.07896422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.459928851 meters 0.09630539595428908 Centerline is valid? [False, True] Translation: X:63.04, Y:-5.88, Z:-2.08 [[ 9.99996776e-01 2.32161269e-03 -1.02881038e-03 6.30449587e+01] [-2.32253026e-03 9.99996905e-01 -8.91576932e-04 -5.88180738e+00] [ 1.02673730e-03 8.93963501e-04 9.99999073e-01 -2.07885167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.519928851 meters 0.09437509724367701 Centerline is valid? [True, True] Translation: X:63.11, Y:-5.88, Z:-2.08 [[ 9.99970349e-01 7.61641555e-03 -1.13665035e-03 6.31055410e+01] [-7.61628783e-03 9.99970989e-01 1.16654083e-04 -5.88463861e+00] [ 1.13750586e-03 -1.07993567e-04 9.99999347e-01 -2.08002114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.579928851 meters 0.09685732214838326 Centerline is valid? [True, True] Translation: X:63.16, Y:-5.89, Z:-2.08 [[ 9.99930668e-01 1.17346993e-02 -9.78008697e-04 6.31636452e+01] [-1.17346077e-02 9.99931142e-01 9.93778746e-05 -5.89430831e+00] [ 9.79107523e-04 -8.78944362e-05 9.99999517e-01 -2.08306514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.639928851 meters 0.09246214844593637 Centerline is valid? [True, True] Translation: X:63.22, Y:-5.89, Z:-2.08 [[ 9.99921347e-01 1.24924012e-02 -1.11316922e-03 6.32233210e+01] [-1.24922829e-02 9.99921962e-01 1.13086104e-04 -5.89277103e+00] [ 1.11449506e-03 -9.91711849e-05 9.99999374e-01 -2.08207243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.699928851 meters 0.09392124640394059 Centerline is valid? [True, True] Translation: X:63.28, Y:-5.90, Z:-2.09 [[ 9.99938605e-01 1.10095520e-02 -1.25530092e-03 6.32807831e+01] [-1.10094009e-02 9.99939387e-01 1.27227718e-04 -5.90470245e+00] [ 1.25662555e-03 -1.13399796e-04 9.99999204e-01 -2.08534731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.759928851 meters 0.0911888377633728 Centerline is valid? [True, True] Translation: X:63.34, Y:-5.91, Z:-2.09 [[ 9.99958622e-01 8.68229299e-03 -2.71497757e-03 6.33408403e+01] [-8.68156934e-03 9.99962276e-01 2.78211941e-04 -5.90695274e+00] [ 2.71729066e-03 -2.54630164e-04 9.99996276e-01 -2.08503718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.819928851 meters 0.09248366778266767 Centerline is valid? [True, True] Translation: X:63.40, Y:-5.92, Z:-2.09 [[ 9.99965887e-01 7.52839123e-03 -3.39827089e-03 6.33987363e+01] [-7.52725472e-03 9.99971610e-01 3.47103317e-04 -5.91826420e+00] [ 3.40078754e-03 -3.21511826e-04 9.99994166e-01 -2.08785576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.879928851 meters 0.09321582285806877 Centerline is valid? [True, True] Translation: X:63.46, Y:-5.93, Z:-2.09 [[ 9.99962408e-01 7.26252231e-03 -4.73692225e-03 6.34564686e+01] [-7.26031437e-03 9.99973527e-01 4.83141669e-04 -5.92705807e+00] [ 4.74030568e-03 -4.48731963e-04 9.99988664e-01 -2.09008743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.939928851 meters 0.09153823419029893 Centerline is valid? [True, True] Translation: X:63.52, Y:-5.93, Z:-2.09 [[ 9.99969124e-01 6.48851022e-03 -4.43277097e-03 6.35156034e+01] [-6.48656950e-03 9.99978860e-01 4.52047890e-04 -5.93018948e+00] [ 4.43561038e-03 -4.23280455e-04 9.99990073e-01 -2.08940327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.99992885099999 meters 0.09202814067412422 Centerline is valid? [True, True] Translation: X:63.57, Y:-5.94, Z:-2.09 [[ 9.99972301e-01 5.65579823e-03 -4.83835755e-03 6.35744251e+01] [-5.65347688e-03 9.99983897e-01 4.93322327e-04 -5.93709382e+00] [ 4.84106977e-03 -4.65955119e-04 9.99988173e-01 -2.09101130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.059928851 meters 0.09496881558833488 Centerline is valid? [True, True] Translation: X:63.63, Y:-5.95, Z:-2.09 [[ 9.99975508e-01 5.00867125e-03 -4.88840473e-03 6.36310217e+01] [-5.00629804e-03 9.99987345e-01 4.97592724e-04 -5.94902765e+00] [ 4.89083514e-03 -4.73107726e-04 9.99987928e-01 -2.09406241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.119928851 meters 0.096048415532326 Centerline is valid? [True, True] Translation: X:63.69, Y:-5.96, Z:-2.10 [[ 9.99980714e-01 3.76565472e-03 -4.93870285e-03 6.36900591e+01] [-3.76321470e-03 9.99992792e-01 5.03261354e-04 -5.95557118e+00] [ 4.94056236e-03 -4.84666250e-04 9.99987678e-01 -2.09554854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.179928851 meters 0.09462541327177836 Centerline is valid? [True, True] Translation: X:63.75, Y:-5.96, Z:-2.10 [[ 9.99984115e-01 3.43179820e-03 -4.47135142e-03 6.37491282e+01] [-3.42979843e-03 9.99994015e-01 4.54833001e-04 -5.95824488e+00] [ 4.47288555e-03 -4.39489942e-04 9.99989900e-01 -2.09558667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.239928851 meters 0.09519334400257903 Centerline is valid? [True, True] Translation: X:63.81, Y:-5.96, Z:-2.10 [[ 9.99984496e-01 2.83235521e-03 -4.79434853e-03 6.38077391e+01] [-2.83005028e-03 9.99995877e-01 4.87475774e-04 -5.96314462e+00] [ 4.79570946e-03 -4.73899969e-04 9.99988388e-01 -2.09776298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.299928851 meters 0.09582392439876868 Centerline is valid? [True, True] Translation: X:63.87, Y:-5.97, Z:-2.10 [[ 9.99981325e-01 4.09216581e-03 -4.53917888e-03 6.38672071e+01] [-4.09011011e-03 9.99991529e-01 4.62068674e-04 -5.96791895e+00] [ 4.54103129e-03 -4.43494303e-04 9.99989591e-01 -2.09828708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.359928851 meters 0.09188661804056047 Centerline is valid? [True, True] Translation: X:63.93, Y:-5.96, Z:-2.10 [[ 9.99973727e-01 6.39888305e-03 -3.40572827e-03 6.39285032e+01] [-6.39773743e-03 9.99979474e-01 3.47170473e-04 -5.96298400e+00] [ 3.40787986e-03 -3.25372396e-04 9.99994140e-01 -2.09809829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.419928851 meters 0.09717119557138397 Centerline is valid? [True, True] Translation: X:63.99, Y:-5.98, Z:-2.10 [[ 9.99965131e-01 7.46144409e-03 -3.75024363e-03 6.39856032e+01] [-7.46006877e-03 9.99972101e-01 3.80585237e-04 -5.97675439e+00] [ 3.75297871e-03 -3.52594891e-04 9.99992895e-01 -2.10331128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.479928851 meters 0.09664209186444128 Centerline is valid? [True, True] Translation: X:64.04, Y:-5.98, Z:-2.10 [[ 9.99964903e-01 7.43070793e-03 -3.87010381e-03 6.40443707e+01] [-7.42924364e-03 9.99972326e-01 3.92599476e-04 -5.97901025e+00] [ 3.87291400e-03 -3.63833753e-04 9.99992434e-01 -2.10488180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.539928851 meters 0.09315594886758773 Centerline is valid? [True, True] Translation: X:64.10, Y:-5.98, Z:-2.10 [[ 9.99974489e-01 5.79206662e-03 -4.18017393e-03 6.41048086e+01] [-5.79033934e-03 9.99983145e-01 4.25193093e-04 -5.97545806e+00] [ 4.18256622e-03 -4.00977620e-04 9.99991173e-01 -2.10412427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.599928851 meters 0.09549182477297419 Centerline is valid? [True, True] Translation: X:64.16, Y:-5.99, Z:-2.11 [[ 9.99982731e-01 3.46290014e-03 -4.74829243e-03 6.41637947e+01] [-3.46064348e-03 9.99993895e-01 4.83391286e-04 -5.98518199e+00] [ 4.74993738e-03 -4.66950791e-04 9.99988610e-01 -2.10691483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.659928851 meters 0.10059265587415685 Centerline is valid? [True, False] Translation: X:64.16, Y:-5.98, Z:-2.11 [[ 9.99986126e-01 2.90258473e-03 -4.39577068e-03 6.41631780e+01] [-2.90298715e-03 9.99995783e-01 -8.51699770e-05 -5.98335671e+00] [ 4.39550493e-03 9.79296612e-05 9.99990335e-01 -2.10710146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.719928851 meters 0.10180002119592742 Centerline is valid? [False, False] Translation: X:64.16, Y:-5.98, Z:-2.11 [[ 9.99990602e-01 2.19152456e-03 -3.74071498e-03 6.41617235e+01] [-2.19359304e-03 9.99997443e-01 -5.48949282e-04 -5.98242514e+00] [ 3.73950238e-03 5.57149729e-04 9.99992853e-01 -2.10694631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.779928851 meters 0.10629774387442417 Centerline is valid? [False, False] Translation: X:64.16, Y:-5.98, Z:-2.11 [[ 9.99992182e-01 1.89953631e-03 -3.46799548e-03 6.41612530e+01] [-1.90228649e-03 9.99997879e-01 -7.89891646e-04 -5.98165425e+00] [ 3.46648770e-03 7.96482592e-04 9.99993675e-01 -2.10710474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.839928851 meters 0.10784507349181542 Centerline is valid? [False, False] Translation: X:64.16, Y:-5.98, Z:-2.11 [[ 9.99993453e-01 1.53430815e-03 -3.27727605e-03 6.41609584e+01] [-1.53835560e-03 9.99998057e-01 -1.23284086e-03 -5.98016294e+00] [ 3.27537812e-03 1.23787440e-03 9.99993870e-01 -2.10728411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.899928851 meters 0.1086044384362314 Centerline is valid? [False, False] Translation: X:64.16, Y:-5.98, Z:-2.11 [[ 9.99992419e-01 1.42373385e-03 -3.62413119e-03 6.41617999e+01] [-1.43055804e-03 9.99997207e-01 -1.88108905e-03 -5.97753433e+00] [ 3.62144290e-03 1.88625932e-03 9.99991664e-01 -2.10746708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.959928851 meters 0.10960554481453413 Centerline is valid? [False, False] Translation: X:64.16, Y:-5.97, Z:-2.11 [[ 9.99992090e-01 9.92571383e-04 -3.85161738e-03 6.41617304e+01] [-1.00349590e-03 9.99995477e-01 -2.83544952e-03 -5.97483815e+00] [ 3.84878557e-03 2.83929217e-03 9.99988563e-01 -2.10665768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.019928851 meters 0.10531911695565015 Centerline is valid? [False, False] Translation: X:64.16, Y:-5.98, Z:-2.11 [[ 9.99991719e-01 1.16158937e-03 -3.90044399e-03 6.41620445e+01] [-1.17188660e-03 9.99995832e-01 -2.63876847e-03 -5.97500733e+00] [ 3.89736256e-03 2.64331750e-03 9.99988912e-01 -2.10694883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.079928851 meters 0.10285898293030621 Centerline is valid? [False, False] Translation: X:64.16, Y:-5.97, Z:-2.11 [[ 9.99992097e-01 1.07680157e-03 -3.82704444e-03 6.41618840e+01] [-1.08712970e-03 9.99995770e-01 -2.69766891e-03 -5.97495637e+00] [ 3.82412340e-03 2.70180809e-03 9.99989038e-01 -2.10694680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.139928851 meters 0.10549983413498684 Centerline is valid? [False, False] Translation: X:64.16, Y:-5.98, Z:-2.11 [[ 9.99991746e-01 1.34597687e-03 -3.83363289e-03 6.41624137e+01] [-1.35479261e-03 9.99996442e-01 -2.29791123e-03 -5.97532786e+00] [ 3.83052631e-03 2.30308604e-03 9.99990011e-01 -2.10770866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.199928851 meters 0.10205642478491353 Centerline is valid? [False, False] Translation: X:64.16, Y:-5.98, Z:-2.11 [[ 9.99991216e-01 1.55203261e-03 -3.89337854e-03 6.41629313e+01] [-1.56012841e-03 9.99996626e-01 -2.07720112e-03 -5.97543284e+00] [ 3.89014152e-03 2.08325705e-03 9.99990263e-01 -2.10827763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.259928851 meters 0.1009149243476182 Centerline is valid? [False, False] Translation: X:64.16, Y:-5.98, Z:-2.11 [[ 9.99990215e-01 1.82626035e-03 -4.02918926e-03 6.41635918e+01] [-1.83346280e-03 9.99996727e-01 -1.78459786e-03 -5.97564974e+00] [ 4.02591694e-03 1.79196777e-03 9.99990290e-01 -2.10881496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.319928851 meters 0.09906151814814183 Centerline is valid? [False, True] Translation: X:64.16, Y:-5.98, Z:-2.11 [[ 9.99989876e-01 1.94838921e-03 -4.05614886e-03 6.41634143e+01] [-1.95475870e-03 9.99996862e-01 -1.56695885e-03 -5.97658598e+00] [ 4.05308308e-03 1.57487178e-03 9.99990546e-01 -2.10846231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.379928851 meters 0.09972570253272853 Centerline is valid? [True, True] Translation: X:64.22, Y:-5.99, Z:-2.11 [[ 9.99990021e-01 2.18866402e-03 -3.89453953e-03 6.42214775e+01] [-2.18703851e-03 9.99997520e-01 4.21590617e-04 -5.98685337e+00] [ 3.89545259e-03 -4.13068902e-04 9.99992327e-01 -2.11075015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.439928851 meters 0.1000881633055648 Centerline is valid? [True, False] Translation: X:64.22, Y:-5.99, Z:-2.11 [[ 9.99989249e-01 2.39024611e-03 -3.97358948e-03 6.42213311e+01] [-2.38740066e-03 9.99996890e-01 7.20680092e-04 -5.98830065e+00] [ 3.97529973e-03 -7.11185794e-04 9.99991846e-01 -2.11026430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.49992885099999 meters 0.10226628709117523 Centerline is valid? [False, False] Translation: X:64.22, Y:-5.99, Z:-2.11 [[ 9.99988853e-01 2.55192940e-03 -3.97249898e-03 6.42209859e+01] [-2.54791219e-03 9.99996238e-01 1.01598774e-03 -5.98979883e+00] [ 3.97507676e-03 -1.00585484e-03 9.99991593e-01 -2.10973358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.559928851 meters 0.0959159547677747 Centerline is valid? [False, True] Translation: X:64.22, Y:-5.99, Z:-2.11 [[ 9.99987206e-01 3.04051276e-03 -4.04278556e-03 6.42211087e+01] [-3.03356396e-03 9.99993913e-01 1.72383873e-03 -5.99219037e+00] [ 4.04800230e-03 -1.71155263e-03 9.99990342e-01 -2.10962679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.619928851 meters 0.0960847160958314 Centerline is valid? [True, True] Translation: X:64.28, Y:-6.00, Z:-2.11 [[ 9.99963453e-01 5.12522363e-03 -6.84290903e-03 6.42808707e+01] [-5.12040963e-03 9.99986631e-01 7.20835932e-04 -5.99977148e+00] [ 6.84651199e-03 -6.85771090e-04 9.99976327e-01 -2.11252701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.679928851 meters 0.0955409369976294 Centerline is valid? [True, True] Translation: X:64.34, Y:-6.01, Z:-2.12 [[ 9.99919120e-01 9.93661127e-03 -7.93832633e-03 6.43395521e+01] [-9.93028047e-03 9.99950344e-01 8.36516904e-04 -6.00631338e+00] [ 7.94624428e-03 -7.57619440e-04 9.99968141e-01 -2.11506724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.739928851 meters 0.0925133826453265 Centerline is valid? [True, True] Translation: X:64.40, Y:-6.01, Z:-2.11 [[ 9.99843638e-01 1.52233127e-02 -8.99721309e-03 6.44007146e+01] [-1.52153852e-02 9.99883789e-01 9.48903918e-04 -6.00727400e+00] [ 9.01061298e-03 -8.11859482e-04 9.99959074e-01 -2.11494913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.799928851 meters 0.08897690854668965 Centerline is valid? [True, True] Translation: X:64.46, Y:-6.01, Z:-2.11 [[ 9.99775712e-01 1.94211538e-02 -8.44658230e-03 6.44610027e+01] [-1.94143232e-02 9.99811128e-01 8.89932865e-04 -6.00687498e+00] [ 8.46227051e-03 -7.25748584e-04 9.99963931e-01 -2.11380814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.859928851 meters 0.08800292510706403 Centerline is valid? [True, True] Translation: X:64.52, Y:-6.01, Z:-2.11 [[ 9.99707922e-01 2.27191716e-02 -8.24080025e-03 6.45211888e+01] [-2.27127766e-02 9.99741654e-01 8.68795009e-04 -6.01151006e+00] [ 8.25840957e-03 -6.81369798e-04 9.99965667e-01 -2.11439014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.919928851 meters 0.08601895435505773 Centerline is valid? [True, True] Translation: X:64.58, Y:-6.01, Z:-2.11 [[ 9.99604942e-01 2.68957782e-02 -8.15950293e-03 6.45815970e+01] [-2.68896559e-02 9.99638039e-01 8.59122324e-04 -6.01441137e+00] [ 8.17965627e-03 -6.39376695e-04 9.99966342e-01 -2.11471939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.979928851 meters 0.08550629899663623 Centerline is valid? [True, True] Translation: X:64.64, Y:-6.02, Z:-2.12 [[ 9.99549234e-01 2.85108509e-02 -9.40527877e-03 6.46398723e+01] [-2.85027982e-02 9.99593223e-01 9.89144553e-04 -6.02040755e+00] [ 9.42965428e-03 -7.20621918e-04 9.99955280e-01 -2.11606859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.039928851 meters 0.08935767256836413 Centerline is valid? [True, True] Translation: X:64.70, Y:-6.04, Z:-2.12 [[ 9.99453911e-01 3.07349661e-02 -1.21342904e-02 6.46961728e+01] [-3.07217360e-02 9.99527163e-01 1.27524460e-03 -6.03788666e+00] [ 1.21677474e-02 -9.01761736e-04 9.99925564e-01 -2.12271140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.099928851 meters 0.08406236786810291 Centerline is valid? [True, True] Translation: X:64.75, Y:-6.03, Z:-2.12 [[ 9.99421349e-01 3.11550419e-02 -1.36502697e-02 6.47547097e+01] [-3.11384430e-02 9.99514063e-01 1.42691589e-03 -6.03326473e+00] [ 1.36880921e-02 -1.00104206e-03 9.99905813e-01 -2.11851510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.159928851 meters 0.08576814459539316 Centerline is valid? [True, True] Translation: X:64.81, Y:-6.05, Z:-2.12 [[ 9.99284165e-01 3.50483309e-02 -1.42398014e-02 6.48130636e+01] [-3.50305808e-02 9.99385124e-01 1.49410640e-03 -6.04587791e+00] [ 1.42834116e-02 -9.94208354e-04 9.99897493e-01 -2.12176719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.219928851 meters 0.08519159493354198 Centerline is valid? [True, True] Translation: X:64.87, Y:-6.05, Z:-2.12 [[ 9.99125249e-01 3.89201055e-02 -1.52958127e-02 6.48717468e+01] [-3.89000809e-02 9.99241817e-01 1.60461562e-03 -6.05206474e+00] [ 1.53466675e-02 -1.00820363e-03 9.99881725e-01 -2.12350128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.279928851 meters 0.08346138077704782 Centerline is valid? [True, True] Translation: X:64.93, Y:-6.05, Z:-2.13 [[ 9.98750489e-01 4.68784447e-02 -1.73168175e-02 6.49314956e+01] [-4.68539702e-02 9.98900098e-01 1.81658070e-03 -6.05423369e+00] [ 1.73829292e-02 -1.00294921e-03 9.99848402e-01 -2.12577216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.339928851 meters 0.07921518620279491 Centerline is valid? [True, True] Translation: X:64.99, Y:-6.05, Z:-2.12 [[ 9.98452479e-01 5.31746521e-02 -1.62820075e-02 6.49927395e+01] [-5.31538521e-02 9.98584874e-01 1.70788982e-03 -6.04835748e+00] [ 1.63497829e-02 -8.39795410e-04 9.99865981e-01 -2.12104994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.399928851 meters 0.07648297109728758 Centerline is valid? [True, True] Translation: X:65.05, Y:-6.05, Z:-2.12 [[ 9.98015663e-01 6.09502152e-02 -1.58053316e-02 6.50533819e+01] [-6.09315910e-02 9.98140568e-01 1.65768517e-03 -6.04746536e+00] [ 1.58769789e-02 -6.91351763e-04 9.99873714e-01 -2.11812112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.459928851 meters 0.07605976307115257 Centerline is valid? [True, True] Translation: X:65.11, Y:-6.05, Z:-2.12 [[ 9.97905260e-01 6.27798859e-02 -1.56133989e-02 6.51121959e+01] [-6.27620603e-02 9.98027188e-01 1.62955142e-03 -6.05337900e+00] [ 1.56848996e-02 -6.46208855e-04 9.99876776e-01 -2.11921827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.519928851 meters 0.07592473235312482 Centerline is valid? [True, True] Translation: X:65.17, Y:-6.06, Z:-2.12 [[ 9.97981972e-01 6.17096457e-02 -1.49634156e-02 6.51701629e+01] [-6.16932155e-02 9.98093944e-01 1.55758986e-03 -6.06152682e+00] [ 1.50310128e-02 -6.31305373e-04 9.99886829e-01 -2.11876592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.579928851 meters 0.07705429195994049 Centerline is valid? [True, True] Translation: X:65.23, Y:-6.08, Z:-2.12 [[ 9.98316384e-01 5.59351685e-02 -1.53510103e-02 6.52294656e+01] [-5.59171129e-02 9.98434127e-01 1.60322652e-03 -6.07747205e+00] [ 1.54166493e-02 -7.42143123e-04 9.99880881e-01 -2.12092443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.639928851 meters 0.07831623424461788 Centerline is valid? [True, True] Translation: X:65.29, Y:-6.09, Z:-2.12 [[ 9.98533608e-01 5.18886424e-02 -1.54337924e-02 6.52875055e+01] [-5.18699177e-02 9.98652550e-01 1.61132885e-03 -6.09098433e+00] [ 1.54966058e-02 -8.08416471e-04 9.99879594e-01 -2.12307594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.699928851 meters 0.07986613853372387 Centerline is valid? [True, True] Translation: X:65.35, Y:-6.11, Z:-2.12 [[ 9.98744585e-01 4.78960498e-02 -1.46704456e-02 6.53454794e+01] [-4.78787148e-02 9.98851984e-01 1.53077977e-03 -6.10657999e+00] [ 1.47269220e-02 -8.26455924e-04 9.99891211e-01 -2.12492865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.759928851 meters 0.07717608178927422 Centerline is valid? [True, True] Translation: X:65.40, Y:-6.11, Z:-2.12 [[ 9.98796854e-01 4.66988294e-02 -1.49687543e-02 6.54039059e+01] [-4.66807721e-02 9.98908650e-01 1.55365895e-03 -6.11048326e+00] [ 1.50249722e-02 -8.53036661e-04 9.99886755e-01 -2.12122391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.819928851 meters 0.07728335243621981 Centerline is valid? [True, True] Translation: X:65.46, Y:-6.12, Z:-2.12 [[ 9.98741896e-01 4.78963301e-02 -1.48514794e-02 6.54609220e+01] [-4.78786539e-02 9.98851967e-01 1.54367776e-03 -6.12035158e+00] [ 1.49083659e-02 -8.30666817e-04 9.99888519e-01 -2.12285874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.879928851 meters 0.07626336275898911 Centerline is valid? [True, True] Translation: X:65.52, Y:-6.13, Z:-2.12 [[ 9.98631184e-01 5.02115374e-02 -1.46478806e-02 6.55202410e+01] [-5.01945821e-02 9.98738296e-01 1.52311411e-03 -6.12653617e+00] [ 1.47058772e-02 -7.85784995e-04 9.99891554e-01 -2.12226105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.939928851 meters 0.07540708911570179 Centerline is valid? [True, True] Translation: X:65.58, Y:-6.14, Z:-2.12 [[ 9.98435842e-01 5.37421518e-02 -1.54159025e-02 6.55791301e+01] [-5.37237988e-02 9.98554548e-01 1.60249079e-03 -6.13506686e+00] [ 1.54797408e-02 -7.71783395e-04 9.99879884e-01 -2.12241315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.99992885099999 meters 0.07444363929872952 Centerline is valid? [True, True] Translation: X:65.64, Y:-6.14, Z:-2.12 [[ 9.98415006e-01 5.40681223e-02 -1.56241470e-02 6.56375968e+01] [-5.40494438e-02 9.98536953e-01 1.61560412e-03 -6.14201587e+00] [ 1.56886409e-02 -7.68566935e-04 9.99876630e-01 -2.12151478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.059928851 meters 0.07604829331144337 Centerline is valid? [True, True] Translation: X:65.69, Y:-6.16, Z:-2.13 [[ 9.98504618e-01 5.21891074e-02 -1.62734531e-02 6.56942863e+01] [-5.21685344e-02 9.98636871e-01 1.68645331e-03 -6.16102016e+00] [ 1.63392848e-02 -8.34969220e-04 9.99866156e-01 -2.12631747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.119928851 meters 0.07583252703021372 Centerline is valid? [True, True] Translation: X:65.75, Y:-6.17, Z:-2.13 [[ 9.98686673e-01 4.85630512e-02 -1.63266155e-02 6.57537543e+01] [-4.85418522e-02 9.98819716e-01 1.69245619e-03 -6.17205721e+00] [ 1.63895363e-02 -8.97709285e-04 9.99865280e-01 -2.12660683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.179928851 meters 0.07848952276850164 Centerline is valid? [True, True] Translation: X:65.81, Y:-6.19, Z:-2.13 [[ 9.99033187e-01 4.06747056e-02 -1.66811086e-02 6.58113086e+01] [-4.06514746e-02 9.99171890e-01 1.72951465e-03 -6.19436157e+00] [ 1.67376424e-02 -1.04973087e-03 9.99859365e-01 -2.12921985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.239928851 meters 0.07863279862160624 Centerline is valid? [True, True] Translation: X:65.87, Y:-6.21, Z:-2.13 [[ 9.99221661e-01 3.55792460e-02 -1.70349705e-02 6.58702779e+01] [-3.55542846e-02 9.99366186e-01 1.76601609e-03 -6.20828951e+00] [ 1.70870070e-02 -1.15897534e-03 9.99853335e-01 -2.12784432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.299928851 meters 0.08101486645923674 Centerline is valid? [True, True] Translation: X:65.93, Y:-6.23, Z:-2.13 [[ 9.99468446e-01 2.89549907e-02 -1.49810902e-02 6.59289570e+01] [-2.89349431e-02 9.99580090e-01 1.55326675e-03 -6.22993940e+00] [ 1.50197743e-02 -1.11896412e-03 9.99886571e-01 -2.12818544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.35992885099999 meters 0.08261076495209604 Centerline is valid? [True, True] Translation: X:65.99, Y:-6.25, Z:-2.13 [[ 9.99566682e-01 2.54072568e-02 -1.48633777e-02 6.59881132e+01] [-2.53871361e-02 9.99676507e-01 1.54086263e-03 -6.24500176e+00] [ 1.48977185e-02 -1.16285636e-03 9.99888347e-01 -2.12901286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.419928851 meters 0.08259043500169705 Centerline is valid? [True, True] Translation: X:66.05, Y:-6.26, Z:-2.13 [[ 9.99653335e-01 2.16785018e-02 -1.49416167e-02 6.60475345e+01] [-2.16577562e-02 9.99764243e-01 1.54887943e-03 -6.25845530e+00] [ 1.49716715e-02 -1.22474060e-03 9.99887168e-01 -2.12818725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.479928851 meters 0.08482977195441778 Centerline is valid? [True, True] Translation: X:66.11, Y:-6.27, Z:-2.13 [[ 9.99708210e-01 1.77873721e-02 -1.63432988e-02 6.61067638e+01] [-1.77620317e-02 9.99840807e-01 1.69436643e-03 -6.27461030e+00] [ 1.63708354e-02 -1.40358184e-03 9.99865004e-01 -2.13097516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.539928851 meters 0.08263262374184552 Centerline is valid? [True, True] Translation: X:66.17, Y:-6.28, Z:-2.13 [[ 9.99743564e-01 1.51841449e-02 -1.68002404e-02 6.61667647e+01] [-1.51570130e-02 9.99883610e-01 1.74113246e-03 -6.27849129e+00] [ 1.68247226e-02 -1.48604451e-03 9.99857350e-01 -2.12792938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.599928851 meters 0.086984538260209 Centerline is valid? [True, True] Translation: X:66.22, Y:-6.30, Z:-2.13 [[ 9.99768719e-01 1.30234007e-02 -1.71143237e-02 6.62241139e+01] [-1.29949357e-02 9.99913990e-01 1.77338572e-03 -6.29622735e+00] [ 1.71359472e-02 -1.55057604e-03 9.99851967e-01 -2.13263559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.659928851 meters 0.09141774944424744 Centerline is valid? [True, True] Translation: X:66.28, Y:-6.31, Z:-2.14 [[ 9.99820139e-01 1.07028613e-02 -1.56569252e-02 6.62823331e+01] [-1.06787611e-02 9.99941665e-01 1.62206849e-03 -6.31249855e+00] [ 1.56733727e-02 -1.45458018e-03 9.99876107e-01 -2.13635076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.719928851 meters 0.0874572754376634 Centerline is valid? [True, True] Translation: X:66.34, Y:-6.31, Z:-2.13 [[ 9.99847644e-01 7.53563337e-03 -1.57449559e-02 6.63438170e+01] [-7.51086636e-03 9.99970462e-01 1.63155433e-03 -6.31024115e+00] [ 1.57567856e-02 -1.51304750e-03 9.99874709e-01 -2.13259646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.779928851 meters 0.08635035469680964 Centerline is valid? [True, True] Translation: X:66.40, Y:-6.31, Z:-2.13 [[ 9.99862945e-01 6.86531049e-03 -1.50651735e-02 6.64023645e+01] [-6.84259979e-03 9.99975375e-01 1.55852470e-03 -6.31298446e+00] [ 1.50755023e-02 -1.45522614e-03 9.99885299e-01 -2.13313728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.839928851 meters 0.08660370373828379 Centerline is valid? [True, True] Translation: X:66.46, Y:-6.32, Z:-2.13 [[ 9.99864314e-01 5.38639367e-03 -1.55672902e-02 6.64612349e+01] [-5.36198557e-03 9.99984330e-01 1.60922285e-03 -6.31717689e+00] [ 1.55757142e-02 -1.52553291e-03 9.99877527e-01 -2.13473429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.899928851 meters 0.0851307236362019 Centerline is valid? [True, True] Translation: X:66.52, Y:-6.32, Z:-2.13 [[ 9.99870831e-01 4.98998631e-03 -1.52781495e-02 6.65198346e+01] [-4.96645629e-03 9.99986423e-01 1.57766317e-03 -6.31712600e+00] [ 1.52858145e-02 -1.50158112e-03 9.99882038e-01 -2.13455628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.959928851 meters 0.09001342409727942 Centerline is valid? [True, True] Translation: X:66.58, Y:-6.33, Z:-2.14 [[ 9.99868400e-01 4.92633743e-03 -1.54568187e-02 6.65772637e+01] [-4.90226620e-03 9.99986712e-01 1.59482440e-03 -6.32518974e+00] [ 1.54644700e-02 -1.51884108e-03 9.99879264e-01 -2.13963179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.019928851 meters 0.0880576268771933 Centerline is valid? [True, True] Translation: X:66.64, Y:-6.32, Z:-2.14 [[ 9.99855659e-01 4.82075041e-03 -1.62917763e-02 6.66372719e+01] [-4.79400372e-03 9.99987097e-01 1.68038525e-03 -6.32072415e+00] [ 1.62996668e-02 -1.60203987e-03 9.99865868e-01 -2.14013263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.079928851 meters 0.0890130678315316 Centerline is valid? [True, True] Translation: X:66.70, Y:-6.32, Z:-2.14 [[ 9.99830012e-01 4.98135012e-03 -1.77519764e-02 6.66967939e+01] [-4.94963694e-03 9.99986076e-01 1.82994833e-03 -6.31834061e+00] [ 1.77608448e-02 -1.74177142e-03 9.99840747e-01 -2.14389071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.139928851 meters 0.0872735223453425 Centerline is valid? [True, True] Translation: X:66.76, Y:-6.31, Z:-2.14 [[ 9.99817017e-01 6.60756594e-03 -1.79519553e-02 6.67572379e+01] [-6.57539104e-03 9.99976669e-01 1.85071320e-03 -6.31268180e+00] [ 1.79637651e-02 -1.73233342e-03 9.99837138e-01 -2.14441690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.199928851 meters 0.08529437734564667 Centerline is valid? [True, True] Translation: X:66.82, Y:-6.30, Z:-2.14 [[ 9.99794254e-01 8.54825061e-03 -1.83950249e-02 6.68191808e+01] [-8.51480990e-03 9.99961952e-01 1.89547769e-03 -6.30105652e+00] [ 1.84105281e-02 -1.73845756e-03 9.99829000e-01 -2.14448182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.259928851 meters 0.08526132397597788 Centerline is valid? [True, True] Translation: X:66.88, Y:-6.29, Z:-2.15 [[ 9.99803086e-01 1.08743974e-02 -1.65992957e-02 6.68811294e+01] [-1.08474625e-02 9.99939699e-01 1.71183125e-03 -6.29399562e+00] [ 1.66169099e-02 -1.53143393e-03 9.99860757e-01 -2.14530647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.319928851 meters 0.08610155198882612 Centerline is valid? [True, True] Translation: X:66.94, Y:-6.29, Z:-2.15 [[ 9.99796751e-01 1.18021419e-02 -1.63452311e-02 6.69402557e+01] [-1.17761961e-02 9.99929242e-01 1.68270375e-03 -6.29212076e+00] [ 1.63639340e-02 -1.48987709e-03 9.99864992e-01 -2.14721154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.379928851 meters 0.0851292143626959 Centerline is valid? [True, True] Translation: X:67.00, Y:-6.28, Z:-2.15 [[ 9.99788402e-01 1.40406905e-02 -1.50336238e-02 6.70017256e+01] [-1.40189740e-02 9.99900530e-01 1.54894386e-03 -6.28335522e+00] [ 1.50538766e-02 -1.33786013e-03 9.99885789e-01 -2.14772224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.439928851 meters 0.0852645128207927 Centerline is valid? [True, True] Translation: X:67.06, Y:-6.28, Z:-2.15 [[ 9.99789859e-01 1.46229502e-02 -1.43668459e-02 6.70612412e+01] [-1.46032118e-02 9.99892275e-01 1.47783744e-03 -6.28028640e+00] [ 1.43869086e-02 -1.26772479e-03 9.99895699e-01 -2.14926534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.49992885099999 meters 0.08884202625110377 Centerline is valid? [True, True] Translation: X:67.12, Y:-6.28, Z:-2.15 [[ 9.99757630e-01 1.74546687e-02 -1.34169703e-02 6.71212150e+01] [-1.74376979e-02 9.99846998e-01 1.38083336e-03 -6.28068022e+00] [ 1.34390195e-02 -1.14653761e-03 9.99909035e-01 -2.15436309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.559928851 meters 0.08575429267570116 Centerline is valid? [True, True] Translation: X:67.18, Y:-6.27, Z:-2.15 [[ 9.99693802e-01 2.08975936e-02 -1.32511693e-02 6.71832408e+01] [-2.08813355e-02 9.99781031e-01 1.36410439e-03 -6.26649639e+00] [ 1.32767742e-02 -1.08698459e-03 9.99911269e-01 -2.15449739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.619928851 meters 0.08542597339573672 Centerline is valid? [True, True] Translation: X:67.24, Y:-6.26, Z:-2.16 [[ 9.99600404e-01 2.46220732e-02 -1.38847335e-02 6.72445445e+01] [-2.46045808e-02 9.99696240e-01 1.42928041e-03 -6.26292787e+00] [ 1.39157077e-02 -1.08708123e-03 9.99902581e-01 -2.15754630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.679928851 meters 0.08344410961764172 Centerline is valid? [True, True] Translation: X:67.31, Y:-6.25, Z:-2.16 [[ 9.99424780e-01 3.14545185e-02 -1.26776711e-02 6.73063338e+01] [-3.14404833e-02 9.99504774e-01 1.30491959e-03 -6.25271347e+00] [ 1.27124385e-02 -9.05576862e-04 9.99918784e-01 -2.15859120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.739928851 meters 0.08161847483608586 Centerline is valid? [True, True] Translation: X:67.37, Y:-6.24, Z:-2.16 [[ 9.99207902e-01 3.84360049e-02 -1.03073423e-02 6.73671775e+01] [-3.84271038e-02 9.99260844e-01 1.06030469e-03 -6.24399081e+00] [ 1.03404774e-02 -6.63383517e-04 9.99946316e-01 -2.15938767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.799928851 meters 0.07897187714856672 Centerline is valid? [True, True] Translation: X:67.43, Y:-6.24, Z:-2.16 [[ 9.99070083e-01 4.22280090e-02 -8.70433418e-03 6.74286470e+01] [-4.22218023e-02 9.99107861e-01 8.95672640e-04 -6.23803818e+00] [ 8.73439118e-03 -5.27327061e-04 9.99961715e-01 -2.15847275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.85992885099999 meters 0.0785083586034692 Centerline is valid? [True, True] Translation: X:67.49, Y:-6.24, Z:-2.16 [[ 9.98961586e-01 4.48275252e-02 -8.13893884e-03 6.74893105e+01] [-4.48221879e-02 9.98994630e-01 8.37095499e-04 -6.23624374e+00] [ 8.16828111e-03 -4.71421201e-04 9.99966528e-01 -2.16001816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.919928851 meters 0.07683557228110302 Centerline is valid? [True, True] Translation: X:67.55, Y:-6.23, Z:-2.16 [[ 9.98994696e-01 4.43256271e-02 -6.69595112e-03 6.75485014e+01] [-4.43220482e-02 9.99017062e-01 6.82008357e-04 -6.23482603e+00] [ 6.71959987e-03 -3.84544463e-04 9.99977349e-01 -2.15933789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.979928851 meters 0.07924507654610115 Centerline is valid? [True, True] Translation: X:67.61, Y:-6.24, Z:-2.16 [[ 9.99083054e-01 4.24551057e-02 -5.53303013e-03 6.76053559e+01] [-4.24526219e-02 9.99098321e-01 5.65642517e-04 -6.24392958e+00] [ 5.55205552e-03 -3.30232218e-04 9.99984533e-01 -2.16128285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.039928851 meters 0.07890734984688177 Centerline is valid? [True, True] Translation: X:67.67, Y:-6.25, Z:-2.16 [[ 9.99189274e-01 3.98613770e-02 -5.64494067e-03 6.76656263e+01] [-3.98587395e-02 9.99205157e-01 5.79007305e-04 -6.24931492e+00] [ 5.66353385e-03 -3.53537669e-04 9.99983900e-01 -2.16120091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.099928851 meters 0.080823364474508 Centerline is valid? [True, True] Translation: X:67.72, Y:-6.26, Z:-2.16 [[ 9.99288684e-01 3.73158619e-02 -5.44533674e-03 6.77229944e+01] [-3.73133800e-02 9.99303458e-01 5.56694069e-04 -6.26013116e+00] [ 5.46231736e-03 -3.53114164e-04 9.99985019e-01 -2.16356968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.159928851 meters 0.08302604637366437 Centerline is valid? [True, True] Translation: X:67.78, Y:-6.27, Z:-2.16 [[ 9.99451144e-01 3.27215242e-02 -5.16848512e-03 6.77820778e+01] [-3.27192221e-02 9.99464443e-01 5.29347598e-04 -6.27286344e+00] [ 5.18303816e-03 -3.59948250e-04 9.99986503e-01 -2.16448154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.219928851 meters 0.08565789522341442 Centerline is valid? [True, True] Translation: X:67.84, Y:-6.29, Z:-2.17 [[ 9.99531690e-01 3.02613098e-02 -4.54455211e-03 6.78403097e+01] [-3.02595040e-02 9.99541968e-01 4.65593405e-04 -6.28595462e+00] [ 4.55656002e-03 -3.27859470e-04 9.99989565e-01 -2.16690126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.279928851 meters 0.08357826781344009 Centerline is valid? [True, True] Translation: X:67.90, Y:-6.29, Z:-2.16 [[ 9.99582830e-01 2.86725640e-02 -3.47124303e-03 6.78998430e+01] [-2.86715036e-02 9.99588825e-01 3.54864184e-04 -6.28976631e+00] [ 3.47999061e-03 -2.55190388e-04 9.99993912e-01 -2.16448142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.339928851 meters 0.08442628785658998 Centerline is valid? [True, True] Translation: X:67.96, Y:-6.30, Z:-2.17 [[ 9.99599565e-01 2.81683187e-02 -2.69360501e-03 6.79582917e+01] [-2.81676813e-02 9.99603175e-01 2.74272233e-04 -6.29923652e+00] [ 2.70026190e-03 -1.98289797e-04 9.99996335e-01 -2.16664888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.399928851 meters 0.08329007179483645 Centerline is valid? [True, True] Translation: X:68.02, Y:-6.31, Z:-2.17 [[ 9.99637150e-01 2.66473492e-02 -3.93525180e-03 6.80170473e+01] [-2.66459762e-02 9.99644853e-01 4.00933797e-04 -6.30551068e+00] [ 3.94453803e-03 -2.95929692e-04 9.99992176e-01 -2.16706930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.459928851 meters 0.08653321645960307 Centerline is valid? [True, True] Translation: X:68.07, Y:-6.32, Z:-2.17 [[ 9.99681005e-01 2.49659275e-02 -3.81972611e-03 6.80740720e+01] [-2.49646234e-02 9.99688260e-01 3.88726710e-04 -6.32079012e+00] [ 3.82824027e-03 -2.93244684e-04 9.99992629e-01 -2.17037887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.519928851 meters 0.0861822647785571 Centerline is valid? [True, True] Translation: X:68.13, Y:-6.33, Z:-2.17 [[ 9.99719248e-01 2.33478691e-02 -4.03768884e-03 6.81323948e+01] [-2.33463967e-02 9.99727351e-01 4.11429346e-04 -6.33015677e+00] [ 4.04619396e-03 -3.17048351e-04 9.99991764e-01 -2.17104476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.579928851 meters 0.08582435726999241 Centerline is valid? [True, True] Translation: X:68.19, Y:-6.34, Z:-2.17 [[ 9.99723554e-01 2.30019287e-02 -4.87103210e-03 6.81905419e+01] [-2.29997840e-02 9.99735347e-01 4.95849020e-04 -6.33952821e+00] [ 4.88114845e-03 -3.83679258e-04 9.99988014e-01 -2.17227672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.639928851 meters 0.08430767289801556 Centerline is valid? [True, True] Translation: X:68.25, Y:-6.34, Z:-2.17 [[ 9.99719148e-01 2.30179560e-02 -5.63904070e-03 6.82495396e+01] [-2.30150830e-02 9.99734953e-01 5.73851458e-04 -6.34342540e+00] [ 5.65075498e-03 -4.43907301e-04 9.99983936e-01 -2.17228175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.699928851 meters 0.08824135245223907 Centerline is valid? [True, True] Translation: X:68.31, Y:-6.36, Z:-2.18 [[ 9.99713013e-01 2.33789394e-02 -5.22661964e-03 6.83056938e+01] [-2.33764809e-02 9.99726592e-01 5.30978317e-04 -6.36096768e+00] [ 5.23760435e-03 -4.08645958e-04 9.99986200e-01 -2.17655337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.759928851 meters 0.08527445140077444 Centerline is valid? [True, True] Translation: X:68.36, Y:-6.36, Z:-2.18 [[ 9.99720214e-01 2.31387161e-02 -4.90843634e-03 6.83636397e+01] [-2.31365499e-02 9.99732190e-01 4.97656585e-04 -6.36467222e+00] [ 4.91863695e-03 -3.83953066e-04 9.99987830e-01 -2.17585133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.819928851 meters 0.08479841988845985 Centerline is valid? [True, True] Translation: X:68.42, Y:-6.37, Z:-2.18 [[ 9.99701275e-01 2.36262825e-02 -6.25779755e-03 6.84216144e+01] [-2.36227650e-02 9.99720742e-01 6.35432473e-04 -6.37216543e+00] [ 6.27106291e-03 -4.87416172e-04 9.99980218e-01 -2.17674500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.879928851 meters 0.08577116973054298 Centerline is valid? [True, True] Translation: X:68.48, Y:-6.38, Z:-2.18 [[ 9.99703044e-01 2.34254642e-02 -6.71358895e-03 6.84796048e+01] [-2.34214132e-02 9.99725449e-01 6.81393260e-04 -6.38147575e+00] [ 6.72770768e-03 -5.23949175e-04 9.99977231e-01 -2.17909724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.939928851 meters 0.08353679151375833 Centerline is valid? [True, True] Translation: X:68.54, Y:-6.38, Z:-2.18 [[ 9.99692514e-01 2.37953505e-02 -6.97559155e-03 6.85387813e+01] [-2.37910021e-02 9.99716705e-01 7.05706825e-04 -6.38491642e+00] [ 6.99040794e-03 -5.39533517e-04 9.99975421e-01 -2.17893556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.99992885099999 meters 0.08691106692293793 Centerline is valid? [True, True] Translation: X:68.59, Y:-6.40, Z:-2.18 [[ 9.99680540e-01 2.42245463e-02 -7.21039395e-03 6.85948832e+01] [-2.42199077e-02 9.99706389e-01 7.29959407e-04 -6.39929939e+00] [ 7.22595983e-03 -5.55091138e-04 9.99973738e-01 -2.18283862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.059928851 meters 0.0875336348378223 Centerline is valid? [True, True] Translation: X:68.65, Y:-6.41, Z:-2.18 [[ 9.99680893e-01 2.44395920e-02 -6.38892092e-03 6.86533232e+01] [-2.44359557e-02 9.99701188e-01 6.46618620e-04 -6.40933535e+00] [ 6.40281493e-03 -4.90292891e-04 9.99979382e-01 -2.18423939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.119928851 meters 0.0847918973156086 Centerline is valid? [True, True] Translation: X:68.71, Y:-6.41, Z:-2.18 [[ 9.99710058e-01 2.28610159e-02 -7.56137862e-03 6.87126665e+01] [-2.28558758e-02 9.99738477e-01 7.65498167e-04 -6.41139340e+00] [ 7.57690121e-03 -5.92454286e-04 9.99971119e-01 -2.18289416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.179928851 meters 0.08510377226076116 Centerline is valid? [True, True] Translation: X:68.77, Y:-6.42, Z:-2.18 [[ 9.99742441e-01 2.12554979e-02 -7.95336241e-03 6.87711395e+01] [-2.12497636e-02 9.99773874e-01 8.04802441e-04 -6.42125946e+00] [ 7.96867042e-03 -6.35588085e-04 9.99968048e-01 -2.18369066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.239928851 meters 0.08974506980733618 Centerline is valid? [True, True] Translation: X:68.83, Y:-6.44, Z:-2.19 [[ 9.99770831e-01 1.99753495e-02 -7.69877698e-03 6.88278631e+01] [-1.99699420e-02 9.99800278e-01 7.78628250e-04 -6.43958866e+00] [ 7.71279274e-03 -6.24705682e-04 9.99970061e-01 -2.18738450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.299928851 meters 0.08926142627438234 Centerline is valid? [True, True] Translation: X:68.89, Y:-6.45, Z:-2.19 [[ 9.99778103e-01 1.92630448e-02 -8.52527908e-03 6.88868798e+01] [-1.92563861e-02 9.99814207e-01 8.62459401e-04 -6.44579086e+00] [ 8.54030874e-03 -6.98101958e-04 9.99963287e-01 -2.18835537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.35992885099999 meters 0.08825148713419766 Centerline is valid? [True, True] Translation: X:68.95, Y:-6.45, Z:-2.19 [[ 9.99806272e-01 1.76171412e-02 -8.77810070e-03 6.89462731e+01] [-1.76100212e-02 9.99844537e-01 8.87749169e-04 -6.45225753e+00] [ 8.79237564e-03 -7.32994648e-04 9.99961078e-01 -2.18916879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.419928851 meters 0.08771114022452514 Centerline is valid? [True, True] Translation: X:69.01, Y:-6.46, Z:-2.19 [[ 9.99831291e-01 1.59297350e-02 -9.14510980e-03 6.90051691e+01] [-1.59219445e-02 9.99872811e-01 9.24053475e-04 -6.45735445e+00] [ 9.15866657e-03 -7.78289648e-04 9.99957756e-01 -2.18931864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.479928851 meters 0.08785587862868367 Centerline is valid? [True, True] Translation: X:69.06, Y:-6.46, Z:-2.19 [[ 9.99855152e-01 1.48754077e-02 -8.27023627e-03 6.90639640e+01] [-1.48690095e-02 9.99889102e-01 8.34589291e-04 -6.46440651e+00] [ 8.28173397e-03 -7.11498181e-04 9.99965453e-01 -2.18948871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.539928851 meters 0.09044380549392148 Centerline is valid? [True, True] Translation: X:69.12, Y:-6.48, Z:-2.19 [[ 9.99867326e-01 1.39210776e-02 -8.45776139e-03 6.91212768e+01] [-1.39143565e-02 9.99902827e-01 8.52992031e-04 -6.47572768e+00] [ 8.46881409e-03 -7.35194554e-04 9.99963869e-01 -2.19226843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.599928851 meters 0.0894502554616746 Centerline is valid? [True, True] Translation: X:69.18, Y:-6.48, Z:-2.19 [[ 9.99901180e-01 1.12249481e-02 -8.46352339e-03 6.91819415e+01] [-1.12181117e-02 9.99936710e-01 8.54793925e-04 -6.47929982e+00] [ 8.47258275e-03 -7.59764704e-04 9.99963818e-01 -2.19224780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.659928851 meters 0.0891595931098404 Centerline is valid? [True, True] Translation: X:69.24, Y:-6.49, Z:-2.19 [[ 9.99934240e-01 8.77091928e-03 -7.38825338e-03 6.92413448e+01] [-8.76564568e-03 9.99961303e-01 7.45862293e-04 -6.48515155e+00] [ 7.39450937e-03 -6.81050434e-04 9.99972428e-01 -2.19293120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.719928851 meters 0.09071089031336181 Centerline is valid? [True, True] Translation: X:69.30, Y:-6.49, Z:-2.19 [[ 9.99964101e-01 4.40884562e-03 -7.23592546e-03 6.93005140e+01] [-4.40367403e-03 9.99990037e-01 7.30486769e-04 -6.49499630e+00] [ 7.23907397e-03 -6.98595889e-04 9.99973554e-01 -2.19468611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.779928851 meters 0.0961483140299831 Centerline is valid? [True, True] Translation: X:69.36, Y:-6.51, Z:-2.20 [[ 9.99968702e-01 1.96754891e-03 -7.66308987e-03 6.93587737e+01] [-1.96168066e-03 9.99997777e-01 7.73222133e-04 -6.51092727e+00] [ 7.66459418e-03 -7.58165397e-04 9.99970339e-01 -2.19847752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.839928851 meters 0.0952166571695482 Centerline is valid? [True, True] Translation: X:69.42, Y:-6.52, Z:-2.20 [[ 9.99975578e-01 1.22966972e-03 -6.87981717e-03 6.94177279e+01] [-1.22493303e-03 9.99999010e-01 6.92661732e-04 -6.51504886e+00] [ 6.88066210e-03 -6.84217500e-04 9.99976094e-01 -2.19857492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.899928851 meters 0.0958009755638016 Centerline is valid? [True, True] Translation: X:69.48, Y:-6.52, Z:-2.20 [[ 9.99977305e-01 2.68559147e-03 -6.17873678e-03 6.94776492e+01] [-2.68179303e-03 9.99996210e-01 6.22963374e-04 -6.52035620e+00] [ 6.18038639e-03 -6.06379143e-04 9.99980717e-01 -2.19947092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.959928851 meters 0.09581229354556556 Centerline is valid? [True, True] Translation: X:69.54, Y:-6.53, Z:-2.20 [[ 9.99967169e-01 4.72686571e-03 -6.58155900e-03 6.95371718e+01] [-4.72260016e-03 9.99988628e-01 6.63496832e-04 -6.52529013e+00] [ 6.58462041e-03 -6.32392977e-04 9.99978121e-01 -2.20093616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.019928851 meters 0.09580997589026317 Centerline is valid? [True, True] Translation: X:69.60, Y:-6.53, Z:-2.20 [[ 9.99962613e-01 4.71521578e-03 -7.24837038e-03 6.95958212e+01] [-4.71005311e-03 9.99988642e-01 7.29157973e-04 -6.52875475e+00] [ 7.25172619e-03 -6.94990503e-04 9.99973464e-01 -2.20270429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.079928851 meters 0.0914282106994479 Centerline is valid? [True, True] Translation: X:69.65, Y:-6.53, Z:-2.20 [[ 9.99953980e-01 4.94183306e-03 -8.22293076e-03 6.96540231e+01] [-4.93520868e-03 9.99987481e-01 8.25694238e-04 -6.52555696e+00] [ 8.22690826e-03 -7.85074360e-04 9.99965850e-01 -2.20167359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.139928851 meters 0.09287444037720262 Centerline is valid? [True, True] Translation: X:69.71, Y:-6.53, Z:-2.20 [[ 9.99949194e-01 3.54759194e-03 -9.43529439e-03 6.97134174e+01] [-3.53878856e-03 9.99993288e-01 9.49559092e-04 -6.53320448e+00] [ 9.43859970e-03 -9.16121336e-04 9.99955036e-01 -2.20370746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.199928851 meters 0.09602003992597206 Centerline is valid? [True, True] Translation: X:69.77, Y:-6.55, Z:-2.21 [[ 9.99957451e-01 -1.88227742e-04 -9.22279886e-03 6.97725938e+01] [ 1.96797399e-04 9.99999550e-01 9.28283105e-04 -6.54610339e+00] [ 9.22261998e-03 -9.30058631e-04 9.99957038e-01 -2.20696105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.259928851 meters 0.0976415220693301 Centerline is valid? [True, True] Translation: X:69.83, Y:-6.56, Z:-2.21 [[ 9.99960507e-01 -2.37109218e-03 -8.56516410e-03 6.98318850e+01] [ 2.37855948e-03 9.99996800e-01 8.61741191e-04 -6.55647835e+00] [ 8.56309342e-03 -8.82079911e-04 9.99962947e-01 -2.20907502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.319928851 meters 0.09906882889999914 Centerline is valid? [True, True] Translation: X:69.89, Y:-6.56, Z:-2.21 [[ 9.99971097e-01 -3.17436548e-03 -6.90864336e-03 6.98904694e+01] [ 3.17923112e-03 9.99994706e-01 6.93415368e-04 -6.56434203e+00] [ 6.90640563e-03 -7.15359500e-04 9.99975895e-01 -2.20888101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.379928851 meters 0.09773576624986506 Centerline is valid? [True, True] Translation: X:69.95, Y:-6.57, Z:-2.21 [[ 9.99970489e-01 -3.56495752e-03 -6.80524660e-03 6.99488539e+01] [ 3.56964993e-03 9.99993399e-01 6.77507196e-04 -6.56721705e+00] [ 6.80278640e-03 -7.01779551e-04 9.99976615e-01 -2.20969655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.439928851 meters 0.0985105279881578 Centerline is valid? [True, True] Translation: X:70.01, Y:-6.57, Z:-2.21 [[ 9.99969009e-01 -4.00926386e-03 -6.77544499e-03 7.00076478e+01] [ 4.01394822e-03 9.99991714e-01 6.77915675e-04 -6.57337082e+00] [ 6.77267091e-03 -7.05090951e-04 9.99976817e-01 -2.21086506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.49992885099999 meters 0.09914578859183601 Centerline is valid? [True, True] Translation: X:70.07, Y:-6.58, Z:-2.21 [[ 9.99970816e-01 -3.33344783e-03 -6.87426393e-03 7.00660698e+01] [ 3.33825438e-03 9.99994191e-01 6.87854296e-04 -6.57943979e+00] [ 6.87193107e-03 -7.10782264e-04 9.99976135e-01 -2.21312907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.559928851 meters 0.09264336168312295 Centerline is valid? [True, True] Translation: X:70.13, Y:-6.57, Z:-2.21 [[ 9.99970893e-01 -2.80346026e-03 -7.09610273e-03 7.01258496e+01] [ 2.80852514e-03 9.99995808e-01 7.03890888e-04 -6.57112377e+00] [ 7.09409966e-03 -7.23799983e-04 9.99974575e-01 -2.21172247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.619928851 meters 0.09792786993378695 Centerline is valid? [True, True] Translation: X:70.18, Y:-6.59, Z:-2.22 [[ 9.99979176e-01 -1.00215642e-03 -6.37527019e-03 7.01838586e+01] [ 1.00623375e-03 9.99999291e-01 6.36379247e-04 -6.58514900e+00] [ 6.37462792e-03 -6.42781007e-04 9.99979475e-01 -2.21613238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.679928851 meters 0.0952469651357436 Centerline is valid? [True, True] Translation: X:70.24, Y:-6.58, Z:-2.22 [[ 9.99988328e-01 1.10184881e-03 -4.70414976e-03 7.02449645e+01] [-1.09964959e-03 9.99999285e-01 4.70066907e-04 -6.58346699e+00] [ 4.70466434e-03 -4.64888504e-04 9.99988825e-01 -2.21611504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.739928851 meters 0.09395564914334792 Centerline is valid? [True, True] Translation: X:70.30, Y:-6.59, Z:-2.22 [[ 9.99992680e-01 1.14754776e-03 -3.65004428e-03 7.03034898e+01] [-1.14623048e-03 9.99999277e-01 3.62964640e-04 -6.58514198e+00] [ 3.65045816e-03 -3.58778192e-04 9.99993273e-01 -2.21651976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.799928851 meters 0.09550002081068179 Centerline is valid? [True, True] Translation: X:70.36, Y:-6.59, Z:-2.22 [[ 9.99991805e-01 6.16432348e-04 -4.00114618e-03 7.03610400e+01] [-6.14845657e-04 9.99999732e-01 3.97776942e-04 -6.59277613e+00] [ 4.00139031e-03 -3.95313595e-04 9.99991916e-01 -2.21904807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.85992885099999 meters 0.0954888099749271 Centerline is valid? [True, True] Translation: X:70.42, Y:-6.60, Z:-2.22 [[ 9.99987618e-01 -5.22599378e-04 -4.94886075e-03 7.04198237e+01] [ 5.25042963e-04 9.99999741e-01 4.92480927e-04 -6.59770581e+00] [ 4.94860210e-03 -4.95073193e-04 9.99987633e-01 -2.22056889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.919928851 meters 0.09887850209653769 Centerline is valid? [True, True] Translation: X:70.48, Y:-6.61, Z:-2.22 [[ 9.99982297e-01 -2.08751338e-03 -5.57207804e-03 7.04781468e+01] [ 2.09063985e-03 9.99997660e-01 5.55330821e-04 -6.61061508e+00] [ 5.57090574e-03 -5.66970198e-04 9.99984322e-01 -2.22456418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.979928851 meters 0.09924124437001099 Centerline is valid? [True, True] Translation: X:70.54, Y:-6.62, Z:-2.23 [[ 9.99970582e-01 -4.63290378e-03 -6.11312986e-03 7.05378852e+01] [ 4.63671575e-03 9.99989065e-01 6.09545541e-04 -6.61816523e+00] [ 6.11023904e-03 -6.37872455e-04 9.99981129e-01 -2.22593095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.039928851 meters 0.10033235612653667 Centerline is valid? [True, False] Translation: X:70.54, Y:-6.62, Z:-2.23 [[ 9.99972867e-01 -4.66683511e-03 -5.69965636e-03 7.05370455e+01] [ 4.67326715e-03 9.99988458e-01 1.11569869e-03 -6.61978369e+00] [ 5.69438379e-03 -1.14230444e-03 9.99983134e-01 -2.22595641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.099928851 meters 0.10131840834626112 Centerline is valid? [False, False] Translation: X:70.54, Y:-6.62, Z:-2.23 [[ 9.99974787e-01 -4.35931927e-03 -5.60555318e-03 7.05370190e+01] [ 4.36930201e-03 9.99988888e-01 1.76985410e-03 -6.62171445e+00] [ 5.59777553e-03 -1.79430183e-03 9.99982723e-01 -2.22618903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.159928851 meters 0.10444387264385564 Centerline is valid? [False, False] Translation: X:70.54, Y:-6.62, Z:-2.23 [[ 9.99975592e-01 -4.20157949e-03 -5.58232098e-03 7.05369569e+01] [ 4.21292807e-03 9.99989080e-01 2.02274914e-03 -6.62271575e+00] [ 5.57376128e-03 -2.04621769e-03 9.99982373e-01 -2.22613069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.219928851 meters 0.09853172898734716 Centerline is valid? [False, True] Translation: X:70.54, Y:-6.62, Z:-2.23 [[ 9.99975253e-01 -4.14613310e-03 -5.68353796e-03 7.05372449e+01] [ 4.15772667e-03 9.99989297e-01 2.02955555e-03 -6.62245726e+00] [ 5.67506232e-03 -2.05313592e-03 9.99981789e-01 -2.22622785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.279928851 meters 0.0983501407570712 Centerline is valid? [True, True] Translation: X:70.60, Y:-6.63, Z:-2.23 [[ 9.99981769e-01 -2.34114221e-03 -5.56605327e-03 7.05966912e+01] [ 2.34440942e-03 9.99997083e-01 5.80537066e-04 -6.62668330e+00] [ 5.56467792e-03 -5.93575590e-04 9.99984341e-01 -2.22711466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.339928851 meters 0.10207792146084714 Centerline is valid? [True, False] Translation: X:70.60, Y:-6.63, Z:-2.23 [[ 9.99982145e-01 -2.24002181e-03 -5.54003556e-03 7.05966129e+01] [ 2.24423834e-03 9.99997197e-01 7.55002492e-04 -6.62729556e+00] [ 5.53832881e-03 -7.67422172e-04 9.99984369e-01 -2.22708011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.399928851 meters 0.10278052654140957 Centerline is valid? [False, False] Translation: X:70.60, Y:-6.63, Z:-2.23 [[ 9.99982906e-01 -2.00792349e-03 -5.49151931e-03 7.05967669e+01] [ 2.01435206e-03 9.99997292e-01 1.16535625e-03 -6.62808713e+00] [ 5.48916449e-03 -1.17639818e-03 9.99984242e-01 -2.22742387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.459928851 meters 0.09673043955743661 Centerline is valid? [False, True] Translation: X:70.60, Y:-6.63, Z:-2.23 [[ 9.99983809e-01 -1.85528529e-03 -5.37955394e-03 7.05967491e+01] [ 1.86347599e-03 9.99997112e-01 1.51794792e-03 -6.62896890e+00] [ 5.37672218e-03 -1.52794801e-03 9.99984378e-01 -2.22772506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.519928851 meters 0.10297938087734791 Centerline is valid? [True, False] Translation: X:70.60, Y:-6.63, Z:-2.23 [[ 9.99986647e-01 -1.73346930e-03 -4.86826265e-03 7.05958027e+01] [ 1.74448204e-03 9.99995927e-01 2.25881567e-03 -6.63190434e+00] [ 4.86432723e-03 -2.26727811e-03 9.99985599e-01 -2.22782656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.579928851 meters 0.09980149685971919 Centerline is valid? [False, True] Translation: X:70.60, Y:-6.63, Z:-2.23 [[ 9.99972352e-01 -5.48107732e-03 -5.02521580e-03 7.05959126e+01] [ 5.47531534e-03 9.99984338e-01 -1.15965499e-03 -6.63475188e+00] [ 5.03149326e-03 1.13210828e-03 9.99986701e-01 -2.22743014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.639928851 meters 0.10108492657665266 Centerline is valid? [True, False] Translation: X:70.60, Y:-6.64, Z:-2.23 [[ 9.99976464e-01 -5.03104499e-03 -4.66479982e-03 7.05955183e+01] [ 5.03155134e-03 9.99987337e-01 9.68158190e-05 -6.63822409e+00] [ 4.66425367e-03 -1.20284720e-04 9.99989115e-01 -2.22792038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.699928851 meters 0.1020638164475487 Centerline is valid? [False, False] Translation: X:70.59, Y:-6.64, Z:-2.23 [[ 9.99979998e-01 -4.65654518e-03 -4.28030004e-03 7.05947200e+01] [ 4.66168156e-03 9.99988425e-01 1.19081117e-03 -6.64227807e+00] [ 4.27470543e-03 -1.21074074e-03 9.99990130e-01 -2.22782920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.759928851 meters 0.10016920127245953 Centerline is valid? [False, False] Translation: X:70.59, Y:-6.64, Z:-2.23 [[ 9.99981861e-01 -4.22774974e-03 -4.28998561e-03 7.05947852e+01] [ 4.23592908e-03 9.99989225e-01 1.89932295e-03 -6.64457398e+00] [ 4.28190952e-03 -1.91746057e-03 9.99988994e-01 -2.22786503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.819928851 meters 0.10251685664170719 Centerline is valid? [False, False] Translation: X:70.60, Y:-6.65, Z:-2.23 [[ 9.99983795e-01 -3.67956162e-03 -4.34402353e-03 7.05950711e+01] [ 3.69147772e-03 9.99989437e-01 2.73827820e-03 -6.64707839e+00] [ 4.33390198e-03 -2.75426969e-03 9.99986816e-01 -2.22806708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.879928851 meters 0.10049090919243718 Centerline is valid? [False, False] Translation: X:70.60, Y:-6.65, Z:-2.23 [[ 9.99984382e-01 -3.07490895e-03 -4.66692221e-03 7.05957947e+01] [ 3.09086735e-03 9.99989388e-01 3.41611942e-03 -6.64911000e+00] [ 4.65636843e-03 -3.43049091e-03 9.99983275e-01 -2.22807203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.939928851 meters 0.09792546275055398 Centerline is valid? [False, True] Translation: X:70.60, Y:-6.65, Z:-2.23 [[ 9.99983730e-01 -2.64289688e-03 -5.05511038e-03 7.05965923e+01] [ 2.66170631e-03 9.99989547e-01 3.71777271e-03 -6.64996066e+00] [ 5.04523185e-03 -3.73116744e-03 9.99980312e-01 -2.22802051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.99992885099999 meters 0.09342629230706716 Centerline is valid? [True, True] Translation: X:70.66, Y:-6.65, Z:-2.23 [[ 9.99971631e-01 4.77808436e-03 -5.82305497e-03 7.06570834e+01] [-4.77462439e-03 9.99988417e-01 6.07942861e-04 -6.64755218e+00] [ 5.82589232e-03 -5.80122714e-04 9.99982861e-01 -2.22775631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.059928851 meters 0.08916377215872646 Centerline is valid? [True, True] Translation: X:70.72, Y:-6.65, Z:-2.23 [[ 9.99901327e-01 1.32415754e-02 -4.69008433e-03 7.07184665e+01] [-1.32394229e-02 9.99912235e-01 4.89704379e-04 -6.64548463e+00] [ 4.69615716e-03 -4.27562048e-04 9.99988882e-01 -2.22714238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.119928851 meters 0.08788201774227779 Centerline is valid? [True, True] Translation: X:70.78, Y:-6.65, Z:-2.23 [[ 9.99804248e-01 1.93299455e-02 -4.22116722e-03 7.07772504e+01] [-1.93282558e-02 9.99813095e-01 4.40717986e-04 -6.65012690e+00] [ 4.22889731e-03 -3.59043915e-04 9.99990994e-01 -2.22867918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.179928851 meters 0.0865816042557152 Centerline is valid? [True, True] Translation: X:70.84, Y:-6.66, Z:-2.23 [[ 9.99622808e-01 2.71779798e-02 -3.94951184e-03 7.08369404e+01] [-2.71765612e-02 9.99630564e-01 4.12408450e-04 -6.65511420e+00] [ 3.95926117e-03 -3.04918743e-04 9.99992116e-01 -2.23062245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.239928851 meters 0.08076699229870228 Centerline is valid? [True, True] Translation: X:70.90, Y:-6.65, Z:-2.23 [[ 9.99420263e-01 3.37029060e-02 -4.82196633e-03 7.08985105e+01] [-3.37008668e-02 9.99431838e-01 5.03542226e-04 -6.64842178e+00] [ 4.83619751e-03 -3.40745859e-04 9.99988247e-01 -2.22977474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.299928851 meters 0.08011388244690684 Centerline is valid? [True, True] Translation: X:70.96, Y:-6.65, Z:-2.23 [[ 9.99051052e-01 4.31428003e-02 -5.97452128e-03 7.09581527e+01] [-4.31398379e-02 9.99068849e-01 6.23894735e-04 -6.65420604e+00] [ 5.99587466e-03 -3.65562812e-04 9.99981958e-01 -2.23369193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.35992885099999 meters 0.07807169662251391 Centerline is valid? [True, True] Translation: X:71.02, Y:-6.65, Z:-2.23 [[ 9.98691032e-01 5.07296913e-02 -6.53612670e-03 7.10189464e+01] [-5.07263081e-02 9.98712359e-01 6.82456673e-04 -6.65474692e+00] [ 6.56233133e-03 -3.50009782e-04 9.99978406e-01 -2.23472568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.419928851 meters 0.07734681748632198 Centerline is valid? [True, True] Translation: X:71.08, Y:-6.66, Z:-2.23 [[ 9.98497055e-01 5.43826496e-02 -6.79400906e-03 7.10784635e+01] [-5.43790833e-02 9.98520111e-01 7.08690635e-04 -6.65870053e+00] [ 6.82249516e-03 -3.38173528e-04 9.99976669e-01 -2.23456712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.479928851 meters 0.07609940261994673 Centerline is valid? [True, True] Translation: X:71.14, Y:-6.66, Z:-2.24 [[ 9.97929245e-01 6.38955684e-02 -7.38772273e-03 7.11386705e+01] [-6.38916111e-02 9.97956546e-01 7.70671277e-04 -6.65929090e+00] [ 7.42186874e-03 -2.97061898e-04 9.99972413e-01 -2.23641021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.539928851 meters 0.0752762416315439 Centerline is valid? [True, True] Translation: X:71.20, Y:-6.66, Z:-2.24 [[ 9.97618816e-01 6.84063652e-02 -8.79017423e-03 7.11983279e+01] [-6.84009411e-02 9.97657492e-01 9.16576174e-04 -6.66243101e+00] [ 8.83228282e-03 -3.13137448e-04 9.99960946e-01 -2.23735614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.599928851 meters 0.07505630676848223 Centerline is valid? [True, True] Translation: X:71.26, Y:-6.67, Z:-2.24 [[ 9.97386416e-01 7.16535869e-02 -9.27901051e-03 7.12569690e+01] [-7.16476937e-02 9.97429533e-01 9.66411226e-04 -6.66899645e+00] [ 9.32440595e-03 -2.99065727e-04 9.99956482e-01 -2.23915101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.659928851 meters 0.07477269439677997 Centerline is valid? [True, True] Translation: X:71.32, Y:-6.67, Z:-2.24 [[ 9.97358989e-01 7.20735269e-02 -8.96964961e-03 7.13156492e+01] [-7.20680826e-02 9.97399282e-01 9.29132886e-04 -6.67404605e+00] [ 9.01328797e-03 -2.80253586e-04 9.99959340e-01 -2.23934637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.719928851 meters 0.0750454086172776 Centerline is valid? [True, True] Translation: X:71.37, Y:-6.68, Z:-2.24 [[ 9.97408170e-01 7.14005775e-02 -8.88259364e-03 7.13727008e+01] [-7.13951955e-02 9.97447681e-01 9.21926015e-04 -6.68424497e+00] [ 8.92574848e-03 -2.85362029e-04 9.99960124e-01 -2.24088759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.779928851 meters 0.07530642073093374 Centerline is valid? [True, True] Translation: X:71.43, Y:-6.69, Z:-2.24 [[ 9.97560095e-01 6.90221586e-02 -1.04784665e-02 7.14313285e+01] [-6.90145416e-02 9.97615062e-01 1.08721722e-03 -6.69350039e+00] [ 1.05285180e-02 -3.61397952e-04 9.99944508e-01 -2.24055077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.839928851 meters 0.07694005357399243 Centerline is valid? [True, True] Translation: X:71.49, Y:-6.71, Z:-2.24 [[ 9.98044116e-01 6.16056342e-02 -1.06155050e-02 7.14892711e+01] [-6.15973898e-02 9.98100469e-01 1.10215630e-03 -6.71165765e+00] [ 1.06632395e-02 -4.46113211e-04 9.99943047e-01 -2.24349377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.899928851 meters 0.0796922436700946 Centerline is valid? [True, True] Translation: X:71.55, Y:-6.73, Z:-2.25 [[ 9.98485491e-01 5.41568220e-02 -9.68312103e-03 7.15462407e+01] [-5.41496182e-02 9.98532328e-01 1.00478516e-03 -6.73299642e+00] [ 9.72332535e-03 -4.78926095e-04 9.99952613e-01 -2.24755232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.959928851 meters 0.0790962040781455 Centerline is valid? [True, True] Translation: X:71.61, Y:-6.74, Z:-2.25 [[ 9.98667815e-01 5.05426769e-02 -1.03939158e-02 7.16055689e+01] [-5.05341799e-02 9.98721750e-01 1.07867417e-03 -6.73962568e+00] [ 1.04351489e-02 -5.51989159e-04 9.99945400e-01 -2.24655433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.019928851 meters 0.0805639105389336 Centerline is valid? [True, True] Translation: X:71.66, Y:-6.75, Z:-2.25 [[ 9.98773250e-01 4.81277887e-02 -1.16494995e-02 7.16633429e+01] [-4.81169582e-02 9.98840977e-01 1.20835483e-03 -6.75493776e+00] [ 1.16941529e-02 -6.46334001e-04 9.99931412e-01 -2.24965256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.079928851 meters 0.07950370709937728 Centerline is valid? [True, True] Translation: X:71.72, Y:-6.76, Z:-2.25 [[ 9.98830975e-01 4.68797290e-02 -1.17887483e-02 7.17220306e+01] [-4.68686248e-02 9.98900321e-01 1.21659870e-03 -6.75938906e+00] [ 1.18328182e-02 -6.62654041e-04 9.99929770e-01 -2.24868750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.139928851 meters 0.0788242640468533 Centerline is valid? [True, True] Translation: X:71.78, Y:-6.76, Z:-2.25 [[ 9.98860442e-01 4.57155761e-02 -1.37077780e-02 7.17811365e+01] [-4.57004112e-02 9.98954184e-01 1.41766971e-03 -6.76327043e+00] [ 1.37582518e-02 -7.89603102e-04 9.99905039e-01 -2.24706613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.199928851 meters 0.0795546500278246 Centerline is valid? [True, True] Translation: X:71.84, Y:-6.77, Z:-2.25 [[ 9.98868138e-01 4.52056797e-02 -1.47949336e-02 7.18379660e+01] [-4.51880043e-02 9.98977333e-01 1.52698633e-03 -6.77159422e+00] [ 1.48488317e-02 -8.56704475e-04 9.99889383e-01 -2.24884394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.259928851 meters 0.07977684216490674 Centerline is valid? [True, True] Translation: X:71.90, Y:-6.78, Z:-2.25 [[ 9.98920465e-01 4.37099115e-02 -1.57273344e-02 7.18973710e+01] [-4.36897344e-02 9.99043827e-01 1.62440490e-03 -6.77642782e+00] [ 1.57832990e-02 -9.35528232e-04 9.99874998e-01 -2.25053205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.319928851 meters 0.07997347320715299 Centerline is valid? [True, True] Translation: X:71.96, Y:-6.78, Z:-2.25 [[ 9.98938138e-01 4.30947050e-02 -1.62924445e-02 7.19555288e+01] [-4.30730893e-02 9.99070519e-01 1.67547933e-03 -6.78125288e+00] [ 1.63495053e-02 -9.71934288e-04 9.99865866e-01 -2.25071885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.379928851 meters 0.08126180519752048 Centerline is valid? [True, True] Translation: X:72.01, Y:-6.79, Z:-2.25 [[ 9.99009123e-01 4.10619627e-02 -1.71664485e-02 7.20136921e+01] [-4.10376229e-02 9.99156038e-01 1.76788676e-03 -6.78723110e+00] [ 1.72245536e-02 -1.06166476e-03 9.99851083e-01 -2.25313592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.439928851 meters 0.08218669113667544 Centerline is valid? [True, True] Translation: X:72.07, Y:-6.79, Z:-2.25 [[ 9.99113975e-01 3.87980680e-02 -1.63087456e-02 7.20729996e+01] [-3.87758046e-02 9.99246525e-01 1.67924355e-03 -6.79332665e+00] [ 1.63616088e-02 -1.04537097e-03 9.99865593e-01 -2.25389008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.49992885099999 meters 0.0835934650742359 Centerline is valid? [True, True] Translation: X:72.13, Y:-6.80, Z:-2.25 [[ 9.99279031e-01 3.51670680e-02 -1.43071763e-02 7.21327850e+01] [-3.51495642e-02 9.99380977e-01 1.47312919e-03 -6.80108203e+00] [ 1.43501255e-02 -9.69176098e-04 9.99896562e-01 -2.25477204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.559928851 meters 0.08498046714371199 Centerline is valid? [True, True] Translation: X:72.19, Y:-6.81, Z:-2.26 [[ 9.99374591e-01 3.24797219e-02 -1.39819496e-02 7.21921677e+01] [-3.24627464e-02 9.99471910e-01 1.43941247e-03 -6.80960317e+00] [ 1.40213176e-02 -9.84619765e-04 9.99901212e-01 -2.25639297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.619928851 meters 0.08730744174349865 Centerline is valid? [True, True] Translation: X:72.25, Y:-6.82, Z:-2.26 [[ 9.99531714e-01 2.77941189e-02 -1.27999501e-02 7.22523286e+01] [-2.77795068e-02 9.99613206e-01 1.31799212e-03 -6.81794266e+00] [ 1.28316316e-02 -9.61798623e-04 9.99917209e-01 -2.25829689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.679928851 meters 0.08888477060204385 Centerline is valid? [True, True] Translation: X:72.31, Y:-6.82, Z:-2.26 [[ 9.99613240e-01 2.50272797e-02 -1.21246162e-02 7.23116491e+01] [-2.50139723e-02 9.99686323e-01 1.24798591e-03 -6.82484183e+00] [ 1.21520467e-02 -9.44218428e-04 9.99925715e-01 -2.25980578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.739928851 meters 0.08601192373459404 Centerline is valid? [True, True] Translation: X:72.37, Y:-6.82, Z:-2.26 [[ 9.99714315e-01 2.13404808e-02 -1.07643801e-02 7.23730145e+01] [-2.13297781e-02 9.99771880e-01 1.10811190e-03 -6.81778019e+00] [ 1.07855722e-02 -8.78193492e-04 9.99941448e-01 -2.25713060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.799928851 meters 0.08647360259989716 Centerline is valid? [True, True] Translation: X:72.43, Y:-6.82, Z:-2.26 [[ 9.99741024e-01 1.99699407e-02 -1.09127045e-02 7.24321771e+01] [-1.99588746e-02 9.99800172e-01 1.12203380e-03 -6.82109415e+00] [ 1.09329308e-02 -9.03937921e-04 9.99939825e-01 -2.25874983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.85992885099999 meters 0.09047452320304694 Centerline is valid? [True, True] Translation: X:72.49, Y:-6.83, Z:-2.26 [[ 9.99772673e-01 1.89681541e-02 -9.73709180e-03 7.24892028e+01] [-1.89593108e-02 9.99819756e-01 9.99711667e-04 -6.82847022e+00] [ 9.75429944e-03 -8.14875855e-04 9.99952094e-01 -2.26191645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.919928851 meters 0.08943141284600008 Centerline is valid? [True, True] Translation: X:72.55, Y:-6.83, Z:-2.26 [[ 9.99761629e-01 1.96166998e-02 -9.58494628e-03 7.25489670e+01] [-1.96081597e-02 9.99807257e-01 9.84163099e-04 -6.82592804e+00] [ 9.60240488e-03 -7.95985346e-04 9.99953579e-01 -2.26198832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.979928851 meters 0.08908484093639342 Centerline is valid? [True, True] Translation: X:72.61, Y:-6.82, Z:-2.26 [[ 9.99704333e-01 2.29819356e-02 -7.94208545e-03 7.26102043e+01] [-2.29761730e-02 9.99735680e-01 8.16064935e-04 -6.82379950e+00] [ 7.95874095e-03 -6.33344923e-04 9.99968128e-01 -2.26386877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.039928851 meters 0.08679438638109903 Centerline is valid? [True, True] Translation: X:72.67, Y:-6.82, Z:-2.27 [[ 9.99678991e-01 2.38687328e-02 -8.49699459e-03 7.26698966e+01] [-2.38621827e-02 9.99714878e-01 8.71436425e-04 -6.81947365e+00] [ 8.51537199e-03 -6.68399849e-04 9.99963520e-01 -2.26512685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.099928851 meters 0.08686600178767986 Centerline is valid? [True, True] Translation: X:72.73, Y:-6.82, Z:-2.27 [[ 9.99685000e-01 2.36545614e-02 -8.38820374e-03 7.27292361e+01] [-2.36481754e-02 9.99719973e-01 8.59690212e-04 -6.81746753e+00] [ 8.40619041e-03 -6.61053697e-04 9.99964449e-01 -2.26713917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.159928851 meters 0.08895422672551008 Centerline is valid? [True, True] Translation: X:72.79, Y:-6.82, Z:-2.27 [[ 9.99748466e-01 2.18681168e-02 -4.97891824e-03 7.27868068e+01] [-2.18658506e-02 9.99760784e-01 5.09133193e-04 -6.82098687e+00] [ 4.98886099e-03 -4.00136846e-04 9.99987475e-01 -2.26841185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.219928851 meters 0.09039309779882174 Centerline is valid? [True, True] Translation: X:72.84, Y:-6.83, Z:-2.27 [[ 9.99789686e-01 2.03199516e-02 -2.77194187e-03 7.28448335e+01] [-2.03192456e-02 9.99793503e-01 2.82607339e-04 -6.82704803e+00] [ 2.77711204e-03 -2.26224135e-04 9.99996118e-01 -2.26915984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.279928851 meters 0.09267981528768965 Centerline is valid? [True, True] Translation: X:72.90, Y:-6.83, Z:-2.27 [[ 9.99849748e-01 1.72783563e-02 -1.39253964e-03 7.29042972e+01] [-1.72781745e-02 9.99850711e-01 1.42481125e-04 -6.83263697e+00] [ 1.39479359e-03 -1.18399174e-04 9.99999020e-01 -2.27132199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.339928851 meters 0.09375070888296348 Centerline is valid? [True, True] Translation: X:72.96, Y:-6.84, Z:-2.27 [[ 9.99857841e-01 1.68381754e-02 -8.79729270e-04 7.29624053e+01] [-1.68381036e-02 9.99858225e-01 8.89699790e-05 -6.83908230e+00] [ 8.81102639e-04 -7.41443586e-05 9.99999609e-01 -2.27324641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.399928851 meters 0.09455641160985484 Centerline is valid? [True, True] Translation: X:73.02, Y:-6.84, Z:-2.28 [[ 9.99881738e-01 1.52299245e-02 -2.13516135e-03 7.30223270e+01] [-1.52294929e-02 9.99884001e-01 2.18234386e-04 -6.84301741e+00] [ 2.13823737e-03 -1.85691152e-04 9.99997697e-01 -2.27534793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.459928851 meters 0.0926688893805883 Centerline is valid? [True, True] Translation: X:73.08, Y:-6.84, Z:-2.28 [[ 9.99895358e-01 1.39442745e-02 -3.85111913e-03 7.30823023e+01] [-1.39428616e-02 9.99902716e-01 3.93500556e-04 -6.84114398e+00] [ 3.85623156e-03 -3.39763758e-04 9.99992507e-01 -2.27853038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.519928851 meters 0.09361924096873894 Centerline is valid? [True, True] Translation: X:73.14, Y:-6.85, Z:-2.28 [[ 9.99897501e-01 1.37638499e-02 -3.94249958e-03 7.31411215e+01] [-1.37623710e-02 9.99905213e-01 4.02011895e-04 -6.84646665e+00] [ 3.94765911e-03 -3.47712548e-04 9.99992148e-01 -2.27985964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.579928851 meters 0.09071914936104018 Centerline is valid? [True, True] Translation: X:73.20, Y:-6.84, Z:-2.28 [[ 9.99874628e-01 1.53235499e-02 -3.98973945e-03 7.32019775e+01] [-1.53220445e-02 9.99882527e-01 4.07622793e-04 -6.84171098e+00] [ 3.99551699e-03 -3.46440723e-04 9.99991958e-01 -2.27966273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.639928851 meters 0.09185563348536833 Centerline is valid? [True, True] Translation: X:73.26, Y:-6.85, Z:-2.28 [[ 9.99850148e-01 1.71306771e-02 -2.49446799e-03 7.32609721e+01] [-1.71300954e-02 9.99853237e-01 2.54370328e-04 -6.84679564e+00] [ 2.49845943e-03 -2.11601735e-04 9.99996856e-01 -2.28149461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.699928851 meters 0.09072371938390628 Centerline is valid? [True, True] Translation: X:73.32, Y:-6.85, Z:-2.28 [[ 9.99874882e-01 1.57606748e-02 -1.34930491e-03 7.33207182e+01] [-1.57605038e-02 9.99875786e-01 1.37276499e-04 -6.84890828e+00] [ 1.35130088e-03 -1.15993598e-04 9.99999080e-01 -2.28183784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.759928851 meters 0.0917875116218709 Centerline is valid? [True, True] Translation: X:73.38, Y:-6.86, Z:-2.28 [[ 9.99897025e-01 1.43130112e-02 -1.03814578e-03 7.33801880e+01] [-1.43129094e-02 9.99897560e-01 1.05449830e-04 -6.85641558e+00] [ 1.03954873e-03 -9.05800845e-05 9.99999456e-01 -2.28226962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.819928851 meters 0.09488090531488365 Centerline is valid? [True, True] Translation: X:73.44, Y:-6.87, Z:-2.29 [[ 9.99922863e-01 1.23707175e-02 -1.11025428e-03 7.34388158e+01] [-1.23705995e-02 9.99923475e-01 1.13091366e-04 -6.86903078e+00] [ 1.11156834e-03 -9.93481314e-05 9.99999377e-01 -2.28502664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.879928851 meters 0.09611300646511235 Centerline is valid? [True, True] Translation: X:73.50, Y:-6.88, Z:-2.29 [[ 9.99932436e-01 1.15914186e-02 -8.72900345e-04 7.34972945e+01] [-1.15913462e-02 9.99932814e-01 8.79465885e-05 -6.87775910e+00] [ 8.73861124e-04 -7.78225564e-05 9.99999615e-01 -2.28665253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.939928851 meters 0.09625469648266582 Centerline is valid? [True, True] Translation: X:73.56, Y:-6.88, Z:-2.29 [[ 9.99938136e-01 1.10417740e-02 -1.34316496e-03 7.35558416e+01] [-1.10416014e-02 9.99939030e-01 1.35847514e-04 -6.88318223e+00] [ 1.34458307e-03 -1.21008417e-04 9.99999089e-01 -2.28801121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.99992885099999 meters 0.09552387235088662 Centerline is valid? [True, True] Translation: X:73.62, Y:-6.89, Z:-2.29 [[ 9.99949850e-01 9.83084966e-03 -1.91112635e-03 7.36154448e+01] [-9.83049618e-03 9.99951661e-01 1.94264527e-04 -6.88910116e+00] [ 1.91294375e-03 -1.75467464e-04 9.99998155e-01 -2.28917360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.059928851 meters 0.09821560364137498 Centerline is valid? [True, True] Translation: X:73.67, Y:-6.90, Z:-2.29 [[ 9.99962885e-01 8.28594005e-03 -2.36031608e-03 7.36736754e+01] [-8.28539806e-03 9.99965647e-01 2.39311087e-04 -6.90216380e+00] [ 2.36221791e-03 -2.19746047e-04 9.99997186e-01 -2.29105246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.119928851 meters 0.095398416129968 Centerline is valid? [True, True] Translation: X:73.73, Y:-6.90, Z:-2.29 [[ 9.99968206e-01 7.75116437e-03 -1.87255583e-03 7.37325400e+01] [-7.75082304e-03 9.99969944e-01 1.89469641e-04 -6.90367127e+00] [ 1.87396816e-03 -1.74949768e-04 9.99998229e-01 -2.28939439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.179928851 meters 0.0968941438166433 Centerline is valid? [True, True] Translation: X:73.79, Y:-6.92, Z:-2.29 [[ 9.99949980e-01 9.86713874e-03 -1.63645024e-03 7.37906457e+01] [-9.86688022e-03 9.99951307e-01 1.65976593e-04 -6.91507727e+00] [ 1.63800827e-03 -1.49821632e-04 9.99998647e-01 -2.29143277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.239928851 meters 0.09351224790961325 Centerline is valid? [True, True] Translation: X:73.85, Y:-6.92, Z:-2.29 [[ 9.99929992e-01 1.16148702e-02 -2.25960695e-03 7.38509441e+01] [-1.16143807e-02 9.99932524e-01 2.29647390e-04 -6.91619409e+00] [ 2.26212181e-03 -2.03387377e-04 9.99997421e-01 -2.29142454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.299928851 meters 0.09413478404778838 Centerline is valid? [True, True] Translation: X:73.91, Y:-6.92, Z:-2.29 [[ 9.99864417e-01 1.61591871e-02 -3.16671338e-03 7.39090955e+01] [-1.61582498e-02 9.99869395e-01 3.21332820e-04 -6.92475795e+00] [ 3.17149226e-03 -2.70120707e-04 9.99994934e-01 -2.29344298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.35992885099999 meters 0.08869762943914336 Centerline is valid? [True, True] Translation: X:73.97, Y:-6.92, Z:-2.29 [[ 9.99840593e-01 1.76760853e-02 -2.51889294e-03 7.39698749e+01] [-1.76754964e-02 9.99843743e-01 2.55868661e-04 -6.92288512e+00] [ 2.52302211e-03 -2.11305190e-04 9.99996795e-01 -2.29106715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.419928851 meters 0.08841511209181543 Centerline is valid? [True, True] Translation: X:74.03, Y:-6.93, Z:-2.29 [[ 9.99854647e-01 1.63721434e-02 -4.75791385e-03 7.40285712e+01] [-1.63700303e-02 9.99865886e-01 4.82725369e-04 -6.93225884e+00] [ 4.76517900e-03 -4.04768010e-04 9.99988565e-01 -2.29214573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.479928851 meters 0.08996016089711899 Centerline is valid? [True, True] Translation: X:74.09, Y:-6.94, Z:-2.29 [[ 9.99867082e-01 1.49932881e-02 -6.40462632e-03 7.40867717e+01] [-1.49894312e-02 9.99887441e-01 6.49788346e-04 -6.94411890e+00] [ 6.41364788e-03 -5.53700272e-04 9.99979279e-01 -2.29432103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.539928851 meters 0.09033226871531833 Centerline is valid? [True, True] Translation: X:74.15, Y:-6.95, Z:-2.30 [[ 9.99883894e-01 1.39304854e-02 -6.17579999e-03 7.41460508e+01] [-1.39268788e-02 9.99902820e-01 6.26617517e-04 -6.95406572e+00] [ 6.18392891e-03 -5.40535145e-04 9.99980733e-01 -2.29540706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.599928851 meters 0.09084872282729457 Centerline is valid? [True, True] Translation: X:74.20, Y:-6.97, Z:-2.30 [[ 9.99882259e-01 1.38958547e-02 -6.50943016e-03 7.42040346e+01] [-1.38918536e-02 9.99903286e-01 6.59484181e-04 -6.96602804e+00] [ 6.51796471e-03 -5.68978482e-04 9.99978596e-01 -2.29538890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.659928851 meters 0.08887784842350463 Centerline is valid? [True, True] Translation: X:74.26, Y:-6.97, Z:-2.29 [[ 9.99870496e-01 1.48733581e-02 -6.14604050e-03 7.42629775e+01] [-1.48698127e-02 9.99889245e-01 6.22154038e-04 -6.97007978e+00] [ 6.15461332e-03 -5.30682996e-04 9.99980919e-01 -2.29461708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.719928851 meters 0.08903558252349301 Centerline is valid? [True, True] Translation: X:74.32, Y:-6.98, Z:-2.29 [[ 9.99883242e-01 1.42665249e-02 -5.47441378e-03 7.43204331e+01] [-1.42637122e-02 9.99898115e-01 5.52488684e-04 -6.98167134e+00] [ 5.48173811e-03 -4.74338714e-04 9.99984863e-01 -2.29438747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.779928851 meters 0.09413551751387435 Centerline is valid? [True, True] Translation: X:74.38, Y:-7.00, Z:-2.30 [[ 9.99896438e-01 1.19156548e-02 -8.07032497e-03 7.43773289e+01] [-1.19094317e-02 9.99928745e-01 8.18733179e-04 -7.00442403e+00] [ 8.07950567e-03 -7.22535406e-04 9.99967099e-01 -2.29938331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.839928851 meters 0.08977144326134913 Centerline is valid? [True, True] Translation: X:74.44, Y:-7.01, Z:-2.30 [[ 9.99892812e-01 1.07888396e-02 -9.89776959e-03 7.44374133e+01] [-1.07794435e-02 9.99941398e-01 1.00217080e-03 -7.00508531e+00] [ 9.90800182e-03 -8.95370929e-04 9.99950514e-01 -2.29917850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.899928851 meters 0.09192952061149819 Centerline is valid? [True, True] Translation: X:74.49, Y:-7.02, Z:-2.30 [[ 9.99892892e-01 8.98447454e-03 -1.15535498e-02 7.44947819e+01] [-8.97155548e-03 9.99959071e-01 1.16953333e-03 -7.02146483e+00] [ 1.15635845e-02 -1.06575475e-03 9.99932572e-01 -2.30213523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.959928851 meters 0.09324793422114956 Centerline is valid? [True, True] Translation: X:74.55, Y:-7.03, Z:-2.30 [[ 9.99904959e-01 7.28300125e-03 -1.17060150e-02 7.45536142e+01] [-7.26962253e-03 9.99972874e-01 1.18503751e-03 -7.03479856e+00] [ 1.17143281e-02 -1.09982658e-03 9.99930780e-01 -2.30299245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.019928851 meters 0.09148629572063945 Centerline is valid? [True, True] Translation: X:74.61, Y:-7.04, Z:-2.30 [[ 9.99921950e-01 4.76646778e-03 -1.15487990e-02 7.46129652e+01] [-4.75328434e-03 9.99988020e-01 1.16872197e-03 -7.04372230e+00] [ 1.15542313e-02 -1.11373602e-03 9.99932627e-01 -2.30179483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.079928851 meters 0.09262285703361052 Centerline is valid? [True, True] Translation: X:74.67, Y:-7.05, Z:-2.30 [[ 9.99932550e-01 3.94936115e-03 -1.09223785e-02 7.46703643e+01] [-3.93754276e-03 9.99991639e-01 1.10332697e-03 -7.05444273e+00] [ 1.09266446e-02 -1.06024522e-03 9.99939740e-01 -2.30326745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.139928851 meters 0.09296238863803198 Centerline is valid? [True, True] Translation: X:74.73, Y:-7.07, Z:-2.31 [[ 9.99933997e-01 3.70668315e-03 -1.08748408e-02 7.47287626e+01] [-3.69495814e-03 9.99992571e-01 1.09807109e-03 -7.06559855e+00] [ 1.08788302e-02 -1.05781653e-03 9.99940264e-01 -2.30503873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.199928851 meters 0.09228945593981466 Centerline is valid? [True, True] Translation: X:74.79, Y:-7.07, Z:-2.31 [[ 9.99937721e-01 4.58069468e-03 -1.01770337e-02 7.47868484e+01] [-4.57047867e-03 9.99989028e-01 1.02686082e-03 -7.07274597e+00] [ 1.01816258e-02 -9.80282956e-04 9.99947685e-01 -2.30648970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.259928851 meters 0.09214404389746207 Centerline is valid? [True, True] Translation: X:74.85, Y:-7.08, Z:-2.31 [[ 9.99928587e-01 5.06185921e-03 -1.08258373e-02 7.48457737e+01] [-5.05032912e-03 9.99986651e-01 1.09212591e-03 -7.07932486e+00] [ 1.08312209e-02 -1.03737388e-03 9.99940803e-01 -2.30766664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.319928851 meters 0.09593126508295509 Centerline is valid? [True, True] Translation: X:74.90, Y:-7.09, Z:-2.31 [[ 9.99925322e-01 7.25922852e-03 -9.83125692e-03 7.49038470e+01] [-7.24982274e-03 9.99973228e-01 9.92023589e-04 -7.09351495e+00] [ 9.83819504e-03 -9.20674637e-04 9.99951180e-01 -2.31185077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.379928851 meters 0.09114477679320784 Centerline is valid? [True, True] Translation: X:74.96, Y:-7.09, Z:-2.31 [[ 9.99914633e-01 8.72596994e-03 -9.72539868e-03 7.49640691e+01] [-8.71683985e-03 9.99961527e-01 9.80782799e-04 -7.09115608e+00] [ 9.73358280e-03 -8.95924330e-04 9.99952226e-01 -2.31072408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.439928851 meters 0.08849706925912734 Centerline is valid? [True, True] Translation: X:75.02, Y:-7.09, Z:-2.31 [[ 9.99903148e-01 1.10152955e-02 -8.50632538e-03 7.50241709e+01] [-1.10083935e-02 9.99939038e-01 8.57793927e-04 -7.09195736e+00] [ 8.51525567e-03 -7.64069871e-04 9.99963453e-01 -2.31115337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.49992885099999 meters 0.0931278306193053 Centerline is valid? [True, True] Translation: X:75.08, Y:-7.11, Z:-2.32 [[ 9.99903024e-01 1.12344843e-02 -8.22970910e-03 7.50803291e+01] [-1.12280457e-02 9.99936621e-01 8.28147828e-04 -7.10662883e+00] [ 8.23849132e-03 -7.35663968e-04 9.99965792e-01 -2.31553170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.559928851 meters 0.09129865499508391 Centerline is valid? [True, True] Translation: X:75.14, Y:-7.11, Z:-2.32 [[ 9.99922569e-01 9.46750687e-03 -8.07606102e-03 7.51396293e+01] [-9.46124819e-03 9.99954911e-01 8.12822083e-04 -7.10926009e+00] [ 8.08339228e-03 -7.36349527e-04 9.99967058e-01 -2.31568214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.619928851 meters 0.09042040178048669 Centerline is valid? [True, True] Translation: X:75.20, Y:-7.11, Z:-2.32 [[ 9.99945133e-01 7.92871756e-03 -6.84585937e-03 7.51989623e+01] [-7.92418531e-03 9.99968366e-01 6.88913668e-04 -7.11402224e+00] [ 6.85110501e-03 -6.34628012e-04 9.99976330e-01 -2.31564675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.679928851 meters 0.09097341982950466 Centerline is valid? [True, True] Translation: X:75.26, Y:-7.12, Z:-2.32 [[ 9.99963865e-01 5.30833208e-03 -6.64008256e-03 7.52584485e+01] [-5.30400853e-03 9.99985710e-01 6.68569363e-04 -7.12043953e+00] [ 6.64353666e-03 -6.33326150e-04 9.99977731e-01 -2.31606226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.739928851 meters 0.09519036720017635 Centerline is valid? [True, True] Translation: X:75.32, Y:-7.13, Z:-2.32 [[ 9.99967852e-01 3.88829457e-03 -7.01263414e-03 7.53153108e+01] [-3.88344635e-03 9.99992211e-01 7.04839136e-04 -7.13432226e+00] [ 7.01532014e-03 -6.77583288e-04 9.99975163e-01 -2.31879581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.799928851 meters 0.09138258920863843 Centerline is valid? [True, True] Translation: X:75.38, Y:-7.13, Z:-2.32 [[ 9.99949342e-01 3.39081692e-03 -9.47708337e-03 7.53751891e+01] [-3.38194049e-03 9.99993828e-01 9.52489744e-04 -7.13146507e+00] [ 9.48025459e-03 -9.20390561e-04 9.99954638e-01 -2.31838313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.85992885099999 meters 0.09231148050209334 Centerline is valid? [True, True] Translation: X:75.43, Y:-7.14, Z:-2.32 [[ 9.99943684e-01 3.93836421e-03 -9.85489272e-03 7.54338781e+01] [-3.92880123e-03 9.99991793e-01 9.89549921e-04 -7.13769490e+00] [ 9.85870905e-03 -9.50776278e-04 9.99950950e-01 -2.31944114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.919928851 meters 0.09115591302134474 Centerline is valid? [True, True] Translation: X:75.49, Y:-7.14, Z:-2.32 [[ 9.99945423e-01 6.21389839e-03 -8.39875366e-03 7.54940223e+01] [-6.20702467e-03 9.99980380e-01 8.44239963e-04 -7.14012972e+00] [ 8.40383490e-03 -7.92062615e-04 9.99964373e-01 -2.31820038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.979928851 meters 0.0919581250730522 Centerline is valid? [True, True] Translation: X:75.55, Y:-7.15, Z:-2.32 [[ 9.99931266e-01 8.13752365e-03 -8.44065046e-03 7.55533064e+01] [-8.13065585e-03 9.99966586e-01 8.47654581e-04 -7.14676176e+00] [ 8.44726624e-03 -7.78968294e-04 9.99964018e-01 -2.31992124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.039928851 meters 0.08898903037825336 Centerline is valid? [True, True] Translation: X:75.61, Y:-7.14, Z:-2.32 [[ 9.99894435e-01 1.10079798e-02 -9.48381759e-03 7.56144882e+01] [-1.09994326e-02 9.99939050e-01 9.52927702e-04 -7.14386415e+00] [ 9.49372936e-03 -8.48510494e-04 9.99954574e-01 -2.32007916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.099928851 meters 0.08867487910629558 Centerline is valid? [True, True] Translation: X:75.67, Y:-7.15, Z:-2.32 [[ 9.99872175e-01 1.22847503e-02 -1.02332044e-02 7.56736868e+01] [-1.22748787e-02 9.99924134e-01 1.02691907e-03 -7.14780526e+00] [ 1.02450435e-02 -9.01176461e-04 9.99947112e-01 -2.32152445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.159928851 meters 0.09245039584338902 Centerline is valid? [True, True] Translation: X:75.73, Y:-7.16, Z:-2.32 [[ 9.99887113e-01 1.03803929e-02 -1.08632008e-02 7.57322641e+01] [-1.03691532e-02 9.99945644e-01 1.09046311e-03 -7.15973521e+00] [ 1.08739297e-02 -9.77697821e-04 9.99940399e-01 -2.32392692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.219928851 meters 0.0905301501914165 Centerline is valid? [True, True] Translation: X:75.79, Y:-7.16, Z:-2.32 [[ 9.99911544e-01 7.62330818e-03 -1.08990231e-02 7.57931237e+01] [-7.61182924e-03 9.99970431e-01 1.09430366e-03 -7.16151628e+00] [ 1.09070430e-02 -1.01124536e-03 9.99940005e-01 -2.32306367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.279928851 meters 0.09434908400492442 Centerline is valid? [True, True] Translation: X:75.85, Y:-7.17, Z:-2.33 [[ 9.99918200e-01 6.56633756e-04 -1.27734965e-02 7.58524293e+01] [-6.40306833e-04 9.99998973e-01 1.28223514e-03 -7.17408864e+00] [ 1.27743253e-02 -1.27395130e-03 9.99917593e-01 -2.32587763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.339928851 meters 0.09667219798006826 Centerline is valid? [True, True] Translation: X:75.91, Y:-7.18, Z:-2.33 [[ 9.99917118e-01 -4.06332189e-03 -1.22166607e-02 7.59115767e+01] [ 4.07860171e-03 9.99990931e-01 1.22608233e-03 -7.18444945e+00] [ 1.22115680e-02 -1.27580760e-03 9.99924622e-01 -2.32776315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.399928851 meters 0.10115596309286488 Centerline is valid? [True, False] Translation: X:75.91, Y:-7.18, Z:-2.33 [[ 9.99922089e-01 -4.61311586e-03 -1.15988952e-02 7.59103918e+01] [ 4.62483317e-03 9.99988822e-01 9.83589614e-04 -7.18393656e+00] [ 1.15942281e-02 -1.03715594e-03 9.99932247e-01 -2.32788422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.459928851 meters 0.09886479703087497 Centerline is valid? [False, True] Translation: X:75.91, Y:-7.18, Z:-2.33 [[ 9.99922221e-01 -4.80645528e-03 -1.15087082e-02 7.59102379e+01] [ 4.81528596e-03 9.99988133e-01 7.39717418e-04 -7.18297332e+00] [ 1.15050162e-02 -7.95077605e-04 9.99933499e-01 -2.32794842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.519928851 meters 0.12415926895896413 Centerline is valid? [True, False] Translation: X:75.98, Y:-7.19, Z:-2.33 [[ 9.99993345e-01 -1.12956562e-03 -3.46912890e-03 7.59806211e+01] [ 1.12525774e-03 9.99998594e-01 -1.24347471e-03 -7.18965143e+00] [ 3.47052860e-03 1.23956277e-03 9.99993209e-01 -2.33225142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.579928851 meters 0.09895530309865884 Centerline is valid? [False, True] Translation: X:75.92, Y:-7.18, Z:-2.33 [[ 9.99996939e-01 1.30879660e-03 -2.09980631e-03 7.59234708e+01] [-1.30378944e-03 9.99996308e-01 2.38417979e-03 -7.18358615e+00] [ 2.10291896e-03 -2.38143479e-03 9.99994953e-01 -2.33260018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.639928851 meters 0.0971874183485352 Centerline is valid? [True, True] Translation: X:75.98, Y:-7.19, Z:-2.33 [[ 9.99992435e-01 2.99017561e-03 -2.48764118e-03 7.59838634e+01] [-2.98951896e-03 9.99995496e-01 2.67643807e-04 -7.18543568e+00] [ 2.48843028e-03 -2.60204932e-04 9.99996870e-01 -2.33349267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.699928851 meters 0.0984619157938902 Centerline is valid? [True, True] Translation: X:76.04, Y:-7.19, Z:-2.34 [[ 9.99990829e-01 3.17707202e-03 -2.87199899e-03 7.60420312e+01] [-3.17620111e-03 9.99994909e-01 3.07750016e-04 -7.19435927e+00] [ 2.87296211e-03 -2.98625147e-04 9.99995828e-01 -2.33604691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.759928851 meters 0.09642628621513077 Centerline is valid? [True, True] Translation: X:76.10, Y:-7.20, Z:-2.34 [[ 9.99992856e-01 2.25164660e-03 -3.03608643e-03 7.61016298e+01] [-2.25066696e-03 9.99997414e-01 3.26040966e-04 -7.19748804e+00] [ 3.03681270e-03 -3.19205417e-04 9.99995338e-01 -2.33704526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.819928851 meters 0.10280840103904951 Centerline is valid? [True, False] Translation: X:76.10, Y:-7.20, Z:-2.34 [[ 9.99993976e-01 2.20825717e-03 -2.67811981e-03 7.61008404e+01] [-2.20646582e-03 9.99997340e-01 6.71654440e-04 -7.19903397e+00] [ 2.67959587e-03 -6.65741214e-04 9.99996188e-01 -2.33694543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.879928851 meters 0.10426071711459292 Centerline is valid? [False, False] Translation: X:76.10, Y:-7.20, Z:-2.34 [[ 9.99993272e-01 2.55501141e-03 -2.63209133e-03 7.61012343e+01] [-2.55165484e-03 9.99995928e-01 1.27781967e-03 -7.20019932e+00] [ 2.63534546e-03 -1.27109489e-03 9.99995720e-01 -2.33764902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.939928851 meters 0.09970219296703754 Centerline is valid? [False, True] Translation: X:76.10, Y:-7.20, Z:-2.34 [[ 9.99994784e-01 2.40295547e-03 -2.15838158e-03 7.61001937e+01] [-2.39953302e-03 9.99995862e-01 1.58684563e-03 -7.20187161e+00] [ 2.16218577e-03 -1.58165825e-03 9.99996412e-01 -2.33754748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.99992885099999 meters 0.09942697726926383 Centerline is valid? [True, True] Translation: X:76.16, Y:-7.21, Z:-2.34 [[ 9.99998960e-01 4.95411605e-05 -1.44154834e-03 7.61600635e+01] [-4.93076585e-05 9.99999986e-01 1.62015131e-04 -7.20873571e+00] [ 1.44155635e-03 -1.61943883e-04 9.99998948e-01 -2.33702930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.059928851 meters 0.101860000570886 Centerline is valid? [True, False] Translation: X:76.16, Y:-7.21, Z:-2.34 [[ 9.99991033e-01 -3.78818416e-03 -1.89326185e-03 7.61611713e+01] [ 3.78100545e-03 9.99985704e-01 -3.78101599e-03 -7.20887573e+00] [ 1.90755797e-03 3.77382365e-03 9.99991060e-01 -2.33725578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.119928851 meters 0.10311416064794972 Centerline is valid? [False, False] Translation: X:76.16, Y:-7.21, Z:-2.34 [[ 9.99999417e-01 2.26519811e-05 -1.07981078e-03 7.61593226e+01] [-2.20692091e-05 9.99999854e-01 5.39707198e-04 -7.21061591e+00] [ 1.07982285e-03 -5.39683053e-04 9.99999271e-01 -2.33692584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.179928851 meters 0.10093228459235766 Centerline is valid? [False, False] Translation: X:76.16, Y:-7.21, Z:-2.34 [[ 9.99999380e-01 -7.84280742e-05 -1.11065929e-03 7.61592423e+01] [ 7.88112941e-05 9.99999937e-01 3.44998689e-04 -7.21032240e+00] [ 1.11063217e-03 -3.45086007e-04 9.99999324e-01 -2.33669350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.239928851 meters 0.10197256229917319 Centerline is valid? [False, False] Translation: X:76.16, Y:-7.21, Z:-2.34 [[ 9.99999328e-01 -7.67273866e-05 -1.15644580e-03 7.61592198e+01] [ 7.71037228e-05 9.99999944e-01 3.25383803e-04 -7.21038095e+00] [ 1.15642077e-03 -3.25472751e-04 9.99999278e-01 -2.33652085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.299928851 meters 0.09943942506310674 Centerline is valid? [False, True] Translation: X:76.16, Y:-7.21, Z:-2.34 [[ 9.99999149e-01 3.64874746e-04 -1.25268424e-03 7.61597307e+01] [-3.63746469e-04 9.99999528e-01 9.00797171e-04 -7.21174920e+00] [ 1.25301233e-03 -9.00340745e-04 9.99998810e-01 -2.33690402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.35992885099999 meters 0.1004800103426485 Centerline is valid? [True, False] Translation: X:76.16, Y:-7.21, Z:-2.34 [[ 9.99999137e-01 5.03871107e-04 -1.21362538e-03 7.61593805e+01] [-5.02386800e-04 9.99999126e-01 1.22302965e-03 -7.21331573e+00] [ 1.21424057e-03 -1.22241889e-03 9.99998516e-01 -2.33651478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.419928851 meters 0.09959136613529243 Centerline is valid? [False, True] Translation: X:76.16, Y:-7.22, Z:-2.34 [[ 9.99999135e-01 7.15240656e-04 -1.10363184e-03 7.61589836e+01] [-7.13405619e-04 9.99998364e-01 1.66222404e-03 -7.21533305e+00] [ 1.10481892e-03 -1.66143527e-03 9.99998010e-01 -2.33621645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.479928851 meters 0.09925737530824803 Centerline is valid? [True, True] Translation: X:76.22, Y:-7.22, Z:-2.34 [[ 9.99999165e-01 9.67254482e-04 -8.56422396e-04 7.62178639e+01] [-9.67171742e-04 9.99999528e-01 9.70202184e-05 -7.22237292e+00] [ 8.56515834e-04 -9.61918299e-05 9.99999629e-01 -2.33665030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.539928851 meters 0.09975527967099529 Centerline is valid? [True, True] Translation: X:76.28, Y:-7.23, Z:-2.34 [[ 9.99997572e-01 1.78557003e-03 -1.29166892e-03 7.62766012e+01] [-1.78538205e-03 9.99998395e-01 1.46671819e-04 -7.23207555e+00] [ 1.29192874e-03 -1.44365341e-04 9.99999155e-01 -2.33861164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.599928851 meters 0.09919419487386721 Centerline is valid? [True, True] Translation: X:76.34, Y:-7.24, Z:-2.34 [[ 9.99996864e-01 1.83366799e-03 -1.70560254e-03 7.63358262e+01] [-1.83333999e-03 9.99998301e-01 1.93851775e-04 -7.24128686e+00] [ 1.70595510e-03 -1.90724217e-04 9.99998527e-01 -2.33983938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.659928851 meters 0.09652943670313288 Centerline is valid? [True, True] Translation: X:76.40, Y:-7.25, Z:-2.34 [[ 9.99993572e-01 8.67103335e-04 -3.47901126e-03 7.63954424e+01] [-8.65729153e-04 9.99999547e-01 3.96478687e-04 -7.24900055e+00] [ 3.47935347e-03 -3.93464257e-04 9.99993870e-01 -2.34044083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.719928851 meters 0.0956173067591114 Centerline is valid? [True, True] Translation: X:76.45, Y:-7.26, Z:-2.34 [[ 9.99993253e-01 9.90326824e-04 -3.53734252e-03 7.64533004e+01] [-9.88911761e-04 9.99999430e-01 4.01762264e-04 -7.25686293e+00] [ 3.53773838e-03 -3.98261433e-04 9.99993663e-01 -2.34145246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.779928851 meters 0.09813407665444972 Centerline is valid? [True, True] Translation: X:76.51, Y:-7.27, Z:-2.34 [[ 9.99991231e-01 4.60265307e-04 -4.16248814e-03 7.65107500e+01] [-4.58299481e-04 9.99999783e-01 4.73213301e-04 -7.27212676e+00] [ 4.16270504e-03 -4.71301485e-04 9.99991225e-01 -2.34426836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.839928851 meters 0.09730686991976976 Centerline is valid? [True, True] Translation: X:76.57, Y:-7.28, Z:-2.35 [[ 9.99985919e-01 -2.32565938e-04 -5.30167626e-03 7.65694734e+01] [ 2.35764952e-04 9.99999791e-01 6.02779856e-04 -7.27992536e+00] [ 5.30153496e-03 -6.04021318e-04 9.99985764e-01 -2.34577190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.899928851 meters 0.09703616701979068 Centerline is valid? [True, True] Translation: X:76.63, Y:-7.29, Z:-2.35 [[ 9.99981346e-01 -3.03315897e-04 -6.10052351e-03 7.66269454e+01] [ 3.07540880e-04 9.99999714e-01 6.91634694e-04 -7.29020910e+00] [ 6.10031198e-03 -6.93497952e-04 9.99981152e-01 -2.34694837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.959928851 meters 0.09649711880340824 Centerline is valid? [True, True] Translation: X:76.69, Y:-7.30, Z:-2.35 [[ 9.99986161e-01 -6.18020258e-04 -5.22447761e-03 7.66850918e+01] [ 6.21124678e-04 9.99999632e-01 5.92604957e-04 -7.29840293e+00] [ 5.22410945e-03 -5.95841808e-04 9.99986177e-01 -2.34775696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.019928851 meters 0.09846754501699595 Centerline is valid? [True, True] Translation: X:76.74, Y:-7.31, Z:-2.35 [[ 9.99988760e-01 -4.71985090e-04 -4.71767187e-03 7.67430549e+01] [ 4.74491665e-04 9.99999747e-01 5.30210926e-04 -7.31110295e+00] [ 4.71742043e-03 -5.32443463e-04 9.99988731e-01 -2.34963686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.079928851 meters 0.09770396288622486 Centerline is valid? [True, True] Translation: X:76.80, Y:-7.32, Z:-2.35 [[ 9.99985588e-01 -5.89292414e-04 -5.33639623e-03 7.68010905e+01] [ 5.92497807e-04 9.99999645e-01 5.99105293e-04 -7.31796494e+00] [ 5.33604128e-03 -6.02258461e-04 9.99985582e-01 -2.35031544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.139928851 meters 0.0970890411632701 Centerline is valid? [True, True] Translation: X:76.86, Y:-7.33, Z:-2.35 [[ 9.99982893e-01 -2.39029081e-04 -5.84433101e-03 7.68594756e+01] [ 2.42862675e-04 9.99999756e-01 6.55250014e-04 -7.32573780e+00] [ 5.84417296e-03 -6.56658175e-04 9.99982707e-01 -2.35254755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.199928851 meters 0.09680370580456092 Centerline is valid? [True, True] Translation: X:76.92, Y:-7.33, Z:-2.35 [[ 9.99976077e-01 7.66399170e-04 -6.87447879e-03 7.69178261e+01] [-7.61090223e-04 9.99999410e-01 7.74851811e-04 -7.33216999e+00] [ 6.87506858e-03 -7.69601176e-04 9.99976070e-01 -2.35424878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.259928851 meters 0.09463748142347497 Centerline is valid? [True, True] Translation: X:76.98, Y:-7.34, Z:-2.36 [[ 9.99976808e-01 2.68945475e-03 -6.25708447e-03 7.69776549e+01] [-2.68508927e-03 9.99996146e-01 7.05982209e-04 -7.33614541e+00] [ 6.25895906e-03 -6.89165005e-04 9.99980175e-01 -2.35517948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.319928851 meters 0.09546191990667914 Centerline is valid? [True, True] Translation: X:77.04, Y:-7.34, Z:-2.36 [[ 9.99971610e-01 2.95174018e-03 -6.93296154e-03 7.70361862e+01] [-2.94639656e-03 9.99995355e-01 7.80842474e-04 -7.34493276e+00] [ 6.93523417e-03 -7.60393052e-04 9.99975662e-01 -2.35856650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.379928851 meters 0.09461514081453941 Centerline is valid? [True, True] Translation: X:77.10, Y:-7.35, Z:-2.36 [[ 9.99959417e-01 4.23095872e-03 -7.95385018e-03 7.70963076e+01] [-4.22396375e-03 9.99990678e-01 8.96038090e-04 -7.34972715e+00] [ 7.95756713e-03 -8.62404951e-04 9.99967966e-01 -2.35966035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.439928851 meters 0.09514672894686109 Centerline is valid? [True, True] Translation: X:77.16, Y:-7.36, Z:-2.36 [[ 9.99953283e-01 5.99541228e-03 -7.58202513e-03 7.71559725e+01] [-5.98910223e-03 9.99981700e-01 8.54669352e-04 -7.35702623e+00] [ 7.58701047e-03 -8.09219901e-04 9.99970891e-01 -2.36089247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.49992885099999 meters 0.09110255175440447 Centerline is valid? [True, True] Translation: X:77.22, Y:-7.36, Z:-2.36 [[ 9.99930387e-01 8.45177648e-03 -8.23344306e-03 7.72172577e+01] [-8.44441567e-03 9.99963914e-01 9.28368124e-04 -7.35512211e+00] [ 8.24099231e-03 -8.58776881e-04 9.99965674e-01 -2.36057871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.559928851 meters 0.09161762020797161 Centerline is valid? [True, True] Translation: X:77.28, Y:-7.36, Z:-2.36 [[ 9.99916494e-01 1.04060984e-02 -7.66275972e-03 7.72775090e+01] [-1.03997807e-02 9.99945548e-01 8.63856513e-04 -7.36150240e+00] [ 7.67133184e-03 -7.84093356e-04 9.99970267e-01 -2.36311263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.619928851 meters 0.08865082731492809 Centerline is valid? [True, True] Translation: X:77.34, Y:-7.36, Z:-2.36 [[ 9.99879465e-01 1.38994442e-02 -6.91809370e-03 7.73382089e+01] [-1.38943836e-02 9.99903165e-01 7.79030121e-04 -7.36027632e+00] [ 6.92825187e-03 -6.82813573e-04 9.99975766e-01 -2.36204599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.679928851 meters 0.08934485909637564 Centerline is valid? [True, True] Translation: X:77.40, Y:-7.37, Z:-2.36 [[ 9.99820227e-01 1.74713162e-02 -7.36657034e-03 7.73965860e+01] [-1.74656771e-02 9.99847120e-01 8.29150196e-04 -7.36646613e+00] [ 7.37993048e-03 -7.00338999e-04 9.99972523e-01 -2.36452845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.739928851 meters 0.08959930427619896 Centerline is valid? [True, True] Translation: X:77.46, Y:-7.37, Z:-2.37 [[ 9.99786571e-01 1.91105998e-02 -7.84835698e-03 7.74564825e+01] [-1.91042452e-02 9.99817107e-01 8.83854750e-04 -7.37201158e+00] [ 7.86381256e-03 -7.33729174e-04 9.99968811e-01 -2.36590719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.799928851 meters 0.0878430308504528 Centerline is valid? [True, True] Translation: X:77.51, Y:-7.37, Z:-2.37 [[ 9.99788870e-01 1.86153934e-02 -8.69960126e-03 7.75149557e+01] [-1.86075858e-02 9.99826386e-01 9.77547887e-04 -7.37438033e+00] [ 8.71628832e-03 -8.15462920e-04 9.99961680e-01 -2.36661234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.85992885099999 meters 0.08910424069500135 Centerline is valid? [True, True] Translation: X:77.57, Y:-7.38, Z:-2.37 [[ 9.99815772e-01 1.71766134e-02 -8.56661701e-03 7.75735606e+01] [-1.71689880e-02 9.99852138e-01 9.62880945e-04 -7.38310929e+00] [ 8.58188937e-03 -8.15623410e-04 9.99962842e-01 -2.36802697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.919928851 meters 0.08910183220493094 Centerline is valid? [True, True] Translation: X:77.63, Y:-7.39, Z:-2.37 [[ 9.99849066e-01 1.50019892e-02 -8.76272874e-03 7.76334853e+01] [-1.49939227e-02 9.99887099e-01 9.85520166e-04 -7.38983797e+00] [ 8.77652418e-03 -8.53983740e-04 9.99961121e-01 -2.36886666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.979928851 meters 0.08706920690256871 Centerline is valid? [True, True] Translation: X:77.69, Y:-7.39, Z:-2.37 [[ 9.99899235e-01 1.20759019e-02 -7.46278032e-03 7.76940161e+01] [-1.20699698e-02 9.99926803e-01 8.39421470e-04 -7.39216768e+00] [ 7.47237084e-03 -7.49261353e-04 9.99971801e-01 -2.36837277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.039928851 meters 0.09130135416608495 Centerline is valid? [True, True] Translation: X:77.75, Y:-7.41, Z:-2.37 [[ 9.99909497e-01 1.09974267e-02 -7.74941939e-03 7.77508632e+01] [-1.09910126e-02 9.99939219e-01 8.69799419e-04 -7.40781580e+00] [ 7.75851392e-03 -7.84546734e-04 9.99969595e-01 -2.37141999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.099928851 meters 0.08958655309199312 Centerline is valid? [True, True] Translation: X:77.81, Y:-7.41, Z:-2.37 [[ 9.99933199e-01 8.53313996e-03 -7.79638072e-03 7.78114655e+01] [-8.52656325e-03 9.99963264e-01 8.76409973e-04 -7.41158317e+00] [ 7.80357284e-03 -8.09875094e-04 9.99969224e-01 -2.37100887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.159928851 meters 0.09405777016249532 Centerline is valid? [True, True] Translation: X:77.87, Y:-7.43, Z:-2.37 [[ 9.99946356e-01 5.19524070e-03 -8.96072680e-03 7.78695757e+01] [-5.18642193e-03 9.99986043e-01 1.00711484e-03 -7.42730709e+00] [ 8.96583394e-03 -9.60586702e-04 9.99959345e-01 -2.37434019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.21992885099999 meters 0.09347814383134517 Centerline is valid? [True, True] Translation: X:77.93, Y:-7.43, Z:-2.37 [[ 9.99947105e-01 2.88710236e-03 -9.87178259e-03 7.79296388e+01] [-2.87628594e-03 9.99995248e-01 1.10971349e-03 -7.43383309e+00] [ 9.87493953e-03 -1.08126072e-03 9.99950657e-01 -2.37396621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.279928851 meters 0.0950449250785641 Centerline is valid? [True, True] Translation: X:77.99, Y:-7.44, Z:-2.37 [[ 9.99958009e-01 1.32164129e-03 -9.06830990e-03 7.79880535e+01] [-1.31246426e-03 9.99998621e-01 1.01786610e-03 -7.44384875e+00] [ 9.06964265e-03 -1.00592152e-03 9.99958364e-01 -2.37485432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.339928851 meters 0.09677601825541002 Centerline is valid? [True, True] Translation: X:78.05, Y:-7.45, Z:-2.38 [[ 9.99969978e-01 -4.25461517e-05 -7.74866698e-03 7.80470629e+01] [ 4.92865781e-05 9.99999621e-01 8.69693182e-04 -7.45450951e+00] [ 7.74862704e-03 -8.70048977e-04 9.99969600e-01 -2.37571442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.399928851 meters 0.09396940558593367 Centerline is valid? [True, True] Translation: X:78.11, Y:-7.46, Z:-2.38 [[ 9.99960093e-01 -1.08503449e-03 -8.86764393e-03 7.81063326e+01] [ 1.09389612e-03 9.99998907e-01 9.94532961e-04 -7.45756457e+00] [ 8.86655514e-03 -1.00419355e-03 9.99960187e-01 -2.37700244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.459928851 meters 0.0998892095296066 Centerline is valid? [True, True] Translation: X:78.16, Y:-7.48, Z:-2.38 [[ 9.99956711e-01 -3.23671516e-03 -8.72352451e-03 7.81632240e+01] [ 3.24537462e-03 9.99994255e-01 9.78683007e-04 -7.47765441e+00] [ 8.72030667e-03 -1.00695175e-03 9.99961470e-01 -2.38141106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.519928851 meters 0.09812273503953121 Centerline is valid? [True, True] Translation: X:78.22, Y:-7.48, Z:-2.38 [[ 9.99954897e-01 -4.14650024e-03 -8.54465781e-03 7.82221938e+01] [ 4.15478436e-03 9.99990916e-01 9.51986113e-04 -7.48162628e+00] [ 8.54063278e-03 -9.87444386e-04 9.99963041e-01 -2.38161426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.579928851 meters 0.09696643057426778 Centerline is valid? [True, True] Translation: X:78.28, Y:-7.49, Z:-2.38 [[ 9.99951771e-01 -5.00570568e-03 -8.44972933e-03 7.82812589e+01] [ 5.01387108e-03 9.99986984e-01 9.45444638e-04 -7.48825558e+00] [ 8.44488672e-03 -9.87764894e-04 9.99963853e-01 -2.38198651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.639928851 meters 0.09736947754274194 Centerline is valid? [True, True] Translation: X:78.34, Y:-7.50, Z:-2.38 [[ 9.99936058e-01 -6.33697695e-03 -9.36599746e-03 7.83410241e+01] [ 6.34707461e-03 9.99979307e-01 1.04878877e-03 -7.49900442e+00] [ 9.35915750e-03 -1.10816840e-03 9.99955588e-01 -2.38411058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.699928851 meters 0.09939608406653165 Centerline is valid? [True, True] Translation: X:78.40, Y:-7.51, Z:-2.39 [[ 9.99932880e-01 -7.13687390e-03 -9.12688514e-03 7.83993652e+01] [ 7.14648120e-03 9.99973943e-01 1.02045759e-03 -7.50951063e+00] [ 9.11936444e-03 -1.08561421e-03 9.99957828e-01 -2.38617939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.759928851 meters 0.09807264942009655 Centerline is valid? [True, True] Translation: X:78.46, Y:-7.51, Z:-2.39 [[ 9.99916103e-01 -8.20989623e-03 -1.00192023e-02 7.84586762e+01] [ 8.22152844e-03 9.99965575e-01 1.12035655e-03 -7.51459143e+00] [ 1.00096594e-02 -1.20263571e-03 9.99949179e-01 -2.38689777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.819928851 meters 0.09871376860849748 Centerline is valid? [True, True] Translation: X:78.52, Y:-7.52, Z:-2.39 [[ 9.99916500e-01 -8.68044634e-03 -9.57307512e-03 7.85171493e+01] [ 8.69107829e-03 9.99961660e-01 1.06956771e-03 -7.52310724e+00] [ 9.56342376e-03 -1.15267875e-03 9.99953605e-01 -2.38894873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.879928851 meters 0.09797880358992045 Centerline is valid? [True, True] Translation: X:78.58, Y:-7.53, Z:-2.39 [[ 9.99907513e-01 -8.82036865e-03 -1.03521561e-02 7.85754344e+01] [ 8.83274156e-03 9.99960329e-01 1.15008927e-03 -7.52839276e+00] [ 1.03416012e-02 -1.24142082e-03 9.99945754e-01 -2.38929249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.939928851 meters 0.09966134593593927 Centerline is valid? [True, True] Translation: X:78.63, Y:-7.54, Z:-2.39 [[ 9.99907020e-01 -8.71327745e-03 -1.04895333e-02 7.86337264e+01] [ 8.72601311e-03 9.99961244e-01 1.16897516e-03 -7.53718822e+00] [ 1.04789412e-02 -1.26039828e-03 9.99944300e-01 -2.39054539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.99992885099999 meters 0.10280034869730643 Centerline is valid? [True, False] Translation: X:78.63, Y:-7.54, Z:-2.39 [[ 9.99907606e-01 -8.33258279e-03 -1.07399707e-02 7.86346505e+01] [ 8.34961580e-03 9.99963952e-01 1.54208287e-03 -7.53758097e+00] [ 1.07267340e-02 -1.63161502e-03 9.99941136e-01 -2.39116209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.059928851 meters 0.09825979634055855 Centerline is valid? [False, True] Translation: X:78.64, Y:-7.54, Z:-2.39 [[ 9.99906008e-01 -8.25588074e-03 -1.09460696e-02 7.86351411e+01] [ 8.27290768e-03 9.99964637e-01 1.51116372e-03 -7.53713157e+00] [ 1.09332065e-02 -1.60157751e-03 9.99938948e-01 -2.39129737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.119928851 meters 0.10082094105562137 Centerline is valid? [True, False] Translation: X:78.63, Y:-7.54, Z:-2.39 [[ 9.99911113e-01 -8.26506050e-03 -1.04620606e-02 7.86339558e+01] [ 8.28733432e-03 9.99963481e-01 2.08744907e-03 -7.53920987e+00] [ 1.04444256e-02 -2.17396611e-03 9.99943092e-01 -2.39087662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.179928851 meters 0.10136403849615062 Centerline is valid? [False, False] Translation: X:78.63, Y:-7.54, Z:-2.39 [[ 9.99920664e-01 -7.91221452e-03 -9.80111709e-03 7.86330984e+01] [ 7.94745840e-03 9.99962074e-01 3.56219080e-03 -7.54397728e+00] [ 9.77256055e-03 -3.63980216e-03 9.99945623e-01 -2.39144471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.239928851 meters 0.10353748473480608 Centerline is valid? [False, False] Translation: X:78.63, Y:-7.55, Z:-2.39 [[ 9.99888621e-01 -1.18132362e-02 -9.12101503e-03 7.86321383e+01] [ 1.18232846e-02 9.99929553e-01 1.04853330e-03 -7.54926449e+00] [ 9.10798591e-03 -1.15625688e-03 9.99957853e-01 -2.39190336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.299928851 meters 0.10233465658960511 Centerline is valid? [False, False] Translation: X:78.63, Y:-7.55, Z:-2.39 [[ 9.99894142e-01 -1.19964615e-02 -8.23350631e-03 7.86302139e+01] [ 1.20129864e-02 9.99925920e-01 1.96051088e-03 -7.55375737e+00] [ 8.20937718e-03 -2.05921235e-03 9.99964182e-01 -2.39140488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.35992885099999 meters 0.10752389230501366 Centerline is valid? [False, False] Translation: X:78.63, Y:-7.56, Z:-2.39 [[ 9.99897685e-01 -1.20397489e-02 -7.72430682e-03 7.86288739e+01] [ 1.20629753e-02 9.99922837e-01 2.96740491e-03 -7.55950164e+00] [ 7.68798398e-03 -3.06027942e-03 9.99965764e-01 -2.39087560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.419928851 meters 0.10657498176654503 Centerline is valid? [False, False] Translation: X:78.63, Y:-7.56, Z:-2.39 [[ 9.99903717e-01 -1.15963869e-02 -7.62102083e-03 7.86286678e+01] [ 1.16261338e-02 9.99924923e-01 3.87062491e-03 -7.56222634e+00] [ 7.57556341e-03 -3.95885524e-03 9.99963468e-01 -2.39087002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.479928851 meters 0.10367001180687413 Centerline is valid? [False, False] Translation: X:78.62, Y:-7.57, Z:-2.39 [[ 9.99989469e-01 -4.51850550e-03 -8.02918739e-04 7.86173922e+01] [ 4.52040522e-03 9.99986950e-01 2.38016732e-03 -7.56613264e+00] [ 7.92153462e-04 -2.38377177e-03 9.99996845e-01 -2.39285888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.539928851 meters 0.10699812431038072 Centerline is valid? [False, False] Translation: X:78.62, Y:-7.57, Z:-2.39 [[ 9.99991226e-01 -4.03177653e-03 -1.13713465e-03 7.86179420e+01] [ 4.03518467e-03 9.99987326e-01 3.01092954e-03 -7.56777275e+00] [ 1.12498085e-03 -3.01549167e-03 9.99994821e-01 -2.39273878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.599928851 meters 0.09937604159779675 Centerline is valid? [False, True] Translation: X:78.62, Y:-7.57, Z:-2.39 [[ 9.99992498e-01 -3.54798683e-03 -1.55417702e-03 7.86184728e+01] [ 3.55352767e-03 9.99987289e-01 3.57699189e-03 -7.56945984e+00] [ 1.54146614e-03 -3.58248787e-03 9.99992395e-01 -2.39240365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.659928851 meters 0.09930513203850233 Centerline is valid? [True, True] Translation: X:78.68, Y:-7.58, Z:-2.39 [[ 9.99999430e-01 -4.96829643e-04 -9.45018141e-04 7.86788630e+01] [ 4.96942918e-04 9.99999869e-01 1.19633941e-04 -7.57772262e+00] [ 9.44958580e-04 -1.20103493e-04 9.99999546e-01 -2.39260381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.71992885099999 meters 0.09871857624866318 Centerline is valid? [True, True] Translation: X:78.74, Y:-7.59, Z:-2.40 [[ 9.99987678e-01 4.63183357e-03 -1.78618606e-03 7.87384636e+01] [-4.63143847e-03 9.99989249e-01 2.25272256e-04 -7.58679457e+00] [ 1.78721028e-03 -2.16996870e-04 9.99998379e-01 -2.39531484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.779928851 meters 0.09455147564908901 Centerline is valid? [True, True] Translation: X:78.80, Y:-7.59, Z:-2.40 [[ 9.99950824e-01 9.42574289e-03 -3.08312830e-03 7.87992539e+01] [-9.42458849e-03 9.99955512e-01 3.88740377e-04 -7.58910949e+00] [ 3.08665531e-03 -3.59664044e-04 9.99995172e-01 -2.39621744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.839928851 meters 0.09565635139165651 Centerline is valid? [True, True] Translation: X:78.86, Y:-7.60, Z:-2.40 [[ 9.99905123e-01 1.33483156e-02 -3.40112631e-03 7.88575689e+01] [-1.33469363e-02 9.99910834e-01 4.27923486e-04 -7.59988548e+00] [ 3.40653510e-03 -3.82488270e-04 9.99994125e-01 -2.39881733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.899928851 meters 0.09478178088473657 Centerline is valid? [True, True] Translation: X:78.92, Y:-7.61, Z:-2.40 [[ 9.99783863e-01 2.05804218e-02 -2.94496854e-03 7.89160487e+01] [-2.05794172e-02 9.99788153e-01 3.71030112e-04 -7.60844051e+00] [ 2.95198062e-03 -3.10344183e-04 9.99995595e-01 -2.40001229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.959928851 meters 0.093762107212219 Centerline is valid? [True, True] Translation: X:78.98, Y:-7.62, Z:-2.40 [[ 9.99661680e-01 2.59647975e-02 -1.53463329e-03 7.89766108e+01] [-2.59645301e-02 9.99662846e-01 1.93884488e-04 -7.61591149e+00] [ 1.53915006e-03 -1.53972861e-04 9.99998804e-01 -2.40205008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.019928851 meters 0.08791176132491285 Centerline is valid? [True, True] Translation: X:79.04, Y:-7.61, Z:-2.40 [[ 9.99567660e-01 2.93959042e-02 -6.11141300e-04 7.90370753e+01] [-2.93958631e-02 9.99567845e-01 7.60942913e-05 -7.61391140e+00] [ 6.13114053e-04 -5.80963668e-05 9.99999810e-01 -2.39989796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.079928851 meters 0.08538407769282505 Centerline is valid? [True, True] Translation: X:79.10, Y:-7.62, Z:-2.40 [[ 9.99426229e-01 3.37854459e-02 -2.39933243e-03 7.90974728e+01] [-3.37848194e-02 9.99429085e-01 3.01171866e-04 -7.61791077e+00] [ 2.40813784e-03 -2.19938049e-04 9.99997076e-01 -2.40158394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.139928851 meters 0.09374017542020811 Centerline is valid? [True, True] Translation: X:79.15, Y:-7.64, Z:-2.41 [[ 9.99331422e-01 3.64421966e-02 -2.94522669e-03 7.91537807e+01] [-3.64412622e-02 9.99335728e-01 3.70311772e-04 -7.64427883e+00] [ 2.95676523e-03 -2.62736412e-04 9.99995594e-01 -2.41081966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.199928851 meters 0.08551673020667498 Centerline is valid? [True, True] Translation: X:79.22, Y:-7.64, Z:-2.41 [[ 9.99182225e-01 4.02783305e-02 -3.54080027e-03 7.92158438e+01] [-4.02770010e-02 9.99188453e-01 4.46024385e-04 -7.63610316e+00] [ 3.55589186e-03 -3.03046821e-04 9.99993632e-01 -2.40576077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.259928851 meters 0.08388914003655591 Centerline is valid? [True, True] Translation: X:79.27, Y:-7.64, Z:-2.41 [[ 9.99159767e-01 4.09084528e-02 -2.50175431e-03 7.92748355e+01] [-4.09077952e-02 9.99162877e-01 3.13482072e-04 -7.64151581e+00] [ 2.51248410e-03 -2.10877421e-04 9.99996821e-01 -2.40526798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.319928851 meters 0.08492113155155634 Centerline is valid? [True, True] Translation: X:79.33, Y:-7.65, Z:-2.41 [[ 9.99134684e-01 4.13862003e-02 -4.13101627e-03 7.93326385e+01] [-4.13844103e-02 9.99143164e-01 5.17890658e-04 -7.65319482e+00] [ 4.14891019e-03 -3.46482847e-04 9.99991333e-01 -2.40761129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.379928851 meters 0.08492298427262002 Centerline is valid? [True, True] Translation: X:79.39, Y:-7.66, Z:-2.41 [[ 9.99133945e-01 4.13381318e-02 -4.74541209e-03 7.93905847e+01] [-4.13357692e-02 9.99145135e-01 5.94907116e-04 -7.66155882e+00] [ 4.76594775e-03 -3.98236635e-04 9.99988564e-01 -2.41027848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.439928851 meters 0.08455648536516437 Centerline is valid? [True, True] Translation: X:79.45, Y:-7.67, Z:-2.41 [[ 9.99090018e-01 4.21879955e-02 -6.26963058e-03 7.94492730e+01] [-4.21838865e-02 9.99109554e-01 7.86237139e-04 -7.66796447e+00] [ 6.29721759e-03 -5.21044293e-04 9.99980037e-01 -2.41144688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.49992885099999 meters 0.0867885298626802 Centerline is valid? [True, True] Translation: X:79.51, Y:-7.68, Z:-2.42 [[ 9.99124533e-01 4.14531194e-02 -5.63979782e-03 7.95050872e+01] [-4.14498025e-02 9.99140340e-01 7.03795080e-04 -7.68205318e+00] [ 5.66412401e-03 -4.69410425e-04 9.99983849e-01 -2.41535386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.559928851 meters 0.08536093511212542 Centerline is valid? [True, True] Translation: X:79.56, Y:-7.69, Z:-2.42 [[ 9.99212858e-01 3.93387930e-02 -5.11113550e-03 7.95643594e+01] [-3.93360339e-02 9.99225834e-01 6.39263841e-04 -7.68712225e+00] [ 5.13232650e-03 -4.37708850e-04 9.99986734e-01 -2.41515691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.619928851 meters 0.08538270119719292 Centerline is valid? [True, True] Translation: X:79.62, Y:-7.69, Z:-2.42 [[ 9.99252415e-01 3.83446011e-02 -4.92972672e-03 7.96231235e+01] [-3.83420236e-02 9.99264484e-01 6.16323380e-04 -7.69419996e+00] [ 4.94973350e-03 -4.26846928e-04 9.99987659e-01 -2.41591273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.679928851 meters 0.08444465408402271 Centerline is valid? [True, True] Translation: X:79.68, Y:-7.70, Z:-2.42 [[ 9.99276247e-01 3.76803620e-02 -5.21265022e-03 7.96816790e+01] [-3.76774726e-02 9.99289740e-01 6.51419677e-04 -7.69885110e+00] [ 5.23349361e-03 -4.54548724e-04 9.99986202e-01 -2.41712055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.739928851 meters 0.08640328762958835 Centerline is valid? [True, True] Translation: X:79.74, Y:-7.71, Z:-2.42 [[ 9.99314086e-01 3.66687327e-02 -5.17317557e-03 7.97387863e+01] [-3.66658862e-02 9.99327373e-01 6.44036209e-04 -7.70981570e+00] [ 5.19331195e-03 -4.53915388e-04 9.99986412e-01 -2.42052159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.799928851 meters 0.08527499788592267 Centerline is valid? [True, True] Translation: X:79.80, Y:-7.71, Z:-2.42 [[ 9.99368600e-01 3.50999898e-02 -5.51293514e-03 7.97982281e+01] [-3.50967255e-02 9.99383683e-01 6.87777806e-04 -7.71291612e+00] [ 5.53367843e-03 -4.93857572e-04 9.99984567e-01 -2.42074097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.85992885099999 meters 0.08603310124375606 Centerline is valid? [True, True] Translation: X:79.86, Y:-7.72, Z:-2.42 [[ 9.99396588e-01 3.44455301e-02 -4.46823029e-03 7.98564624e+01] [-3.44433817e-02 9.99406496e-01 5.56897042e-04 -7.71967774e+00] [ 4.48476099e-03 -4.02660043e-04 9.99989862e-01 -2.42281875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.919928851 meters 0.08395544445370096 Centerline is valid? [True, True] Translation: X:79.92, Y:-7.72, Z:-2.42 [[ 9.99421449e-01 3.36664704e-02 -4.83071040e-03 7.99152262e+01] [-3.36639544e-02 9.99433028e-01 6.01222927e-04 -7.72061975e+00] [ 4.84821258e-03 -4.38254274e-04 9.99988151e-01 -2.42318803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.979928851 meters 0.0874682989449551 Centerline is valid? [True, True] Translation: X:79.97, Y:-7.73, Z:-2.43 [[ 9.99400555e-01 3.42226955e-02 -5.22849333e-03 7.99723765e+01] [-3.42197533e-02 9.99414121e-01 6.51164960e-04 -7.73239512e+00] [ 5.24771468e-03 -4.71856870e-04 9.99986119e-01 -2.42921263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.039928851 meters 0.08317834882542102 Centerline is valid? [True, True] Translation: X:80.03, Y:-7.73, Z:-2.43 [[ 9.99409069e-01 3.40442595e-02 -4.74362230e-03 8.00327372e+01] [-3.40418355e-02 9.99420234e-01 5.90824009e-04 -7.72826169e+00] [ 4.76098628e-03 -4.28993262e-04 9.99988574e-01 -2.42760240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.099928851 meters 0.08539610291958734 Centerline is valid? [True, True] Translation: X:80.09, Y:-7.74, Z:-2.43 [[ 9.99407236e-01 3.42295676e-02 -3.67614354e-03 8.00896083e+01] [-3.42281243e-02 9.99413943e-01 4.54848093e-04 -7.73883576e+00] [ 3.68955836e-03 -3.28750978e-04 9.99993140e-01 -2.43105147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.159928851 meters 0.08442637176948173 Centerline is valid? [True, True] Translation: X:80.15, Y:-7.74, Z:-2.43 [[ 9.99429676e-01 3.37308332e-02 -1.59775797e-03 8.01488216e+01] [-3.37305608e-02 9.99430943e-01 1.97109726e-04 -7.74045119e+00] [ 1.60349743e-03 -1.43104037e-04 9.99998704e-01 -2.43215280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.21992885099999 meters 0.08352000973945221 Centerline is valid? [True, True] Translation: X:80.21, Y:-7.74, Z:-2.43 [[ 9.99458100e-01 3.29164873e-02 1.09066275e-04 8.02073805e+01] [-3.29164858e-02 9.99458106e-01 -1.57516616e-05 -7.74295623e+00] [-1.09525662e-04 1.21530472e-05 9.99999994e-01 -2.43251816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.279928851 meters 0.08813548369111887 Centerline is valid? [True, True] Translation: X:80.27, Y:-7.76, Z:-2.44 [[ 9.99540951e-01 3.02960862e-02 -1.87129258e-04 8.02655803e+01] [-3.02960823e-02 9.99540968e-01 2.33380359e-05 -7.75754805e+00] [ 1.87750411e-04 -1.76580392e-05 9.99999982e-01 -2.43905490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.339928851 meters 0.09098166514556377 Centerline is valid? [True, True] Translation: X:80.33, Y:-7.77, Z:-2.44 [[ 9.99642790e-01 2.67212663e-02 -5.15847816e-04 8.03252175e+01] [-2.67212366e-02 9.99642922e-01 6.43229573e-05 -7.76661867e+00] [ 5.17382408e-04 -5.05158889e-05 9.99999865e-01 -2.44321311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.399928851 meters 0.08782400190727638 Centerline is valid? [True, True] Translation: X:80.38, Y:-7.76, Z:-2.44 [[ 9.99684832e-01 2.51039424e-02 -1.71136150e-04 8.03848691e+01] [-2.51039393e-02 9.99684846e-01 1.97319183e-05 -7.76479159e+00] [ 1.71577565e-04 -1.54295079e-05 9.99999985e-01 -2.44327737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.459928851 meters 0.08774153981582622 Centerline is valid? [True, True] Translation: X:80.44, Y:-7.77, Z:-2.45 [[ 9.99698571e-01 2.45504721e-02 -2.03741020e-04 8.04438394e+01] [-2.45504678e-02 9.99698592e-01 2.32474694e-05 -7.76678796e+00] [ 2.04250348e-04 -1.82385246e-05 9.99999979e-01 -2.44543775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.519928851 meters 0.08789815644955315 Centerline is valid? [True, True] Translation: X:80.50, Y:-7.77, Z:-2.45 [[ 9.99683962e-01 2.51321207e-02 5.93190764e-04 8.05023738e+01] [-2.51320800e-02 9.99684137e-01 -7.59305267e-05 -7.77078652e+00] [-5.94911692e-04 6.09984121e-05 9.99999821e-01 -2.44723192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.579928851 meters 0.08780454899367413 Centerline is valid? [True, True] Translation: X:80.56, Y:-7.77, Z:-2.45 [[ 9.99672437e-01 2.55535745e-02 1.42602970e-03 8.05618985e+01] [-2.55533442e-02 9.99673444e-01 -1.79470175e-04 -7.77037678e+00] [-1.43015013e-03 1.42971560e-04 9.99998967e-01 -2.44849391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.639928851 meters 0.0884495127206906 Centerline is valid? [True, True] Translation: X:80.62, Y:-7.78, Z:-2.45 [[ 9.99687019e-01 2.49051920e-02 2.36548263e-03 8.06207459e+01] [-2.49045603e-02 9.99689789e-01 -2.96139872e-04 -7.77546172e+00] [-2.37212425e-03 2.37135881e-04 9.99997158e-01 -2.45069864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.699928851 meters 0.08903124589529515 Centerline is valid? [True, True] Translation: X:80.68, Y:-7.78, Z:-2.45 [[ 9.99706994e-01 2.39901327e-02 3.22481554e-03 8.06799780e+01] [-2.39889571e-02 9.99712142e-01 -4.02731932e-04 -7.77729064e+00] [-3.23354884e-03 3.25253968e-04 9.99994719e-01 -2.45282643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.759928851 meters 0.09139731062978995 Centerline is valid? [True, True] Translation: X:80.74, Y:-7.78, Z:-2.46 [[ 9.99720039e-01 2.34586625e-02 3.08786502e-03 8.07368879e+01] [-2.34575800e-02 9.99724758e-01 -3.86333601e-04 -7.78414699e+00] [-3.09607798e-03 3.13791602e-04 9.99995158e-01 -2.45625057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.819928851 meters 0.09309121106702971 Centerline is valid? [True, True] Translation: X:80.80, Y:-7.79, Z:-2.46 [[ 9.99766029e-01 2.15352217e-02 2.03003228e-03 8.07968765e+01] [-2.15347531e-02 9.99768068e-01 -2.52415504e-04 -7.78810116e+00] [-2.03499727e-03 2.08640202e-04 9.99997908e-01 -2.46025918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.879928851 meters 0.09211095100244479 Centerline is valid? [True, True] Translation: X:80.86, Y:-7.79, Z:-2.46 [[ 9.99777834e-01 2.10152426e-02 1.62573293e-03 8.08559897e+01] [-2.10149388e-02 9.99779141e-01 -2.03745816e-04 -7.79073810e+00] [-1.62965564e-03 1.69535872e-04 9.99998658e-01 -2.46082681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.939928851 meters 0.09138402672712176 Centerline is valid? [True, True] Translation: X:80.92, Y:-7.79, Z:-2.46 [[ 9.99810194e-01 1.92209206e-02 3.18300705e-03 8.09157937e+01] [-1.92197553e-02 9.99815205e-01 -3.96279899e-04 -7.78945914e+00] [-3.19003571e-03 3.35028066e-04 9.99994856e-01 -2.46160066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.99992885099999 meters 0.09397581730881688 Centerline is valid? [True, True] Translation: X:80.97, Y:-7.80, Z:-2.46 [[ 9.99826339e-01 1.81304612e-02 4.31021647e-03 8.09736875e+01] [-1.81283139e-02 9.99835525e-01 -5.36719730e-04 -7.79639400e+00] [-4.31923852e-03 4.58489565e-04 9.99990567e-01 -2.46386615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.059928851 meters 0.09520397586392156 Centerline is valid? [True, True] Translation: X:81.03, Y:-7.80, Z:-2.47 [[ 9.99826595e-01 1.74745578e-02 6.43587864e-03 8.10325116e+01] [-1.74697715e-02 9.99847073e-01 -7.99162737e-04 -7.79866351e+00] [-6.44885943e-03 6.86590829e-04 9.99978970e-01 -2.46502839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.119928851 meters 0.09317831316051546 Centerline is valid? [True, True] Translation: X:81.09, Y:-7.80, Z:-2.47 [[ 9.99840855e-01 1.62838329e-02 7.28704940e-03 8.10926656e+01] [-1.62776738e-02 9.99867101e-01 -9.03728751e-04 -7.79565712e+00] [-7.30079713e-03 7.84968714e-04 9.99973041e-01 -2.46623164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.179928851 meters 0.09818809491739589 Centerline is valid? [True, True] Translation: X:81.15, Y:-7.81, Z:-2.47 [[ 9.99861820e-01 1.45224032e-02 8.08959274e-03 8.11509043e+01] [-1.45147668e-02 9.99894153e-01 -1.00190005e-03 -7.80870326e+00] [-8.10328648e-03 8.84343056e-04 9.99966777e-01 -2.47011229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.239928851 meters 0.0969028764160182 Centerline is valid? [True, True] Translation: X:81.21, Y:-7.81, Z:-2.47 [[ 9.99917868e-01 9.66479226e-03 8.41714902e-03 8.12119656e+01] [-9.65635939e-03 9.99952833e-01 -1.04193293e-03 -7.81025559e+00] [-8.42682208e-03 9.60568337e-04 9.99964032e-01 -2.47105332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.299928851 meters 0.100451508579679 Centerline is valid? [True, False] Translation: X:81.22, Y:-7.81, Z:-2.47 [[ 9.99990792e-01 4.00723963e-03 1.53569835e-03 8.12204892e+01] [-4.00700782e-03 9.99991960e-01 -1.53989766e-04 -7.80751091e+00] [-1.53630308e-03 1.47834793e-04 9.99998809e-01 -2.46680990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.35992885099999 meters 0.10296658227804399 Centerline is valid? [False, False] Translation: X:81.22, Y:-7.81, Z:-2.47 [[ 9.99991210e-01 3.82699424e-03 1.71310761e-03 8.12206211e+01] [-3.82635133e-03 9.99992608e-01 -3.78411633e-04 -7.80631319e+00] [-1.71454313e-03 3.71853355e-04 9.99998461e-01 -2.46754313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.419928851 meters 0.10370668985149628 Centerline is valid? [False, False] Translation: X:81.22, Y:-7.80, Z:-2.47 [[ 9.99992147e-01 3.57327482e-03 1.71417507e-03 8.12206253e+01] [-3.57187847e-03 9.99993287e-01 -8.16955540e-04 -7.80494872e+00] [-1.71708277e-03 8.10826299e-04 9.99998197e-01 -2.46752529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.479928851 meters 0.10222250121741083 Centerline is valid? [False, False] Translation: X:81.22, Y:-7.80, Z:-2.47 [[ 9.99993119e-01 3.28645265e-03 1.72084710e-03 8.12205086e+01] [-3.28421066e-03 9.99993757e-01 -1.30404928e-03 -7.80346432e+00] [-1.72512206e-03 1.29838869e-03 9.99997669e-01 -2.46736258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.539928851 meters 0.10252126158300265 Centerline is valid? [False, False] Translation: X:81.22, Y:-7.80, Z:-2.47 [[ 9.99992482e-01 3.52683013e-03 1.61185219e-03 8.12210113e+01] [-3.52514905e-03 9.99993241e-01 -1.04460144e-03 -7.80375971e+00] [-1.61552542e-03 1.03891156e-03 9.99998155e-01 -2.46775381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.599928851 meters 0.10500251402445275 Centerline is valid? [False, False] Translation: X:81.22, Y:-7.80, Z:-2.47 [[ 9.99992144e-01 3.63431609e-03 1.58210084e-03 8.12210427e+01] [-3.63289426e-03 9.99992995e-01 -9.00642321e-04 -7.80404405e+00] [-1.58536297e-03 8.94887640e-04 9.99998343e-01 -2.46769735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.659928851 meters 0.10300739808234688 Centerline is valid? [False, False] Translation: X:81.22, Y:-7.80, Z:-2.47 [[ 9.99992471e-01 3.50344429e-03 1.66842726e-03 8.12205391e+01] [-3.50180142e-03 9.99993382e-01 -9.86585092e-04 -7.80432358e+00] [-1.67187266e-03 9.80735164e-04 9.99998121e-01 -2.46722027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.71992885099999 meters 0.10937978076344823 Centerline is valid? [False, False] Translation: X:81.22, Y:-7.81, Z:-2.47 [[ 9.99991024e-01 3.76197542e-03 1.94933313e-03 8.12201333e+01] [-3.76153315e-03 9.99992899e-01 -2.30500921e-04 -7.80664469e+00] [-1.95018643e-03 2.23166370e-04 9.99998073e-01 -2.46751334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.779928851 meters 0.10327028438551178 Centerline is valid? [False, False] Translation: X:81.22, Y:-7.81, Z:-2.47 [[ 9.99999149e-01 4.91834277e-06 1.30461898e-03 8.12214804e+01] [ 4.85286592e-07 9.99991422e-01 -4.14188881e-03 -7.80716389e+00] [-1.30462816e-03 4.14188592e-03 9.99990571e-01 -2.46759023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.839928851 meters 0.10313850056736443 Centerline is valid? [False, False] Translation: X:81.22, Y:-7.81, Z:-2.47 [[ 9.99999014e-01 4.46693145e-04 1.33134130e-03 8.12212891e+01] [-4.42285521e-04 9.99994427e-01 -3.30912174e-03 -7.80992738e+00] [-1.33281204e-03 3.30852964e-03 9.99993639e-01 -2.46742892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.899928851 meters 0.10313701617284214 Centerline is valid? [False, False] Translation: X:81.22, Y:-7.81, Z:-2.47 [[ 9.99998784e-01 1.06210877e-03 1.14152783e-03 8.12221128e+01] [-1.05929885e-03 9.99996415e-01 -2.45933915e-03 -7.81167449e+00] [-1.14413582e-03 2.45812694e-03 9.99996324e-01 -2.46807526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.959928851 meters 0.10337122814306275 Centerline is valid? [False, False] Translation: X:81.22, Y:-7.81, Z:-2.47 [[ 9.99998397e-01 1.51277287e-03 9.57461629e-04 8.12222492e+01] [-1.51104607e-03 9.99997235e-01 -1.80167922e-03 -7.81387360e+00] [-9.60184513e-04 1.80022956e-03 9.99997919e-01 -2.46773774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.019928851 meters 0.10010542718206686 Centerline is valid? [False, False] Translation: X:81.22, Y:-7.82, Z:-2.47 [[ 9.99997631e-01 1.99379684e-03 8.73277187e-04 8.12225196e+01] [-1.99286862e-03 9.99997450e-01 -1.06249896e-03 -7.81597181e+00] [-8.75393367e-04 1.06075611e-03 9.99999054e-01 -2.46789033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.079928851 meters 0.10127674742573425 Centerline is valid? [False, False] Translation: X:81.22, Y:-7.82, Z:-2.47 [[ 9.99996470e-01 2.59366442e-03 5.77572874e-04 8.12231967e+01] [-2.59348627e-03 9.99996589e-01 -3.08979954e-04 -7.81800074e+00] [-5.78372295e-04 3.07480936e-04 9.99999785e-01 -2.46801132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.139928851 meters 0.0953009325209711 Centerline is valid? [False, True] Translation: X:81.22, Y:-7.82, Z:-2.47 [[ 9.99995113e-01 3.12220434e-03 1.60084434e-04 8.12242472e+01] [-3.12222377e-03 9.99995118e-01 1.21239571e-04 -7.81879793e+00] [-1.59705118e-04 -1.21738798e-04 9.99999980e-01 -2.46837999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.199928851 meters 0.09092450021636492 Centerline is valid? [True, True] Translation: X:81.28, Y:-7.82, Z:-2.47 [[ 9.99977423e-01 6.70565525e-03 4.33735306e-04 8.12844315e+01] [-6.70563493e-03 9.99977516e-01 -4.83030103e-05 -7.81817618e+00] [-4.34049457e-04 4.53934491e-05 9.99999905e-01 -2.46864913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.259928851 meters 0.09309838600163475 Centerline is valid? [True, True] Translation: X:81.34, Y:-7.83, Z:-2.47 [[ 9.99929553e-01 1.18659560e-02 2.95414426e-04 8.13431540e+01] [-1.18659468e-02 9.99929597e-01 -3.28294185e-05 -7.82896647e+00] [-2.95783181e-04 2.93217339e-05 9.99999956e-01 -2.47074018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.319928851 meters 0.08863951282249762 Centerline is valid? [True, True] Translation: X:81.40, Y:-7.83, Z:-2.47 [[ 9.99898375e-01 1.42415049e-02 6.47302808e-04 8.14040537e+01] [-1.42414618e-02 9.99898583e-01 -7.11072682e-05 -7.82744643e+00] [-6.48249835e-04 6.18815037e-05 9.99999788e-01 -2.47139051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.379928851 meters 0.08685426196752827 Centerline is valid? [True, True] Translation: X:81.46, Y:-7.83, Z:-2.47 [[ 9.99887170e-01 1.50050844e-02 7.02692248e-04 8.14633541e+01] [-1.50050332e-02 9.99887415e-01 -7.81184416e-05 -7.83146524e+00] [-7.03785309e-04 6.75657071e-05 9.99999750e-01 -2.47219583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.439928851 meters 0.08719348330930665 Centerline is valid? [True, True] Translation: X:81.52, Y:-7.84, Z:-2.47 [[ 9.99895737e-01 1.43521378e-02 1.59108447e-03 8.15219657e+01] [-1.43518761e-02 9.99896991e-01 -1.75783905e-04 -7.83916103e+00] [-1.59344345e-03 1.52930530e-04 9.99998719e-01 -2.47337783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.49992885099999 meters 0.09051469845269423 Centerline is valid? [True, True] Translation: X:81.58, Y:-7.85, Z:-2.48 [[ 9.99920322e-01 1.25164696e-02 1.63938830e-03 8.15799324e+01] [-1.25161914e-02 9.99921653e-01 -1.79845977e-04 -7.85258064e+00] [-1.64151089e-03 1.59312750e-04 9.99998640e-01 -2.47663941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.559928851 meters 0.09145060046449167 Centerline is valid? [True, True] Translation: X:81.64, Y:-7.86, Z:-2.48 [[ 9.99943080e-01 1.05450685e-02 1.62445194e-03 8.16398864e+01] [-1.05447931e-02 9.99944386e-01 -1.78044657e-04 -7.86161929e+00] [-1.62623910e-03 1.60905013e-04 9.99998665e-01 -2.47828711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.619928851 meters 0.09334528411293852 Centerline is valid? [True, True] Translation: X:81.70, Y:-7.87, Z:-2.48 [[ 9.99968487e-01 7.76065370e-03 1.67222558e-03 8.16991387e+01] [-7.76035781e-03 9.99969871e-01 -1.83358176e-04 -7.87182578e+00] [-1.67359817e-03 1.70375329e-04 9.99998585e-01 -2.48097358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.679928851 meters 0.09057257147569629 Centerline is valid? [True, True] Translation: X:81.76, Y:-7.87, Z:-2.48 [[ 9.99982116e-01 5.87007052e-03 1.14484987e-03 8.17596400e+01] [-5.86993030e-03 9.99982764e-01 -1.25802576e-04 -7.87296985e+00] [-1.14556861e-03 1.19080137e-04 9.99999337e-01 -2.48099313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.739928851 meters 0.09304096305154724 Centerline is valid? [True, True] Translation: X:81.82, Y:-7.88, Z:-2.48 [[ 9.99989552e-01 4.40078266e-03 1.23630905e-03 8.18178135e+01] [-4.40061894e-03 9.99990308e-01 -1.35118360e-04 -7.88410067e+00] [-1.23689170e-03 1.29676423e-04 9.99999227e-01 -2.48264403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.799928851 meters 0.09393151071281187 Centerline is valid? [True, True] Translation: X:81.88, Y:-7.89, Z:-2.48 [[ 9.99987158e-01 4.75162357e-03 1.76222612e-03 8.18772234e+01] [-4.75128941e-03 9.99988694e-01 -1.93763293e-04 -7.89193677e+00] [-1.76312689e-03 1.85387958e-04 9.99998429e-01 -2.48473628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.85992885099999 meters 0.09378607213723575 Centerline is valid? [True, True] Translation: X:81.94, Y:-7.90, Z:-2.49 [[ 9.99975700e-01 6.86737787e-03 1.19961912e-03 8.19367758e+01] [-6.86722470e-03 9.99976412e-01 -1.31755805e-04 -7.89606043e+00] [-1.20049564e-03 1.23514549e-04 9.99999272e-01 -2.48683764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.919928851 meters 0.09033532356809 Centerline is valid? [True, True] Translation: X:82.00, Y:-7.89, Z:-2.49 [[ 9.99916086e-01 1.29164573e-02 9.93344276e-04 8.19976959e+01] [-1.29163555e-02 9.99916574e-01 -1.08798258e-04 -7.89401011e+00] [-9.94666693e-04 9.59587403e-05 9.99999501e-01 -2.48803304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.979928851 meters 0.0885439745628617 Centerline is valid? [True, True] Translation: X:82.06, Y:-7.89, Z:-2.49 [[ 9.99843254e-01 1.76604963e-02 1.25439498e-03 8.20579115e+01] [-1.76603373e-02 9.99844035e-01 -1.37726886e-04 -7.89491005e+00] [-1.25663167e-03 1.15552260e-04 9.99999204e-01 -2.48859482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.039928851 meters 0.08428102147530074 Centerline is valid? [True, True] Translation: X:82.12, Y:-7.89, Z:-2.49 [[ 9.99732304e-01 2.30763452e-02 1.67430832e-03 8.21196682e+01] [-2.30760701e-02 9.99733695e-01 -1.83429447e-04 -7.89014941e+00] [-1.67809532e-03 1.44743887e-04 9.99998582e-01 -2.48858228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.099928851 meters 0.08472664031832068 Centerline is valid? [True, True] Translation: X:82.18, Y:-7.89, Z:-2.49 [[ 9.99562170e-01 2.95651926e-02 1.16933615e-03 8.21793364e+01] [-2.95650624e-02 9.99562850e-01 -1.28466514e-04 -7.89440459e+00] [-1.17262311e-03 9.38387711e-05 9.99999308e-01 -2.49101265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.159928851 meters 0.08304642449316148 Centerline is valid? [True, True] Translation: X:82.24, Y:-7.90, Z:-2.49 [[ 9.99517613e-01 3.10526542e-02 -5.22934689e-04 8.22383384e+01] [-3.10526292e-02 9.99517749e-01 5.58763977e-05 -7.89551257e+00] [ 5.24417613e-04 -3.96109467e-05 9.99999862e-01 -2.49294774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.21992885099999 meters 0.08226728227335513 Centerline is valid? [True, True] Translation: X:82.30, Y:-7.90, Z:-2.49 [[ 9.99519964e-01 3.09573290e-02 -1.21895209e-03 8.22966103e+01] [-3.09571909e-02 9.99520703e-01 1.31948421e-04 -7.90008409e+00] [ 1.22245262e-03 -9.41497489e-05 9.99999248e-01 -2.49365432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.279928851 meters 0.084048058559927 Centerline is valid? [True, True] Translation: X:82.35, Y:-7.91, Z:-2.50 [[ 9.99594112e-01 2.84559544e-02 -1.36716554e-03 8.23545860e+01] [-2.84557768e-02 9.99595041e-01 1.49195886e-04 -7.91060745e+00] [ 1.37085741e-03 -1.10231571e-04 9.99999054e-01 -2.49616926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.339928851 meters 0.08740068282015075 Centerline is valid? [True, True] Translation: X:82.41, Y:-7.93, Z:-2.50 [[ 9.99740335e-01 2.26528856e-02 -2.47187098e-03 8.24127663e+01] [-2.26522870e-02 9.99743368e-01 2.69889450e-04 -7.92627126e+00] [ 2.47735040e-03 -2.13825838e-04 9.99996909e-01 -2.49916378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.399928851 meters 0.08788635797442687 Centerline is valid? [True, True] Translation: X:82.47, Y:-7.94, Z:-2.50 [[ 9.99836780e-01 1.78045609e-02 -3.06765110e-03 8.24722944e+01] [-1.78036159e-02 9.99841447e-01 3.35066641e-04 -7.93591752e+00] [ 3.07313043e-03 -2.80396670e-04 9.99995239e-01 -2.50102210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.459928851 meters 0.08974889556790494 Centerline is valid? [True, True] Translation: X:82.53, Y:-7.95, Z:-2.50 [[ 9.99927148e-01 1.09486348e-02 -5.08184245e-03 8.25318450e+01] [-1.09459509e-02 9.99939937e-01 5.55651401e-04 -7.94990651e+00] [ 5.08762084e-03 -4.99985323e-04 9.99986933e-01 -2.50325500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.519928851 meters 0.09421650744818687 Centerline is valid? [True, True] Translation: X:82.59, Y:-7.97, Z:-2.51 [[ 9.99955517e-01 7.44218324e-03 -5.79463871e-03 8.25891906e+01] [-7.43864069e-03 9.99972133e-01 6.32661875e-04 -7.96846322e+00] [ 5.79918561e-03 -5.89529497e-04 9.99983011e-01 -2.50823196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.579928851 meters 0.09126146795570028 Centerline is valid? [True, True] Translation: X:82.65, Y:-7.97, Z:-2.51 [[ 9.99957110e-01 7.06395412e-03 -5.98983356e-03 8.26481441e+01] [-7.06016880e-03 9.99974864e-01 6.52867544e-04 -7.97128615e+00] [ 5.99429483e-03 -6.10550307e-04 9.99981848e-01 -2.50831658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.639928851 meters 0.08924183680594466 Centerline is valid? [True, True] Translation: X:82.71, Y:-7.98, Z:-2.51 [[ 9.99921960e-01 1.08201779e-02 -6.24483286e-03 8.27079743e+01] [-1.08161315e-02 9.99941272e-01 6.81370590e-04 -7.97546046e+00] [ 6.25183866e-03 -6.13772483e-04 9.99980269e-01 -2.50920090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.699928851 meters 0.09108153813178126 Centerline is valid? [True, True] Translation: X:82.77, Y:-7.99, Z:-2.51 [[ 9.99856022e-01 1.50575842e-02 -7.82329990e-03 8.27655695e+01] [-1.50513664e-02 9.99886358e-01 8.53042122e-04 -7.98631453e+00] [ 7.83525560e-03 -7.35167949e-04 9.99969034e-01 -2.51357027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.759928851 meters 0.08664341569774334 Centerline is valid? [True, True] Translation: X:82.83, Y:-7.99, Z:-2.51 [[ 9.99729126e-01 2.16786299e-02 -8.46822553e-03 8.28268218e+01] [-2.16715721e-02 9.99764717e-01 9.24321428e-04 -7.98516311e+00] [ 8.48627112e-03 -7.40551293e-04 9.99963717e-01 -2.51268521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.819928851 meters 0.08459653121190616 Centerline is valid? [True, True] Translation: X:82.89, Y:-7.99, Z:-2.51 [[ 9.99656146e-01 2.47785027e-02 -8.58000629e-03 8.28868647e+01] [-2.47713714e-02 9.99692704e-01 9.36446608e-04 -7.98935116e+00] [ 8.60057343e-03 -7.23586083e-04 9.99962753e-01 -2.51355188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.879928851 meters 0.08647577462229598 Centerline is valid? [True, True] Translation: X:82.94, Y:-8.00, Z:-2.52 [[ 9.99663131e-01 2.43954771e-02 -8.85915232e-03 8.29431491e+01] [-2.43878804e-02 9.99702106e-01 9.64536981e-04 -8.00228130e+00] [ 8.88004357e-03 -7.48156112e-04 9.99960292e-01 -2.51640796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.939928851 meters 0.08872209379135992 Centerline is valid? [True, True] Translation: X:83.00, Y:-8.02, Z:-2.52 [[ 9.99709879e-01 2.25557972e-02 -8.44945156e-03 8.30000832e+01] [-2.25488239e-02 9.99745320e-01 9.19666406e-04 -8.01728017e+00] [ 8.46804346e-03 -7.28874397e-04 9.99963880e-01 -2.51812853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.99992885099999 meters 0.08703968435886823 Centerline is valid? [True, True] Translation: X:83.06, Y:-8.02, Z:-2.52 [[ 9.99738495e-01 2.06991929e-02 -9.72029443e-03 8.30600286e+01] [-2.06898686e-02 9.99785381e-01 1.05884699e-03 -8.02284027e+00] [ 9.74012555e-03 -8.57458486e-04 9.99952196e-01 -2.51782017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.059928851 meters 0.08717927768275464 Centerline is valid? [True, True] Translation: X:83.12, Y:-8.03, Z:-2.52 [[ 9.99796854e-01 1.77844414e-02 -9.48497352e-03 8.31194284e+01] [-1.77754300e-02 9.99841470e-01 1.03353951e-03 -8.03435171e+00] [ 9.50185079e-03 -8.64730071e-04 9.99954483e-01 -2.51857433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.119928851 meters 0.0874379579915263 Centerline is valid? [True, True] Translation: X:83.18, Y:-8.04, Z:-2.52 [[ 9.99826564e-01 1.64010332e-02 -8.82314942e-03 8.31782922e+01] [-1.63931902e-02 9.99865161e-01 9.60503043e-04 -8.04408188e+00] [ 8.83771296e-03 -8.15696890e-04 9.99960614e-01 -2.51952032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.179928851 meters 0.08839052863158135 Centerline is valid? [True, True] Translation: X:83.24, Y:-8.05, Z:-2.52 [[ 9.99807545e-01 1.68731055e-02 -1.00085319e-02 8.32366357e+01] [-1.68630494e-02 9.99857216e-01 1.08829416e-03 -8.05346709e+00] [ 1.00254658e-02 -9.19310344e-04 9.99949321e-01 -2.52179071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.239928851 meters 0.08787419266119349 Centerline is valid? [True, True] Translation: X:83.30, Y:-8.06, Z:-2.52 [[ 9.99737638e-01 2.03415999e-02 -1.05297313e-02 8.32968563e+01] [-2.03306460e-02 9.99792654e-01 1.14629741e-03 -8.05875076e+00] [ 1.05508655e-02 -9.31920425e-04 9.99943904e-01 -2.52293910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.299928851 meters 0.08569189529861868 Centerline is valid? [True, True] Translation: X:83.36, Y:-8.06, Z:-2.52 [[ 9.99656574e-01 2.45234485e-02 -9.23768388e-03 8.33569360e+01] [-2.45152026e-02 9.99698952e-01 1.00483603e-03 -8.06003980e+00] [ 9.25954494e-03 -7.78027247e-04 9.99956827e-01 -2.52291364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.35992885099999 meters 0.08311931847690752 Centerline is valid? [True, True] Translation: X:83.42, Y:-8.06, Z:-2.52 [[ 9.99503459e-01 3.04456836e-02 -8.11761682e-03 8.34176980e+01] [-3.04395066e-02 9.99536220e-01 8.83427931e-04 -8.05798458e+00] [ 8.14074860e-03 -6.35893022e-04 9.99966661e-01 -2.52211900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.419928851 meters 0.08399853746484988 Centerline is valid? [True, True] Translation: X:83.48, Y:-8.06, Z:-2.52 [[ 9.99394587e-01 3.40854828e-02 -6.97414196e-03 8.34769088e+01] [-3.40810151e-02 9.99418786e-01 7.58479637e-04 -8.06437355e+00] [ 6.99594163e-03 -5.20334606e-04 9.99975393e-01 -2.52447822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.479928851 meters 0.08468859204540712 Centerline is valid? [True, True] Translation: X:83.54, Y:-8.07, Z:-2.53 [[ 9.99287040e-01 3.72050903e-02 -6.41813917e-03 8.35356811e+01] [-3.72013716e-02 9.99307546e-01 6.97866315e-04 -8.07083759e+00] [ 6.43965908e-03 -4.58605185e-04 9.99979160e-01 -2.52654680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.539928851 meters 0.08157308581984093 Centerline is valid? [True, True] Translation: X:83.59, Y:-8.07, Z:-2.52 [[ 9.99273273e-01 3.76792651e-02 -5.76183876e-03 8.35949251e+01] [-3.76762839e-02 9.99289801e-01 6.25113168e-04 -8.06923158e+00] [ 5.78130052e-03 -4.07574208e-04 9.99983205e-01 -2.52411429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.599928851 meters 0.08501188054698298 Centerline is valid? [True, True] Translation: X:83.65, Y:-8.08, Z:-2.53 [[ 9.99375839e-01 3.50614221e-02 -4.31603847e-03 8.36521867e+01] [-3.50597277e-02 9.99385109e-01 4.67651920e-04 -8.08308204e+00] [ 4.32978112e-03 -3.16040897e-04 9.99990577e-01 -2.52727949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.659928851 meters 0.08902336495212185 Centerline is valid? [True, True] Translation: X:83.71, Y:-8.10, Z:-2.53 [[ 9.99503403e-01 3.11827103e-02 -4.53723239e-03 8.37106542e+01] [-3.11807933e-02 9.99513639e-01 4.92640879e-04 -8.09848820e+00] [ 4.55038754e-03 -3.50921729e-04 9.99989585e-01 -2.53121843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.71992885099999 meters 0.09174740462375593 Centerline is valid? [True, True] Translation: X:83.77, Y:-8.11, Z:-2.54 [[ 9.99627869e-01 2.64770370e-02 -6.56433607e-03 8.37696211e+01] [-2.64729237e-02 9.99649277e-01 7.12737133e-04 -8.11084901e+00] [ 6.58090497e-03 -5.38694733e-04 9.99978201e-01 -2.53504130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.779928851 meters 0.08647998746779319 Centerline is valid? [True, True] Translation: X:83.83, Y:-8.11, Z:-2.53 [[ 9.99734891e-01 2.16366340e-02 -7.87430315e-03 8.38311477e+01] [-2.16305624e-02 9.99765666e-01 8.55428112e-04 -8.10598214e+00] [ 7.89096652e-03 -6.84875725e-04 9.99968631e-01 -2.53249192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.839928851 meters 0.08884490485670224 Centerline is valid? [True, True] Translation: X:83.89, Y:-8.12, Z:-2.53 [[ 9.99848585e-01 1.44971630e-02 -9.62492208e-03 8.38906169e+01] [-1.44877680e-02 9.99894501e-01 1.04512089e-03 -8.11634884e+00] [ 9.63905795e-03 -9.05519008e-04 9.99953133e-01 -2.53485962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.899928851 meters 0.08965528974253849 Centerline is valid? [True, True] Translation: X:83.95, Y:-8.12, Z:-2.54 [[ 9.99904914e-01 9.92237467e-03 -9.57650013e-03 8.39502285e+01] [-9.91286803e-03 9.99950326e-01 1.03966304e-03 -8.12322385e+00] [ 9.58634035e-03 -9.44633598e-04 9.99953604e-01 -2.53632041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.959928851 meters 0.08954280908399612 Centerline is valid? [True, True] Translation: X:84.01, Y:-8.13, Z:-2.54 [[ 9.99911795e-01 8.20803155e-03 -1.04417824e-02 8.40106892e+01] [-8.19663288e-03 9.99965764e-01 1.13396755e-03 -8.12714463e+00] [ 1.04507326e-02 -1.04828008e-03 9.99944840e-01 -2.53761530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.019928851 meters 0.09400801921407079 Centerline is valid? [True, True] Translation: X:84.07, Y:-8.14, Z:-2.54 [[ 9.99923988e-01 7.95330277e-03 -9.42140540e-03 8.40676909e+01] [-7.94403569e-03 9.99967925e-01 1.02063451e-03 -8.13982284e+00] [ 9.42922062e-03 -9.45712944e-04 9.99955097e-01 -2.54070298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.079928851 meters 0.08973967884513162 Centerline is valid? [True, True] Translation: X:84.13, Y:-8.13, Z:-2.54 [[ 9.99932957e-01 8.75659134e-03 -7.57655654e-03 8.41289939e+01] [-8.75062045e-03 9.99961376e-01 8.20867164e-04 -8.13387767e+00] [ 7.58345190e-03 -7.54512559e-04 9.99970961e-01 -2.53854892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.139928851 meters 0.09035592822056135 Centerline is valid? [True, True] Translation: X:84.19, Y:-8.14, Z:-2.54 [[ 9.99919329e-01 1.00127404e-02 -7.81543122e-03 8.41888348e+01] [-1.00064212e-02 9.99949576e-01 8.47238689e-04 -8.13853764e+00] [ 7.82352032e-03 -7.68965845e-04 9.99969100e-01 -2.54074672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.199928851 meters 0.09108111319946277 Centerline is valid? [True, True] Translation: X:84.25, Y:-8.14, Z:-2.54 [[ 9.99884585e-01 1.34767982e-02 -7.01368651e-03 8.42483201e+01] [-1.34717964e-02 9.99908962e-01 7.59903064e-04 -8.14094871e+00] [ 7.02328906e-03 -6.65328403e-04 9.99975115e-01 -2.54332185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.259928851 meters 0.0905638952191561 Centerline is valid? [True, True] Translation: X:84.31, Y:-8.14, Z:-2.54 [[ 9.99814334e-01 1.82106013e-02 -6.29845739e-03 8.43079213e+01] [-1.82066607e-02 9.99834012e-01 6.82421097e-04 -8.14100771e+00] [ 6.30983922e-03 -5.67620518e-04 9.99979932e-01 -2.54433758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.319928851 meters 0.0857541741976053 Centerline is valid? [True, True] Translation: X:84.37, Y:-8.13, Z:-2.54 [[ 9.99731515e-01 2.23546509e-02 -6.09645290e-03 8.43695642e+01] [-2.23510351e-02 9.99749966e-01 6.60609846e-04 -8.13324846e+00] [ 6.10969628e-03 -5.24170450e-04 9.99981198e-01 -2.54326643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.379928851 meters 0.08836352391898489 Centerline is valid? [True, True] Translation: X:84.43, Y:-8.14, Z:-2.55 [[ 9.99546232e-01 2.93311768e-02 -6.85655594e-03 8.44284355e+01] [-2.93267683e-02 9.99569602e-01 7.42644683e-04 -8.13923527e+00] [ 6.87538754e-03 -5.41227067e-04 9.99976218e-01 -2.54816551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.439928851 meters 0.08807956503616436 Centerline is valid? [True, True] Translation: X:84.49, Y:-8.14, Z:-2.55 [[ 9.99444846e-01 3.26448274e-02 -6.65689822e-03 8.44892379e+01] [-3.26407427e-02 9.99466889e-01 7.21355571e-04 -8.14143593e+00] [ 6.67689788e-03 -5.03669006e-04 9.99977582e-01 -2.55061290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.49992885099999 meters 0.08839252753013349 Centerline is valid? [True, True] Translation: X:84.55, Y:-8.14, Z:-2.55 [[ 9.99396576e-01 3.38857783e-02 -7.63138911e-03 8.45482239e+01] [-3.38804589e-02 9.99425552e-01 8.25289070e-04 -8.14326361e+00] [ 7.65497083e-03 -5.66236105e-04 9.99970540e-01 -2.55343915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.559928851 meters 0.08493640409118372 Centerline is valid? [True, True] Translation: X:84.61, Y:-8.14, Z:-2.55 [[ 9.99486886e-01 3.09495557e-02 -8.25160939e-03 8.46094213e+01] [-3.09432272e-02 9.99520744e-01 8.93544271e-04 -8.13912657e+00] [ 8.27530956e-03 -6.37754357e-04 9.99965556e-01 -2.55220970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.619928851 meters 0.08548629969277816 Centerline is valid? [True, True] Translation: X:84.67, Y:-8.14, Z:-2.55 [[ 9.99592979e-01 2.73750211e-02 -8.03025270e-03 8.46695351e+01] [-2.73689131e-02 9.99625023e-01 8.69561178e-04 -8.14480878e+00] [ 8.05104579e-03 -6.49427960e-04 9.99967379e-01 -2.55349269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.679928851 meters 0.08964143623724105 Centerline is valid? [True, True] Translation: X:84.73, Y:-8.16, Z:-2.56 [[ 9.99729095e-01 2.15960989e-02 -8.68012807e-03 8.47279440e+01] [-2.15887444e-02 9.99766494e-01 9.40100670e-04 -8.15787824e+00] [ 8.69840372e-03 -7.52452927e-04 9.99961885e-01 -2.55678138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.739928851 meters 0.09039516580837686 Centerline is valid? [True, True] Translation: X:84.79, Y:-8.16, Z:-2.56 [[ 9.99833067e-01 1.70835283e-02 -6.48011738e-03 8.47884705e+01] [-1.70793355e-02 9.99853891e-01 7.01815661e-04 -8.16266144e+00] [ 6.49116006e-03 -5.91022405e-04 9.99978758e-01 -2.55721634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.799928851 meters 0.09094002736444129 Centerline is valid? [True, True] Translation: X:84.85, Y:-8.17, Z:-2.56 [[ 9.99875891e-01 1.51551695e-02 -4.30391631e-03 8.48481027e+01] [-1.51533059e-02 9.99885074e-01 4.65274281e-04 -8.16810778e+00] [ 4.31047299e-03 -3.99997976e-04 9.99990630e-01 -2.55656007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.85992885099999 meters 0.09681893611934766 Centerline is valid? [True, True] Translation: X:84.91, Y:-8.18, Z:-2.56 [[ 9.99906568e-01 1.34365531e-02 -2.51298475e-03 8.49054207e+01] [-1.34359143e-02 9.99909697e-01 2.70918930e-04 -8.18299878e+00] [ 2.51639803e-03 -2.37129370e-04 9.99996806e-01 -2.55956006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.919928851 meters 0.09602327253078455 Centerline is valid? [True, True] Translation: X:84.97, Y:-8.18, Z:-2.56 [[ 9.99923889e-01 1.18739439e-02 -3.35050177e-03 8.49663088e+01] [-1.18727951e-02 9.99929450e-01 3.62573698e-04 -8.18415590e+00] [ 3.35457057e-03 -3.22766281e-04 9.99994321e-01 -2.56193389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.979928851 meters 0.09720777954545892 Centerline is valid? [True, True] Translation: X:85.02, Y:-8.19, Z:-2.56 [[ 9.99935452e-01 1.10835869e-02 -2.49920911e-03 8.50245880e+01] [-1.10829490e-02 9.99938546e-01 2.68946097e-04 -8.18984028e+00] [ 2.50203641e-03 -2.41230130e-04 9.99996841e-01 -2.56385079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.039928851 meters 0.09972972597834343 Centerline is valid? [True, True] Translation: X:85.08, Y:-8.20, Z:-2.57 [[ 9.99937174e-01 1.08554414e-02 -2.79422183e-03 8.50814151e+01] [-1.08546442e-02 9.99941042e-01 3.00300546e-04 -8.19739612e+00] [ 2.79731698e-03 -2.69951396e-04 9.99996051e-01 -2.56619211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.099928851 meters 0.10039684322372609 Centerline is valid? [True, False] Translation: X:85.08, Y:-8.19, Z:-2.57 [[ 9.99945941e-01 1.00367635e-02 -2.71626234e-03 8.50809525e+01] [-1.00397227e-02 9.99949020e-01 -1.07801662e-03 -8.19366693e+00] [ 2.70530406e-03 1.10522887e-03 9.99995730e-01 -2.56568183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.159928851 meters 0.09538888791187843 Centerline is valid? [False, True] Translation: X:85.08, Y:-8.19, Z:-2.57 [[ 9.99950471e-01 9.60898498e-03 -2.59275465e-03 8.50806118e+01] [-9.61343047e-03 9.99952332e-01 -1.70760290e-03 -8.19185108e+00] [ 2.57622272e-03 1.73244359e-03 9.99995181e-01 -2.56556666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.21992885099999 meters 0.09462045121163896 Centerline is valid? [True, True] Translation: X:85.14, Y:-8.20, Z:-2.57 [[ 9.99971236e-01 7.18253523e-03 -2.43694441e-03 8.51407722e+01] [-7.18191896e-03 9.99974175e-01 2.61544295e-04 -8.19519805e+00] [ 2.43876003e-03 -2.44034835e-04 9.99996996e-01 -2.56666967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.279928851 meters 0.09731554586316041 Centerline is valid? [True, True] Translation: X:85.20, Y:-8.21, Z:-2.57 [[ 9.99987222e-01 4.40637533e-03 -2.47773143e-03 8.52007798e+01] [-4.40572927e-03 9.99990259e-01 2.66145150e-04 -8.20620038e+00] [ 2.47888003e-03 -2.55225535e-04 9.99996895e-01 -2.56854021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.339928851 meters 0.10042808545701723 Centerline is valid? [True, False] Translation: X:85.20, Y:-8.21, Z:-2.57 [[ 9.99992506e-01 3.53770167e-03 -1.57222171e-03 8.51986259e+01] [-3.53784699e-03 9.99993738e-01 -8.96584622e-05 -8.20597981e+00] [ 1.57189468e-03 9.52200702e-05 9.99998760e-01 -2.56822211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.399928851 meters 0.0991134115778099 Centerline is valid? [False, True] Translation: X:85.20, Y:-8.21, Z:-2.57 [[ 9.99993601e-01 3.37137990e-03 -1.19669547e-03 8.51980681e+01] [-3.37132345e-03 9.99994316e-01 4.91850948e-05 -8.20616561e+00] [ 1.19685449e-03 -4.51503325e-05 9.99999283e-01 -2.56861823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.459928851 meters 0.10326785438919063 Centerline is valid? [True, False] Translation: X:85.20, Y:-8.21, Z:-2.57 [[ 9.99993916e-01 3.34218517e-03 -9.98529046e-04 8.51977422e+01] [-3.34192494e-03 9.99994381e-01 2.62166854e-04 -8.20682974e+00] [ 9.99399646e-04 -2.58828250e-04 9.99999467e-01 -2.56880379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.519928851 meters 0.10520358645244227 Centerline is valid? [False, False] Translation: X:85.20, Y:-8.21, Z:-2.57 [[ 9.99993687e-01 3.39966931e-03 -1.03345111e-03 8.51978925e+01] [-3.39933553e-03 9.99994170e-01 3.24566350e-04 -8.20689889e+00] [ 1.03454850e-03 -3.21051254e-04 9.99999413e-01 -2.56890994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.579928851 meters 0.10237338191174464 Centerline is valid? [False, False] Translation: X:85.20, Y:-8.21, Z:-2.57 [[ 9.99994218e-01 3.19129162e-03 -1.17463838e-03 8.51978133e+01] [-3.19149571e-03 9.99994892e-01 -1.71916955e-04 -8.20593279e+00] [ 1.17408374e-03 1.75664814e-04 9.99999295e-01 -2.56829032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.639928851 meters 0.10086786653362016 Centerline is valid? [False, False] Translation: X:85.20, Y:-8.20, Z:-2.57 [[ 9.99994258e-01 3.06601265e-03 -1.44351556e-03 8.51980524e+01] [-3.06696697e-03 9.99995079e-01 -6.59366018e-04 -8.20481630e+00] [ 1.44148684e-03 6.63789446e-04 9.99998741e-01 -2.56772956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.699928851 meters 0.09832013497069823 Centerline is valid? [False, True] Translation: X:85.20, Y:-8.20, Z:-2.57 [[ 9.99994369e-01 3.00402549e-03 -1.49575746e-03 8.51978371e+01] [-3.00523773e-03 9.99995157e-01 -8.08865261e-04 -8.20481771e+00] [ 1.49332037e-03 8.13355813e-04 9.99998554e-01 -2.56722089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.759928851 meters 0.09669981881036846 Centerline is valid? [True, True] Translation: X:85.26, Y:-8.21, Z:-2.57 [[ 9.99992182e-01 3.91581989e-03 -5.49951221e-04 8.52571329e+01] [-3.91578792e-03 9.99992332e-01 5.91922617e-05 -8.21004118e+00] [ 5.50178790e-04 -5.70383066e-05 9.99999847e-01 -2.56763957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.819928851 meters 0.10324247284370293 Centerline is valid? [True, False] Translation: X:85.26, Y:-8.21, Z:-2.57 [[ 9.99990288e-01 4.38438286e-03 -4.47867730e-04 8.52571807e+01] [-4.38391549e-03 9.99989851e-01 1.03925020e-03 -8.21277288e+00] [ 4.52419655e-04 -1.03727669e-03 9.99999360e-01 -2.56808784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.879928851 meters 0.0991127606177596 Centerline is valid? [False, True] Translation: X:85.26, Y:-8.21, Z:-2.57 [[ 9.99988714e-01 4.74134943e-03 -3.01240503e-04 8.52572175e+01] [-4.74077789e-03 9.99987013e-01 1.87046875e-03 -8.21491610e+00] [ 3.10105137e-04 -1.86901952e-03 9.99998205e-01 -2.56867752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.939928851 meters 0.09951936501935331 Centerline is valid? [True, True] Translation: X:85.32, Y:-8.23, Z:-2.57 [[ 9.99989790e-01 4.27505873e-03 -1.46389994e-03 8.53161997e+01] [-4.27482600e-03 9.99990850e-01 1.62071441e-04 -8.22564559e+00] [ 1.46457941e-03 -1.55811869e-04 9.99998915e-01 -2.57041774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.99992885099999 meters 0.10302558733111361 Centerline is valid? [True, False] Translation: X:85.32, Y:-8.23, Z:-2.57 [[ 9.99989423e-01 4.45254001e-03 -1.15246716e-03 8.53153622e+01] [-4.45145796e-03 9.99989651e-01 9.39764934e-04 -8.22851751e+00] [ 1.15663958e-03 -9.34624836e-04 9.99998894e-01 -2.57018780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.059928851 meters 0.10520010750492675 Centerline is valid? [False, False] Translation: X:85.32, Y:-8.23, Z:-2.57 [[ 9.99988518e-01 4.69617684e-03 -9.53745968e-04 8.53150559e+01] [-4.69461711e-03 9.99987650e-01 1.63108770e-03 -8.23058568e+00] [ 9.61394065e-04 -1.62659150e-03 9.99998215e-01 -2.57040345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.119928851 meters 0.10765680170192823 Centerline is valid? [False, False] Translation: X:85.32, Y:-8.23, Z:-2.57 [[ 9.99998777e-01 8.50899163e-04 -1.31195887e-03 8.53157815e+01] [-8.53744104e-04 9.99997282e-01 -2.16943523e-03 -8.23205038e+00] [ 1.31010933e-03 2.17055266e-03 9.99996786e-01 -2.57037760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.179928851 meters 0.11104304372854189 Centerline is valid? [False, False] Translation: X:85.31, Y:-8.23, Z:-2.57 [[ 9.99999270e-01 8.00623000e-04 -9.04808218e-04 8.53146594e+01] [-8.02130804e-04 9.99998288e-01 -1.66730280e-03 -8.23413490e+00] [ 9.03471788e-04 1.66802736e-03 9.99998201e-01 -2.56995881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.239928851 meters 0.1137735268028874 Centerline is valid? [False, False] Translation: X:85.32, Y:-8.24, Z:-2.57 [[ 9.99995208e-01 -2.77440539e-03 -1.37386424e-03 8.53158316e+01] [ 2.76738223e-03 9.99983228e-01 -5.08775751e-03 -8.23610662e+00] [ 1.38795670e-03 5.08393112e-03 9.99986114e-01 -2.57021399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.299928851 meters 0.10333169829757229 Centerline is valid? [False, False] Translation: X:85.32, Y:-8.24, Z:-2.57 [[ 9.99996302e-01 -2.41685053e-03 -1.24675020e-03 8.53154789e+01] [ 2.41161478e-03 9.99988339e-01 -4.18406562e-03 -8.23897380e+00] [ 1.25684793e-03 4.18104346e-03 9.99990470e-01 -2.57011839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.35992885099999 meters 0.10052147542412497 Centerline is valid? [False, False] Translation: X:85.32, Y:-8.24, Z:-2.57 [[ 9.99997401e-01 -1.84257589e-03 -1.34243014e-03 8.53159837e+01] [ 1.83819091e-03 9.99992995e-01 -3.26039895e-03 -8.24112151e+00] [ 1.34842827e-03 3.25792284e-03 9.99993784e-01 -2.57060335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.419928851 meters 0.102512106148788 Centerline is valid? [False, False] Translation: X:85.32, Y:-8.24, Z:-2.57 [[ 9.99998249e-01 -9.04783174e-04 -1.63784532e-03 8.53173039e+01] [ 9.01612235e-04 9.99997720e-01 -1.93574686e-03 -8.24396753e+00] [ 1.63959302e-03 1.93426677e-03 9.99996785e-01 -2.57170428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.479928851 meters 0.10174013017760015 Centerline is valid? [False, False] Translation: X:85.32, Y:-8.25, Z:-2.57 [[ 9.99997759e-01 -2.48720985e-04 -2.10259916e-03 8.53185114e+01] [ 2.46019615e-04 9.99999144e-01 -1.28493753e-03 -8.24542010e+00] [ 2.10291695e-03 1.28441736e-03 9.99996964e-01 -2.57205067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.539928851 meters 0.09702568980097964 Centerline is valid? [False, True] Translation: X:85.32, Y:-8.25, Z:-2.57 [[ 9.99996414e-01 1.42694088e-04 -2.67439960e-03 8.53195635e+01] [-1.46009853e-04 9.99999221e-01 -1.23966231e-03 -8.24528444e+00] [ 2.67422062e-03 1.24004835e-03 9.99995655e-01 -2.57187325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.599928851 meters 0.0944273681396489 Centerline is valid? [True, True] Translation: X:85.38, Y:-8.25, Z:-2.57 [[ 9.99990538e-01 3.74455651e-03 -2.21391572e-03 8.53795106e+01] [-3.74405065e-03 9.99992964e-01 2.32589554e-04 -8.24763164e+00] [ 2.21477109e-03 -2.24298341e-04 9.99997522e-01 -2.57251142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.659928851 meters 0.09240451356565284 Centerline is valid? [True, True] Translation: X:85.44, Y:-8.25, Z:-2.57 [[ 9.99978406e-01 6.14512257e-03 -2.32926291e-03 8.54401441e+01] [-6.14456775e-03 9.99981092e-01 2.45277378e-04 -8.25014044e+00] [ 2.33072613e-03 -2.30959767e-04 9.99997257e-01 -2.57321561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.71992885099999 meters 0.09264257393261859 Centerline is valid? [True, True] Translation: X:85.50, Y:-8.26, Z:-2.58 [[ 9.99966239e-01 7.66467039e-03 -2.96189543e-03 8.54990047e+01] [-7.66378180e-03 9.99970584e-01 3.11240345e-04 -8.25903456e+00] [ 2.96419386e-03 -2.88530517e-04 9.99995565e-01 -2.57589599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.779928851 meters 0.09057057114655732 Centerline is valid? [True, True] Translation: X:85.56, Y:-8.26, Z:-2.58 [[ 9.99968398e-01 6.67322343e-03 -4.32099620e-03 8.55585835e+01] [-6.67132251e-03 9.99977643e-01 4.54191541e-04 -8.26234376e+00] [ 4.32393052e-03 -4.25350429e-04 9.99990561e-01 -2.57716896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.839928851 meters 0.09321000803477666 Centerline is valid? [True, True] Translation: X:85.62, Y:-8.28, Z:-2.58 [[ 9.99974978e-01 3.19297307e-03 -6.31252187e-03 8.56178351e+01] [-3.18884284e-03 9.99994695e-01 6.64248740e-04 -8.27733482e+00] [ 6.31460931e-03 -6.44102479e-04 9.99979855e-01 -2.57989184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.899928851 meters 0.09667116923150808 Centerline is valid? [True, True] Translation: X:85.68, Y:-8.29, Z:-2.58 [[ 9.99969703e-01 7.12130586e-04 -7.75153690e-03 8.56757258e+01] [-7.05830684e-04 9.99999418e-01 8.15434798e-04 -8.29175731e+00] [ 7.75211309e-03 -8.09938820e-04 9.99969624e-01 -2.58275316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.959928851 meters 0.09470329785245335 Centerline is valid? [True, True] Translation: X:85.73, Y:-8.30, Z:-2.58 [[ 9.99978776e-01 -4.20682773e-04 -6.50154885e-03 8.57345667e+01] [ 4.25128646e-04 9.99999677e-01 6.82450489e-04 -8.29526192e+00] [ 6.50125965e-03 -6.85200000e-04 9.99978632e-01 -2.58148090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.019928851 meters 0.09507858250417958 Centerline is valid? [True, True] Translation: X:85.79, Y:-8.30, Z:-2.58 [[ 9.99976514e-01 -6.02576006e-04 -6.82701793e-03 8.57930634e+01] [ 6.07479644e-04 9.99999559e-01 7.16218531e-04 -8.30286816e+00] [ 6.82658334e-03 -7.20348984e-04 9.99976439e-01 -2.58241943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.079928851 meters 0.09575732867644617 Centerline is valid? [True, True] Translation: X:85.85, Y:-8.31, Z:-2.58 [[ 9.99976595e-01 -1.76928931e-04 -6.83938902e-03 8.58516440e+01] [ 1.81810486e-04 9.99999729e-01 7.13126265e-04 -8.31237611e+00] [ 6.83926100e-03 -7.14353047e-04 9.99976357e-01 -2.58492812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.139928851 meters 0.09754212827397518 Centerline is valid? [True, True] Translation: X:85.91, Y:-8.32, Z:-2.59 [[ 9.99982516e-01 6.36118725e-04 -5.87909842e-03 8.59094900e+01] [-6.32511823e-04 9.99999611e-01 6.15351807e-04 -8.32271379e+00] [ 5.87948757e-03 -6.11622449e-04 9.99982529e-01 -2.58656948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.199928851 meters 0.09374247791291154 Centerline is valid? [True, True] Translation: X:85.97, Y:-8.32, Z:-2.58 [[ 9.99987427e-01 9.78239245e-05 -5.01352621e-03 8.59688646e+01] [-9.51985118e-05 9.99999858e-01 5.23901869e-04 -8.32266324e+00] [ 5.01357675e-03 -5.23418001e-04 9.99987295e-01 -2.58374577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.259928851 meters 0.09626042569945324 Centerline is valid? [True, True] Translation: X:86.03, Y:-8.33, Z:-2.59 [[ 9.99987776e-01 -5.35549086e-04 -4.91539199e-03 8.60255293e+01] [ 5.38075070e-04 9.99999724e-01 5.12584663e-04 -8.33474894e+00] [ 4.91511612e-03 -5.15223247e-04 9.99987788e-01 -2.58633870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.319928851 meters 0.09515231452914609 Centerline is valid? [True, True] Translation: X:86.09, Y:-8.34, Z:-2.59 [[ 9.99977362e-01 -1.48007402e-03 -6.56384245e-03 8.60850643e+01] [ 1.48460921e-03 9.99998663e-01 6.86117340e-04 -8.34089157e+00] [ 6.56281816e-03 -6.95846549e-04 9.99978222e-01 -2.58830005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.379928851 meters 0.0959559429256888 Centerline is valid? [True, True] Translation: X:86.14, Y:-8.35, Z:-2.59 [[ 9.99972735e-01 -1.99053441e-03 -7.11100045e-03 8.61431902e+01] [ 1.99583108e-03 9.99997736e-01 7.37836894e-04 -8.34962954e+00] [ 7.10951566e-03 -7.52009133e-04 9.99974444e-01 -2.58962692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.439928851 meters 0.0966669029491842 Centerline is valid? [True, True] Translation: X:86.20, Y:-8.36, Z:-2.59 [[ 9.99968108e-01 -2.16590229e-03 -7.68717873e-03 8.62008948e+01] [ 2.17210778e-03 9.99997322e-01 7.98994842e-04 -8.35812594e+00] [ 7.68542760e-03 -8.15666741e-04 9.99970134e-01 -2.59134230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.49992885099999 meters 0.09583016475733976 Centerline is valid? [True, True] Translation: X:86.26, Y:-8.36, Z:-2.59 [[ 9.99964275e-01 -3.18284940e-03 -7.83055344e-03 8.62605825e+01] [ 3.18933199e-03 9.99994582e-01 8.15510355e-04 -8.36370168e+00] [ 7.82791536e-03 -8.40455455e-04 9.99969008e-01 -2.59098308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.559928851 meters 0.09566795855785103 Centerline is valid? [True, True] Translation: X:86.32, Y:-8.37, Z:-2.59 [[ 9.99968283e-01 -4.39335897e-03 -6.64309118e-03 8.63201053e+01] [ 4.39804871e-03 9.99990089e-01 6.91513852e-04 -8.37105114e+00] [ 6.63998728e-03 -7.20708558e-04 9.99977695e-01 -2.59129619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.619928851 meters 0.0999899208558472 Centerline is valid? [True, True] Translation: X:86.38, Y:-8.39, Z:-2.59 [[ 9.99932716e-01 -7.39304606e-03 -8.93902703e-03 8.63780184e+01] [ 7.40166096e-03 9.99972174e-01 9.31042352e-04 -8.38783386e+00] [ 8.93189505e-03 -9.97143356e-04 9.99959613e-01 -2.59382120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.679928851 meters 0.0993457525489492 Centerline is valid? [True, True] Translation: X:86.44, Y:-8.39, Z:-2.59 [[ 9.99925614e-01 -8.42124722e-03 -8.82318523e-03 8.64373741e+01] [ 8.42967363e-03 9.99964048e-01 9.18277074e-04 -8.39455660e+00] [ 8.81513498e-03 -9.92585339e-04 9.99960653e-01 -2.59439482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.739928851 meters 0.09732990963818997 Centerline is valid? [True, True] Translation: X:86.50, Y:-8.40, Z:-2.59 [[ 9.99911254e-01 -9.97044302e-03 -8.83593865e-03 8.64970568e+01] [ 9.97895493e-03 9.99949786e-01 9.19763473e-04 -8.39892203e+00] [ 8.82632451e-03 -1.00785528e-03 9.99960539e-01 -2.59402967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.799928851 meters 0.09672340181320079 Centerline is valid? [True, True] Translation: X:86.56, Y:-8.41, Z:-2.59 [[ 9.99918906e-01 -9.62763098e-03 -8.33612780e-03 8.65563114e+01] [ 9.63519011e-03 9.99953205e-01 8.67104571e-04 -8.40630461e+00] [ 8.32738955e-03 -9.47354430e-04 9.99964878e-01 -2.59472726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.85992885099999 meters 0.09538464054576101 Centerline is valid? [True, True] Translation: X:86.62, Y:-8.41, Z:-2.60 [[ 9.99914882e-01 -8.88613727e-03 -9.55330904e-03 8.66157356e+01] [ 8.89602944e-03 9.99959936e-01 9.93474671e-04 -8.41243848e+00] [ 9.54409814e-03 -1.07837663e-03 9.99953873e-01 -2.59506919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.919928851 meters 0.09709777082326011 Centerline is valid? [True, True] Translation: X:86.67, Y:-8.42, Z:-2.60 [[ 9.99919559e-01 -6.70392077e-03 -1.07672064e-02 8.66737268e+01] [ 6.71635898e-03 9.99976818e-01 1.11944988e-03 -8.42386177e+00] [ 1.07594521e-02 -1.19167626e-03 9.99941405e-01 -2.59786531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.979928851 meters 0.09544838291456242 Centerline is valid? [True, True] Translation: X:86.73, Y:-8.43, Z:-2.60 [[ 9.99917994e-01 -3.73714020e-03 -1.22490222e-02 8.67344572e+01] [ 3.75302251e-03 9.99992146e-01 1.27388927e-03 -8.42891132e+00] [ 1.22441652e-02 -1.31975566e-03 9.99924166e-01 -2.59941830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.039928851 meters 0.09318043280978362 Centerline is valid? [True, True] Translation: X:86.79, Y:-8.43, Z:-2.60 [[ 9.99913877e-01 -1.92681647e-03 -1.29817452e-02 8.67945086e+01] [ 1.94450092e-03 9.99997199e-01 1.34977099e-03 -8.43145231e+00] [ 1.29791081e-02 -1.37489776e-03 9.99914823e-01 -2.59981960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.099928851 meters 0.09407017365394035 Centerline is valid? [True, True] Translation: X:86.85, Y:-8.44, Z:-2.60 [[ 9.99916259e-01 -1.61441260e-04 -1.29402126e-02 8.68538496e+01] [ 1.78856161e-04 9.99999080e-01 1.34465121e-03 -8.44036979e+00] [ 1.29399836e-02 -1.34685305e-03 9.99915368e-01 -2.60137441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.159928851 meters 0.09419673184705092 Centerline is valid? [True, True] Translation: X:86.91, Y:-8.45, Z:-2.60 [[ 9.99913909e-01 2.06811766e-03 -1.29574948e-02 8.69135149e+01] [-2.05083427e-03 9.99996990e-01 1.34699860e-03 -8.44754548e+00] [ 1.29602416e-02 -1.32030896e-03 9.99915141e-01 -2.60262049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.21992885099999 meters 0.09310607840907449 Centerline is valid? [True, True] Translation: X:86.97, Y:-8.45, Z:-2.60 [[ 9.99901620e-01 9.61008624e-04 -1.39938374e-02 8.69727876e+01] [-9.40764798e-04 9.99998502e-01 1.45313529e-03 -8.45210924e+00] [ 1.39952129e-02 -1.43982742e-03 9.99901026e-01 -2.60305118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.279928851 meters 0.09412257030188793 Centerline is valid? [True, True] Translation: X:87.03, Y:-8.46, Z:-2.61 [[ 9.99895843e-01 -1.21721952e-03 -1.43813064e-02 8.70319817e+01] [ 1.23883363e-03 9.99998116e-01 1.49411824e-03 -8.46139102e+00] [ 1.43794606e-02 -1.51177866e-03 9.99895467e-01 -2.60528885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.339928851 meters 0.09660164728180068 Centerline is valid? [True, True] Translation: X:87.09, Y:-8.47, Z:-2.61 [[ 9.99880207e-01 -4.99894182e-03 -1.46486545e-02 8.70915537e+01] [ 5.02177121e-03 9.99986232e-01 1.52209476e-03 -8.47270214e+00] [ 1.46408440e-02 -1.59547461e-03 9.99891544e-01 -2.60586736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.399928851 meters 0.09606743508992596 Centerline is valid? [True, True] Translation: X:87.15, Y:-8.48, Z:-2.61 [[ 9.99868061e-01 -6.94837344e-03 -1.46826980e-02 8.71517240e+01] [ 6.97150782e-03 9.99974536e-01 1.52502643e-03 -8.47732362e+00] [ 1.46717276e-02 -1.62718577e-03 9.99891040e-01 -2.60619338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.459928851 meters 0.09661458271297768 Centerline is valid? [True, True] Translation: X:87.21, Y:-8.48, Z:-2.61 [[ 9.99851428e-01 -8.25138867e-03 -1.51339536e-02 8.72113855e+01] [ 8.27611074e-03 9.99964517e-01 1.57164854e-03 -8.48428712e+00] [ 1.51204483e-02 -1.69666532e-03 9.99884240e-01 -2.60692108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.519928851 meters 0.096009495259484 Centerline is valid? [True, True] Translation: X:87.27, Y:-8.49, Z:-2.61 [[ 9.99837624e-01 -9.16053922e-03 -1.55180754e-02 8.72706057e+01] [ 9.18661805e-03 9.99956506e-01 1.61009477e-03 -8.48811116e+00] [ 1.55026511e-02 -1.75239196e-03 9.99878291e-01 -2.60766431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.579928851 meters 0.09599079364814483 Centerline is valid? [True, True] Translation: X:87.33, Y:-8.49, Z:-2.61 [[ 9.99846639e-01 -8.96979051e-03 -1.50413220e-02 8.73293016e+01] [ 8.99416180e-03 9.99958345e-01 1.55342572e-03 -8.49190505e+00] [ 1.50267616e-02 -1.68847156e-03 9.99885666e-01 -2.60810137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.639928851 meters 0.09374195440311832 Centerline is valid? [True, True] Translation: X:87.39, Y:-8.49, Z:-2.61 [[ 9.99873624e-01 -7.48888588e-03 -1.40232967e-02 8.73896810e+01] [ 7.50997708e-03 9.99970746e-01 1.45195569e-03 -8.49208548e+00] [ 1.40120129e-02 -1.55708683e-03 9.99900615e-01 -2.60756311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.699928851 meters 0.0969666118816296 Centerline is valid? [True, True] Translation: X:87.45, Y:-8.50, Z:-2.61 [[ 9.99903886e-01 -3.67277102e-03 -1.33689566e-02 8.74481094e+01] [ 3.69159382e-03 9.99992229e-01 1.38354319e-03 -8.50095269e+00] [ 1.33637712e-02 -1.43276297e-03 9.99909674e-01 -2.61038607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.759928851 meters 0.09441115786342423 Centerline is valid? [True, True] Translation: X:87.51, Y:-8.50, Z:-2.61 [[ 9.99905252e-01 -1.04242919e-03 -1.37258841e-02 8.75093865e+01] [ 1.06203216e-03 9.99998426e-01 1.42096348e-03 -8.49984906e+00] [ 1.37243812e-02 -1.43540618e-03 9.99904786e-01 -2.61000341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.819928851 meters 0.09339016881281056 Centerline is valid? [True, True] Translation: X:87.57, Y:-8.50, Z:-2.61 [[ 9.99893112e-01 -8.98504629e-04 -1.45930347e-02 8.75680080e+01] [ 9.20532302e-04 9.99998447e-01 1.50281800e-03 -8.50350624e+00] [ 1.45916618e-02 -1.51609073e-03 9.99892387e-01 -2.61164255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.879928851 meters 0.09409757115890989 Centerline is valid? [True, True] Translation: X:87.63, Y:-8.51, Z:-2.61 [[ 9.99869309e-01 -1.72395081e-03 -1.60746024e-02 8.76269623e+01] [ 1.75083576e-03 9.99997092e-01 1.65858792e-03 -8.51088980e+00] [ 1.60716963e-02 -1.68651515e-03 9.99869420e-01 -2.61413229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.939928851 meters 0.0957262433443638 Centerline is valid? [True, True] Translation: X:87.68, Y:-8.52, Z:-2.62 [[ 9.99865055e-01 -2.17260694e-03 -1.62834908e-02 8.76845304e+01] [ 2.20022211e-03 9.99996171e-01 1.67817732e-03 -8.51920825e+00] [ 1.62797825e-02 -1.71377816e-03 9.99866007e-01 -2.61565561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.99992885099999 meters 0.09525521838656954 Centerline is valid? [True, True] Translation: X:87.74, Y:-8.52, Z:-2.62 [[ 9.99865343e-01 -2.65034900e-03 -1.61947846e-02 8.77430656e+01] [ 2.67761784e-03 9.99995033e-01 1.66235297e-03 -8.52317351e+00] [ 1.61902983e-02 -1.70549257e-03 9.99867474e-01 -2.61637419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.059928851 meters 0.09488848058945469 Centerline is valid? [True, True] Translation: X:87.80, Y:-8.53, Z:-2.62 [[ 9.99853884e-01 -4.66849890e-03 -1.64443372e-02 8.78025116e+01] [ 4.69694926e-03 9.99987538e-01 1.69190376e-03 -8.52863080e+00] [ 1.64362336e-02 -1.76889476e-03 9.99863351e-01 -2.61732522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.119928851 meters 0.10334625722224958 Centerline is valid? [True, False] Translation: X:87.80, Y:-8.53, Z:-2.62 [[ 9.99855724e-01 -4.99714840e-03 -1.62344941e-02 8.78020888e+01] [ 5.01941712e-03 9.99986517e-01 1.33123445e-03 -8.52781055e+00] [ 1.62276228e-02 -1.41253009e-03 9.99867326e-01 -2.61733170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.179928851 meters 0.10442820615970726 Centerline is valid? [False, False] Translation: X:87.79, Y:-8.53, Z:-2.63 [[ 9.99997229e-01 2.63010337e-05 2.35398940e-03 8.77943824e+01] [-2.37614574e-05 9.99999418e-01 -1.07886080e-03 -8.52815099e+00] [-2.35401641e-03 1.07880188e-03 9.99996647e-01 -2.62526862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.239928851 meters 0.09476519162774989 Centerline is valid? [False, True] Translation: X:87.79, Y:-8.53, Z:-2.62 [[ 9.99997342e-01 -3.79969420e-04 2.27408092e-03 8.77942921e+01] [ 3.84187021e-04 9.99998207e-01 -1.85449077e-03 -8.52607369e+00] [-2.27337220e-03 1.85535952e-03 9.99995695e-01 -2.62485791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.299928851 meters 0.09731721028223984 Centerline is valid? [True, True] Translation: X:87.85, Y:-8.54, Z:-2.63 [[ 9.99993547e-01 2.36106324e-03 2.70768051e-03 8.78535258e+01] [-2.36026570e-03 9.99997170e-01 -2.97705309e-04 -8.53582772e+00] [-2.70837574e-03 2.91312542e-04 9.99996290e-01 -2.62832439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.359928851 meters 0.09412700148125591 Centerline is valid? [True, True] Translation: X:87.92, Y:-8.53, Z:-2.63 [[ 9.99966617e-01 6.67838095e-03 4.70781229e-03 8.79150802e+01] [-6.67601430e-03 9.99977581e-01 -5.18242264e-04 -8.53364947e+00] [-4.71116777e-03 4.86795541e-04 9.99988784e-01 -2.62847528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.419928851 meters 0.09322811730526294 Centerline is valid? [True, True] Translation: X:87.98, Y:-8.54, Z:-2.63 [[ 9.99961553e-01 7.50118864e-03 4.54153371e-03 8.79756351e+01] [-7.49899789e-03 9.99971758e-01 -4.99217539e-04 -8.53769048e+00] [-4.54515017e-03 4.65141394e-04 9.99989563e-01 -2.62999163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.479928851 meters 0.09219210001140454 Centerline is valid? [True, True] Translation: X:88.04, Y:-8.54, Z:-2.63 [[ 9.99928928e-01 1.01879600e-02 6.19234407e-03 8.80355246e+01] [-1.01839335e-02 9.99947910e-01 -6.81426435e-04 -8.54065995e+00] [-6.19896385e-03 6.18315584e-04 9.99980595e-01 -2.63236335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.53992885099998 meters 0.09010675776091151 Centerline is valid? [True, True] Translation: X:88.10, Y:-8.54, Z:-2.63 [[ 9.99896415e-01 1.30048674e-02 6.16705072e-03 8.80962484e+01] [-1.30009317e-02 9.99915255e-01 -6.77844723e-04 -8.54186045e+00] [-6.17534337e-03 5.97597104e-04 9.99980754e-01 -2.63399061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.599928851 meters 0.08716752020836409 Centerline is valid? [True, True] Translation: X:88.16, Y:-8.54, Z:-2.63 [[ 9.99883557e-01 1.41017517e-02 5.83208851e-03 8.81560143e+01] [-1.40982447e-02 9.99900409e-01 -6.42004235e-04 -8.54250051e+00] [-5.84056107e-03 5.59707267e-04 9.99982787e-01 -2.63461625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.659928851 meters 0.08875477639215161 Centerline is valid? [True, True] Translation: X:88.21, Y:-8.55, Z:-2.64 [[ 9.99880831e-01 1.42967934e-02 5.82463816e-03 8.82135390e+01] [-1.42932937e-02 9.99897640e-01 -6.42025962e-04 -8.55216168e+00] [-5.83322086e-03 5.58696188e-04 9.99982831e-01 -2.63852564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.719928851 meters 0.08927266549787395 Centerline is valid? [True, True] Translation: X:88.27, Y:-8.56, Z:-2.64 [[ 9.99921118e-01 1.10497200e-02 5.97178317e-03 8.82728399e+01] [-1.10459962e-02 9.99938776e-01 -6.56187129e-04 -8.56168578e+00] [-5.97866823e-03 5.90171073e-04 9.99981953e-01 -2.63997163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.779928851 meters 0.09311419427188121 Centerline is valid? [True, True] Translation: X:88.33, Y:-8.58, Z:-2.64 [[ 9.99958816e-01 6.87596642e-03 5.92351098e-03 8.83304121e+01] [-6.87222807e-03 9.99976174e-01 -6.51227295e-04 -8.57874345e+00] [-5.92784766e-03 6.10492756e-04 9.99982244e-01 -2.64481604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.839928851 meters 0.09388791045798135 Centerline is valid? [True, True] Translation: X:88.39, Y:-8.59, Z:-2.65 [[ 9.99975516e-01 4.17258367e-03 5.61758479e-03 8.83901826e+01] [-4.16918605e-03 9.99991119e-01 -6.16394203e-04 -8.58826726e+00] [-5.62010686e-03 5.92958355e-04 9.99984031e-01 -2.64689233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.899928851 meters 0.09537189486310446 Centerline is valid? [True, True] Translation: X:88.45, Y:-8.60, Z:-2.65 [[ 9.99972214e-01 2.53423700e-03 7.01055783e-03 8.84505397e+01] [-2.52891176e-03 9.99996507e-01 -7.68363251e-04 -8.59954917e+00] [-7.01248055e-03 7.50612820e-04 9.99975131e-01 -2.64909765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.959928851 meters 0.09288791521502293 Centerline is valid? [True, True] Translation: X:88.51, Y:-8.60, Z:-2.65 [[ 9.99965521e-01 1.83726456e-03 8.09827855e-03 8.85122741e+01] [-1.83017724e-03 9.99997936e-01 -8.82487946e-04 -8.60387288e+00] [-8.09988320e-03 8.67636234e-04 9.99966819e-01 -2.64865716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.019928851 meters 0.09350070270744071 Centerline is valid? [True, True] Translation: X:88.57, Y:-8.61, Z:-2.65 [[ 9.99972929e-01 2.58230577e-03 6.89002478e-03 8.85740295e+01] [-2.57715826e-03 9.99996393e-01 -7.55868922e-04 -8.61308080e+00] [-6.89195181e-03 7.38091775e-04 9.99975978e-01 -2.65153250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.079928851 meters 0.0958141411879705 Centerline is valid? [True, True] Translation: X:88.63, Y:-8.62, Z:-2.65 [[ 9.99975106e-01 3.62242243e-03 6.05516064e-03 8.86337414e+01] [-3.61845521e-03 9.99993232e-01 -6.66006571e-04 -8.62419372e+00] [-6.05753221e-03 6.44079664e-04 9.99981446e-01 -2.65361232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.139928851 meters 0.0933687379456572 Centerline is valid? [True, True] Translation: X:88.69, Y:-8.63, Z:-2.66 [[ 9.99942270e-01 8.14471296e-03 7.00863380e-03 8.86946393e+01] [-8.13950414e-03 9.99966576e-01 -7.71404890e-04 -8.62759192e+00] [-7.01468241e-03 7.14313553e-04 9.99975142e-01 -2.65531189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.199928851 meters 0.09245261062632114 Centerline is valid? [True, True] Translation: X:88.75, Y:-8.63, Z:-2.66 [[ 9.99890341e-01 1.24895256e-02 7.95729934e-03 8.87547566e+01] [-1.24829442e-02 9.99921701e-01 -8.76217398e-04 -8.63335120e+00] [-7.96761984e-03 7.76790789e-04 9.99967956e-01 -2.65777130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.259928851 meters 0.08971514623645592 Centerline is valid? [True, True] Translation: X:88.82, Y:-8.63, Z:-2.66 [[ 9.99855877e-01 1.46609233e-02 8.56049113e-03 8.88151225e+01] [-1.46533838e-02 9.99892189e-01 -9.42796794e-04 -8.63446807e+00] [-8.57339049e-03 8.17220753e-04 9.99962914e-01 -2.65795329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.319928851 meters 0.09097824626683586 Centerline is valid? [True, True] Translation: X:88.87, Y:-8.64, Z:-2.66 [[ 9.99827264e-01 1.66220914e-02 8.31551136e-03 8.88728984e+01] [-1.66150522e-02 9.99861542e-01 -9.14892572e-04 -8.64477960e+00] [-8.32956744e-03 7.76571882e-04 9.99965007e-01 -2.66131598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.379928851 meters 0.08703195754630542 Centerline is valid? [True, True] Translation: X:88.93, Y:-8.64, Z:-2.66 [[ 9.99843024e-01 1.59269844e-02 7.76263793e-03 8.89323912e+01] [-1.59208127e-02 9.99872889e-01 -8.56191751e-04 -8.64414529e+00] [-7.77528777e-03 7.32469845e-04 9.99969504e-01 -2.66138630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.439928851 meters 0.08645466396773314 Centerline is valid? [True, True] Translation: X:88.99, Y:-8.65, Z:-2.66 [[ 9.99874179e-01 1.46338930e-02 6.12165785e-03 8.89919552e+01] [-1.46300369e-02 9.99892748e-01 -6.74227538e-04 -8.65051959e+00] [-6.13086786e-03 5.84582626e-04 9.99981035e-01 -2.66292225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.499928851 meters 0.08965373989311265 Centerline is valid? [True, True] Translation: X:89.05, Y:-8.67, Z:-2.67 [[ 9.99909681e-01 1.22009695e-02 5.63612746e-03 8.90495173e+01] [-1.21976618e-02 9.99925413e-01 -6.20879060e-04 -8.66628430e+00] [-5.64328240e-03 5.52075406e-04 9.99983924e-01 -2.66740581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.559928851 meters 0.09259610131063285 Centerline is valid? [True, True] Translation: X:89.11, Y:-8.68, Z:-2.67 [[ 9.99941288e-01 1.02646136e-02 3.47246501e-03 8.91080978e+01] [-1.02633460e-02 9.99947257e-01 -3.82651902e-04 -8.67923652e+00] [-3.47620963e-03 3.46990325e-04 9.99993898e-01 -2.67136416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.619928851 meters 0.09081794147610252 Centerline is valid? [True, True] Translation: X:89.17, Y:-8.68, Z:-2.67 [[ 9.99967908e-01 7.14286522e-03 3.62797001e-03 8.91689262e+01] [-7.14146402e-03 9.99974420e-01 -3.99030358e-04 -8.68336080e+00] [-3.63072743e-03 3.73108535e-04 9.99993339e-01 -2.67104343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.679928851 meters 0.09157587024088745 Centerline is valid? [True, True] Translation: X:89.23, Y:-8.69, Z:-2.67 [[ 9.99973289e-01 5.88810730e-03 4.33032313e-03 8.92281235e+01] [-5.88609692e-03 9.99982563e-01 -4.76853538e-04 -8.69295246e+00] [-4.33305539e-03 4.51352100e-04 9.99990510e-01 -2.67280564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.739928851 meters 0.09225012801284284 Centerline is valid? [True, True] Translation: X:89.29, Y:-8.70, Z:-2.67 [[ 9.99976243e-01 3.80786731e-03 5.74576088e-03 8.92878113e+01] [-3.80429564e-03 9.99992564e-01 -6.32418288e-04 -8.70182739e+00] [-5.74812632e-03 6.10544690e-04 9.99983293e-01 -2.67443090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.799928851 meters 0.09261532334367661 Centerline is valid? [True, True] Translation: X:89.35, Y:-8.71, Z:-2.68 [[ 9.99980265e-01 2.00269223e-03 5.95468174e-03 8.93483913e+01] [-1.99883153e-03 9.99997788e-01 -6.54228264e-04 -8.70960669e+00] [-5.95597878e-03 6.42312947e-04 9.99982057e-01 -2.67588583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.859928851 meters 0.09437285511684894 Centerline is valid? [True, True] Translation: X:89.41, Y:-8.72, Z:-2.68 [[ 9.99983738e-01 1.03971671e-03 5.60745813e-03 8.94082709e+01] [-1.03627780e-03 9.99999273e-01 -6.16144617e-04 -8.72107736e+00] [-5.60809467e-03 6.10323712e-04 9.99984088e-01 -2.68041061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.919928851 meters 0.09567541348951511 Centerline is valid? [True, True] Translation: X:89.47, Y:-8.73, Z:-2.68 [[ 9.99989318e-01 -4.14595793e-04 4.60338468e-03 8.94683335e+01] [ 4.16928489e-04 9.99999785e-01 -5.05786901e-04 -8.72995176e+00] [-4.60317400e-03 5.07700781e-04 9.99989276e-01 -2.68402844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.979928851 meters 0.0941980186900108 Centerline is valid? [True, True] Translation: X:89.53, Y:-8.73, Z:-2.69 [[ 9.99986576e-01 -5.56243386e-05 5.18124864e-03 8.95307224e+01] [ 5.85670741e-05 9.99999837e-01 -5.67808764e-04 -8.73292899e+00] [-5.18121621e-03 5.68104592e-04 9.99986416e-01 -2.68513845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.03992885099998 meters 0.09500921674612217 Centerline is valid? [True, True] Translation: X:89.59, Y:-8.74, Z:-2.69 [[ 9.99988297e-01 7.24342542e-04 4.78351858e-03 8.95921430e+01] [-7.21842332e-04 9.99999602e-01 -5.24377515e-04 -8.74086071e+00] [-4.78389651e-03 5.20918432e-04 9.99988421e-01 -2.68799618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.099928851 meters 0.09033721259525913 Centerline is valid? [True, True] Translation: X:89.65, Y:-8.74, Z:-2.69 [[ 9.99977765e-01 2.20529435e-03 6.29333325e-03 8.96536489e+01] [-2.20097842e-03 9.99997338e-01 -6.92637262e-04 -8.73686724e+00] [-6.29484396e-03 6.78770371e-04 9.99979957e-01 -2.68776083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.159928851 meters 0.09221024554672706 Centerline is valid? [True, True] Translation: X:89.71, Y:-8.75, Z:-2.69 [[ 9.99976856e-01 3.61907262e-03 5.76103431e-03 8.97138811e+01] [-3.61548194e-03 9.99993263e-01 -6.33561842e-04 -8.74513608e+00] [-5.76328841e-03 6.12718263e-04 9.99983204e-01 -2.69123993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.219928851 meters 0.09216374458969964 Centerline is valid? [True, True] Translation: X:89.77, Y:-8.75, Z:-2.69 [[ 9.99971936e-01 5.70352951e-03 4.85773189e-03 8.97743602e+01] [-5.70099866e-03 9.99983606e-01 -5.34682671e-04 -8.75099317e+00] [-4.86070183e-03 5.06973742e-04 9.99988058e-01 -2.69483393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.279928851 meters 0.08973364135378477 Centerline is valid? [True, True] Translation: X:89.83, Y:-8.75, Z:-2.70 [[ 9.99968671e-01 6.27157149e-03 4.82945692e-03 8.98348511e+01] [-6.26907312e-03 9.99980208e-01 -5.32284827e-04 -8.75251511e+00] [-4.83269960e-03 5.01991933e-04 9.99988196e-01 -2.69656394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.339928851 meters 0.09053396894226096 Centerline is valid? [True, True] Translation: X:89.89, Y:-8.76, Z:-2.70 [[ 9.99957449e-01 7.92153786e-03 4.72756245e-03 8.98944134e+01] [-7.91916204e-03 9.99968507e-01 -5.21054396e-04 -8.75886481e+00] [-4.73154111e-03 4.83593892e-04 9.99988689e-01 -2.69926367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.399928851 meters 0.09050375046006288 Centerline is valid? [True, True] Translation: X:89.95, Y:-8.76, Z:-2.70 [[ 9.99934599e-01 1.08178823e-02 3.71085683e-03 8.99544094e+01] [-1.08164378e-02 9.99941417e-01 -4.09112044e-04 -8.76304854e+00] [-3.71506516e-03 3.68947035e-04 9.99993031e-01 -2.70148420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.459928851 meters 0.08856017380746084 Centerline is valid? [True, True] Translation: X:90.02, Y:-8.76, Z:-2.70 [[ 9.99897890e-01 1.34868859e-02 4.72381734e-03 9.00155163e+01] [-1.34845740e-02 9.99908943e-01 -5.20932832e-04 -8.76378238e+00] [-4.73041296e-03 4.57180975e-04 9.99988707e-01 -2.70422131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.519928851 meters 0.08729343779097458 Centerline is valid? [True, True] Translation: X:90.08, Y:-8.77, Z:-2.71 [[ 9.99831188e-01 1.77163331e-02 4.87096652e-03 9.00758775e+01] [-1.77139245e-02 9.99842952e-01 -5.37193177e-04 -8.76662145e+00] [-4.87971864e-03 4.50818559e-04 9.99987992e-01 -2.70723853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.579928851 meters 0.08845340575169959 Centerline is valid? [True, True] Translation: X:90.13, Y:-8.77, Z:-2.71 [[ 9.99786644e-01 1.99247210e-02 5.44724439e-03 9.01346212e+01] [-1.99217398e-02 9.99801362e-01 -6.01001388e-04 -8.77407497e+00] [-5.45813714e-03 4.92354576e-04 9.99984983e-01 -2.71018119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.639928851 meters 0.08552910143361751 Centerline is valid? [True, True] Translation: X:90.19, Y:-8.77, Z:-2.71 [[ 9.99753595e-01 2.11664130e-02 6.68815435e-03 9.01947736e+01] [-2.11619468e-02 9.99775789e-01 -7.37851882e-04 -8.77342488e+00] [-6.70227247e-03 5.96135705e-04 9.99977362e-01 -2.71009397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.699928851 meters 0.08583518286021947 Centerline is valid? [True, True] Translation: X:90.25, Y:-8.78, Z:-2.71 [[ 9.99770817e-01 2.03545105e-02 6.63376491e-03 9.02530626e+01] [-2.03500934e-02 9.99792647e-01 -7.32677943e-04 -8.78069705e+00] [-6.64730268e-03 5.97512290e-04 9.99977728e-01 -2.71247533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.759928851 meters 0.08808162771598793 Centerline is valid? [True, True] Translation: X:90.31, Y:-8.79, Z:-2.72 [[ 9.99805197e-01 1.85511983e-02 6.73958986e-03 9.03107487e+01] [-1.85466147e-02 9.99827721e-01 -7.41969776e-04 -8.79291258e+00] [-6.75219320e-03 6.16828662e-04 9.99977013e-01 -2.71695412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.819928851 meters 0.09035328367580107 Centerline is valid? [True, True] Translation: X:90.37, Y:-8.80, Z:-2.72 [[ 9.99853707e-01 1.61899511e-02 5.51824553e-03 9.03697666e+01] [-1.61868428e-02 9.99868800e-01 -6.07472250e-04 -8.80483822e+00] [-5.52735648e-03 5.18060408e-04 9.99984590e-01 -2.72116862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.879928851 meters 0.08864340302592047 Centerline is valid? [True, True] Translation: X:90.43, Y:-8.81, Z:-2.72 [[ 9.99886637e-01 1.40106589e-02 5.51492026e-03 9.04300775e+01] [-1.40075195e-02 9.99901705e-01 -6.07468685e-04 -8.80820675e+00] [-5.52288921e-03 5.30149467e-04 9.99984608e-01 -2.72304602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.939928851 meters 0.08894028991791351 Centerline is valid? [True, True] Translation: X:90.49, Y:-8.81, Z:-2.72 [[ 9.99891625e-01 1.35783429e-02 5.68913788e-03 9.04887730e+01] [-1.35749866e-02 9.99907658e-01 -6.28144193e-04 -8.81490018e+00] [-5.69714169e-03 5.50846148e-04 9.99983619e-01 -2.72469868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.999928851 meters 0.09041977697645545 Centerline is valid? [True, True] Translation: X:90.55, Y:-8.83, Z:-2.73 [[ 9.99878325e-01 1.31911594e-02 8.32642056e-03 9.05464265e+01] [-1.31839716e-02 9.99912667e-01 -9.17550024e-04 -8.82522660e+00] [-8.33779694e-03 8.07663089e-04 9.99964914e-01 -2.72680533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.059928851 meters 0.08913156563684105 Centerline is valid? [True, True] Translation: X:90.61, Y:-8.83, Z:-2.73 [[ 9.99892845e-01 1.18556200e-02 8.58738255e-03 9.06063098e+01] [-1.18479438e-02 9.99929365e-01 -9.44224884e-04 -8.82945905e+00] [-8.59797035e-03 8.42380880e-04 9.99962682e-01 -2.72789702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.119928851 meters 0.09185430302638237 Centerline is valid? [True, True] Translation: X:90.66, Y:-8.84, Z:-2.73 [[ 9.99910496e-01 1.01749419e-02 8.68735914e-03 9.06648573e+01] [-1.01670245e-02 9.99947858e-01 -9.55052538e-04 -8.84211580e+00] [-8.69662377e-03 8.66642465e-04 9.99961808e-01 -2.73210274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.179928851 meters 0.09300691535072314 Centerline is valid? [True, True] Translation: X:90.72, Y:-8.85, Z:-2.74 [[ 9.99957476e-01 7.33836662e-03 5.58521641e-03 9.07247904e+01] [-7.33505453e-03 9.99972910e-01 -6.13262569e-04 -8.85163307e+00] [-5.58956545e-03 5.72268624e-04 9.99984215e-01 -2.73606391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.239928851 meters 0.092617533334865 Centerline is valid? [True, True] Translation: X:90.79, Y:-8.86, Z:-2.74 [[ 9.99974933e-01 5.09950024e-03 4.91207835e-03 9.07851432e+01] [-5.09691027e-03 9.99986865e-01 -5.39640410e-04 -8.85841764e+00] [-4.91476572e-03 5.14590461e-04 9.99987790e-01 -2.73767332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.299928851 meters 0.09424293117209254 Centerline is valid? [True, True] Translation: X:90.85, Y:-8.87, Z:-2.74 [[ 9.99985386e-01 1.56383317e-03 5.17511186e-03 9.08450223e+01] [-1.56091157e-03 9.99998620e-01 -5.68539199e-04 -8.86925167e+00] [-5.17599382e-03 5.60452999e-04 9.99986447e-01 -2.73974071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.359928851 meters 0.09471437799915626 Centerline is valid? [True, True] Translation: X:90.91, Y:-8.88, Z:-2.74 [[ 9.99990842e-01 1.74019096e-04 4.27617425e-03 9.09059146e+01] [-1.72016188e-04 9.99999875e-01 -4.68751289e-04 -8.87711758e+00] [-4.27625529e-03 4.68011425e-04 9.99990747e-01 -2.74329583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.419928851 meters 0.0962390702041433 Centerline is valid? [True, True] Translation: X:90.97, Y:-8.89, Z:-2.75 [[ 9.99989072e-01 -7.88884421e-04 4.60807340e-03 9.09674406e+01] [ 7.91216535e-04 9.99999560e-01 -5.04291996e-04 -8.88626221e+00] [-4.60767355e-03 5.07932469e-04 9.99989256e-01 -2.74657731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.479928851 meters 0.09641203904565876 Centerline is valid? [True, True] Translation: X:91.03, Y:-8.89, Z:-2.75 [[ 9.99987988e-01 -1.20893919e-03 4.75001799e-03 9.10295896e+01] [ 1.21142373e-03 9.99999131e-01 -5.20216014e-04 -8.89244215e+00] [-4.74938495e-03 5.25964050e-04 9.99988583e-01 -2.74846853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.53992885099998 meters 0.0973371613271009 Centerline is valid? [True, True] Translation: X:91.09, Y:-8.90, Z:-2.75 [[ 9.99981221e-01 -1.10655403e-03 6.02771611e-03 9.10910761e+01] [ 1.11055977e-03 9.99999165e-01 -6.61246322e-04 -8.89976307e+00] [-6.02697937e-03 6.67928043e-04 9.99981615e-01 -2.75077478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.599928851 meters 0.0938134867358003 Centerline is valid? [True, True] Translation: X:91.15, Y:-8.90, Z:-2.75 [[ 9.99984616e-01 -1.45857345e-03 5.35170365e-03 9.11536549e+01] [ 1.46173614e-03 9.99998759e-01 -5.87104431e-04 -8.89885942e+00] [-5.35084068e-03 5.94918177e-04 9.99985507e-01 -2.75123588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.659928851 meters 0.0949818055068556 Centerline is valid? [True, True] Translation: X:91.22, Y:-8.91, Z:-2.75 [[ 9.99987310e-01 -1.11236548e-03 4.91340972e-03 9.12155208e+01] [ 1.11502802e-03 9.99999233e-01 -5.39185902e-04 -8.90673194e+00] [-4.91280618e-03 5.44657649e-04 9.99987784e-01 -2.75481935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.719928851 meters 0.0997656901045983 Centerline is valid? [True, True] Translation: X:91.27, Y:-8.92, Z:-2.76 [[ 9.99990529e-01 -1.95138848e-03 3.89023748e-03 9.12742552e+01] [ 1.95307174e-03 9.99998001e-01 -4.28936983e-04 -8.92006557e+00] [-3.88939268e-03 4.36530833e-04 9.99992341e-01 -2.75993463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.779928851 meters 0.09747708086265472 Centerline is valid? [True, True] Translation: X:91.34, Y:-8.92, Z:-2.76 [[ 9.99991101e-01 -2.23084484e-03 3.58072728e-03 9.13364091e+01] [ 2.23226448e-03 9.99997431e-01 -3.92520910e-04 -8.92154839e+00] [-3.57984243e-03 4.00510548e-04 9.99993512e-01 -2.76052766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.839928851 meters 0.0985607356764098 Centerline is valid? [True, True] Translation: X:91.40, Y:-8.93, Z:-2.76 [[ 9.99982449e-01 -2.60475205e-03 5.32133319e-03 9.13984195e+01] [ 2.60790117e-03 9.99996428e-01 -5.84937758e-04 -8.92984204e+00] [-5.31979057e-03 5.98805003e-04 9.99985671e-01 -2.76264474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.899928851 meters 0.09775232555940913 Centerline is valid? [True, True] Translation: X:91.46, Y:-8.93, Z:-2.76 [[ 9.99974430e-01 -3.01353417e-03 6.48526141e-03 9.14601282e+01] [ 3.01822641e-03 9.99995190e-01 -7.13857388e-04 -8.93491933e+00] [-6.48307898e-03 7.33413122e-04 9.99978716e-01 -2.76359344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.959928851 meters 0.10571926109515203 Centerline is valid? [True, False] Translation: X:91.46, Y:-8.94, Z:-2.76 [[ 9.99974361e-01 -2.79547046e-03 6.59268781e-03 9.14599155e+01] [ 2.79634905e-03 9.99996083e-01 -1.24053808e-04 -8.93658883e+00] [-6.59231519e-03 1.42486084e-04 9.99978260e-01 -2.76360985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.019928851 meters 0.0968177671667047 Centerline is valid? [False, True] Translation: X:91.46, Y:-8.94, Z:-2.76 [[ 9.99974436e-01 -2.46707890e-03 6.71120666e-03 9.14597223e+01] [ 2.46240039e-03 9.99996720e-01 7.05292065e-04 -8.93892333e+00] [-6.71292465e-03 -6.88748357e-04 9.99977231e-01 -2.76368048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.079928851 meters 0.10347442013359505 Centerline is valid? [True, False] Translation: X:91.46, Y:-8.94, Z:-2.76 [[ 9.99970194e-01 -3.53372765e-03 6.86467669e-03 9.14585256e+01] [ 3.53053503e-03 9.99993654e-01 4.77143084e-04 -8.94374755e+00] [-6.86631922e-03 -4.52892881e-04 9.99976324e-01 -2.76262761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.139928851 meters 0.10225249960782082 Centerline is valid? [False, False] Translation: X:91.46, Y:-8.95, Z:-2.76 [[ 9.99969694e-01 -3.09141619e-03 7.14527148e-03 9.14581340e+01] [ 3.07836329e-03 9.99993574e-01 1.83706544e-03 -8.94763905e+00] [-7.15090470e-03 -1.81501402e-03 9.99972785e-01 -2.76290237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.199928851 meters 0.10264969193715827 Centerline is valid? [False, False] Translation: X:91.46, Y:-8.95, Z:-2.76 [[ 9.99952835e-01 -6.78544865e-03 6.94870794e-03 9.14583243e+01] [ 6.79524679e-03 9.99975950e-01 -1.38742903e-03 -8.95062725e+00] [-6.93912649e-03 1.43458178e-03 9.99974895e-01 -2.76253354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.259928851 meters 0.10447687249482204 Centerline is valid? [False, False] Translation: X:91.46, Y:-8.95, Z:-2.76 [[ 9.99956553e-01 -6.33254596e-03 6.84039278e-03 9.14587857e+01] [ 6.33707285e-03 9.99979716e-01 -6.40317532e-04 -8.95226055e+00] [-6.83619918e-03 6.83637779e-04 9.99976399e-01 -2.76292276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.319928851 meters 0.1061690132520419 Centerline is valid? [False, False] Translation: X:91.46, Y:-8.95, Z:-2.76 [[ 9.99961045e-01 -5.78600572e-03 6.66562282e-03 9.14594055e+01] [ 5.78489177e-03 9.99983250e-01 1.86387308e-04 -8.95407195e+00] [-6.66658961e-03 -1.47820141e-04 9.99977767e-01 -2.76333615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.379928851 meters 0.1053781973315601 Centerline is valid? [False, False] Translation: X:91.46, Y:-8.96, Z:-2.76 [[ 9.99965070e-01 -5.41803536e-03 6.36423033e-03 9.14599353e+01] [ 5.41419673e-03 9.99985151e-01 6.20231989e-04 -8.95519093e+00] [-6.36749627e-03 -5.85753129e-04 9.99979556e-01 -2.76324255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.439928851 meters 0.10120199258812604 Centerline is valid? [False, False] Translation: X:91.46, Y:-8.96, Z:-2.76 [[ 9.99970037e-01 -5.05945823e-03 5.85886856e-03 9.14605526e+01] [ 5.05469754e-03 9.99986883e-01 8.27084401e-04 -8.95566814e+00] [-5.86297631e-03 -7.97444811e-04 9.99982495e-01 -2.76265478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.499928851 meters 0.094293146994982 Centerline is valid? [False, True] Translation: X:91.46, Y:-8.96, Z:-2.76 [[ 9.99975995e-01 -4.35015315e-03 5.39318216e-03 9.14616811e+01] [ 4.34146777e-03 9.99989262e-01 1.62109925e-03 -8.95730379e+00] [-5.40017628e-03 -1.59764601e-03 9.99984143e-01 -2.76305582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.559928851 meters 0.09332097156287202 Centerline is valid? [True, True] Translation: X:91.52, Y:-8.96, Z:-2.77 [[ 9.99990864e-01 -6.88591946e-04 4.21876358e-03 9.15220647e+01] [ 6.90590900e-04 9.99999650e-01 -4.72386287e-04 -8.96099781e+00] [-4.21843682e-03 4.75295411e-04 9.99990989e-01 -2.76536646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.619928851 meters 0.093780759144449 Centerline is valid? [True, True] Translation: X:91.58, Y:-8.97, Z:-2.77 [[ 9.99980573e-01 4.70442982e-03 4.08921622e-03 9.15809850e+01] [-4.70259275e-03 9.99988838e-01 -4.58745845e-04 -8.96849576e+00] [-4.09132871e-03 4.39507014e-04 9.99991534e-01 -2.76816583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.679928851 meters 0.0880111646336743 Centerline is valid? [True, True] Translation: X:91.64, Y:-8.96, Z:-2.77 [[ 9.99926767e-01 1.16940701e-02 3.11595131e-03 9.16427090e+01] [-1.16930391e-02 9.99931573e-01 -3.48878327e-04 -8.96352397e+00] [-3.11981790e-03 3.12417837e-04 9.99995085e-01 -2.76794608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.739928851 meters 0.08816718288254803 Centerline is valid? [True, True] Translation: X:91.70, Y:-8.97, Z:-2.77 [[ 9.99855314e-01 1.68851840e-02 2.05931742e-03 9.17013517e+01] [-1.68847430e-02 9.99857416e-01 -2.31316052e-04 -8.97034635e+00] [-2.06292961e-03 1.96511538e-04 9.99997853e-01 -2.77146692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.799928851 meters 0.0880900278152208 Centerline is valid? [True, True] Translation: X:91.76, Y:-8.98, Z:-2.77 [[ 9.99800301e-01 1.99437902e-02 1.26598650e-03 9.17612595e+01] [-1.99436264e-02 9.99801096e-01 -1.41919583e-04 -8.97601620e+00] [-1.26856510e-03 1.16642880e-04 9.99999189e-01 -2.77441025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.859928851 meters 0.08806463258618993 Centerline is valid? [True, True] Translation: X:91.82, Y:-8.98, Z:-2.78 [[ 9.99727400e-01 2.32701343e-02 1.90449705e-03 9.18211437e+01] [-2.32697683e-02 9.99729199e-01 -2.14121372e-04 -8.98124671e+00] [-1.90896394e-03 1.69745798e-04 9.99998164e-01 -2.77609237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.919928851 meters 0.08562322070505937 Centerline is valid? [True, True] Translation: X:91.88, Y:-8.98, Z:-2.78 [[ 9.99697267e-01 2.45461397e-02 1.69127734e-03 9.18804692e+01] [-2.45458504e-02 9.99698687e-01 -1.91650202e-04 -8.98136363e+00] [-1.69547201e-03 1.50078343e-04 9.99998551e-01 -2.77648309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.979928851 meters 0.08593973581851834 Centerline is valid? [True, True] Translation: X:91.94, Y:-8.99, Z:-2.78 [[ 9.99650976e-01 2.63574977e-02 1.79144130e-03 9.19396384e+01] [-2.63571784e-02 9.99652569e-01 -2.01617766e-04 -8.98876708e+00] [-1.79613304e-03 1.54330059e-04 9.99998375e-01 -2.77922174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.03992885099998 meters 0.08623202332798292 Centerline is valid? [True, True] Translation: X:92.00, Y:-9.00, Z:-2.78 [[ 9.99623348e-01 2.74146162e-02 1.26555731e-03 9.19983835e+01] [-2.74144566e-02 9.99624143e-01 -1.43284595e-04 -8.99554676e+00] [-1.26900974e-03 1.08536060e-04 9.99999189e-01 -2.78206237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.099928851 meters 0.08503037289880165 Centerline is valid? [True, True] Translation: X:92.06, Y:-9.00, Z:-2.78 [[ 9.99607849e-01 2.79462028e-02 1.77695895e-03 9.20573540e+01] [-2.79458893e-02 9.99609417e-01 -2.00966179e-04 -8.99958035e+00] [-1.78188114e-03 1.51228672e-04 9.99998401e-01 -2.78306850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.159928851 meters 0.08414368288438871 Centerline is valid? [True, True] Translation: X:92.12, Y:-9.01, Z:-2.78 [[ 9.99565065e-01 2.94426134e-02 1.67718151e-03 9.21165836e+01] [-2.94423381e-02 9.99566463e-01 -1.88585227e-04 -9.00548311e+00] [-1.68200683e-03 1.39123060e-04 9.99998576e-01 -2.78413376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.219928851 meters 0.08423901760316381 Centerline is valid? [True, True] Translation: X:92.18, Y:-9.01, Z:-2.79 [[ 9.99517709e-01 3.09159146e-02 2.92508623e-03 9.21753582e+01] [-3.09150865e-02 9.99521961e-01 -3.27912149e-04 -9.01426673e+00] [-2.93382563e-03 2.37324706e-04 9.99995668e-01 -2.78635371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.279928851 meters 0.08349953111142278 Centerline is valid? [True, True] Translation: X:92.23, Y:-9.02, Z:-2.79 [[ 9.99491179e-01 3.18038655e-02 2.42841800e-03 9.22343499e+01] [-3.18032957e-02 9.99494110e-01 -2.72903594e-04 -9.02050225e+00] [-2.43586888e-03 1.95533039e-04 9.99997014e-01 -2.78787518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.339928851 meters 0.08255550972962337 Centerline is valid? [True, True] Translation: X:92.29, Y:-9.03, Z:-2.79 [[ 9.99379434e-01 3.51229815e-02 2.66903594e-03 9.22940074e+01] [-3.51223099e-02 9.99382977e-01 -2.98098821e-04 -9.02717731e+00] [-2.67785920e-03 2.04171124e-04 9.99996394e-01 -2.79010975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.399928851 meters 0.08251293386157708 Centerline is valid? [True, True] Translation: X:92.35, Y:-9.03, Z:-2.79 [[ 9.99301750e-01 3.72663789e-02 2.68885458e-03 9.23533254e+01] [-3.72657038e-02 9.99305347e-01 -3.00743678e-04 -9.03465426e+00] [-2.69819439e-03 2.00331625e-04 9.99996340e-01 -2.79191822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.459928851 meters 0.0811164931924136 Centerline is valid? [True, True] Translation: X:92.41, Y:-9.04, Z:-2.79 [[ 9.99188307e-01 4.01862754e-02 2.79113071e-03 9.24134335e+01] [-4.01855582e-02 9.99192185e-01 -3.12594214e-04 -9.03876746e+00] [-2.80143799e-03 2.00177338e-04 9.99996056e-01 -2.79323929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.519928851 meters 0.08112892911544774 Centerline is valid? [True, True] Translation: X:92.47, Y:-9.05, Z:-2.80 [[ 9.99105413e-01 4.22258720e-02 2.31288034e-03 9.24725783e+01] [-4.22253845e-02 9.99108077e-01 -2.59206882e-04 -9.04745249e+00] [-2.32176266e-03 1.61312737e-04 9.99997292e-01 -2.79649010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.579928851 meters 0.08141820386347318 Centerline is valid? [True, True] Translation: X:92.53, Y:-9.06, Z:-2.80 [[ 9.99062321e-01 4.32373491e-02 2.23861437e-03 9.25307093e+01] [-4.32368927e-02 9.99064817e-01 -2.51915504e-04 -9.05594016e+00] [-2.24741301e-03 1.54888559e-04 9.99997463e-01 -2.79950805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.639928851 meters 0.08140488813879868 Centerline is valid? [True, True] Translation: X:92.59, Y:-9.06, Z:-2.80 [[ 9.98949105e-01 4.57923231e-02 1.93632126e-03 9.25898574e+01] [-4.57919882e-02 9.98950973e-01 -2.16971292e-04 -9.06374285e+00] [-1.94422562e-03 1.28075278e-04 9.99998102e-01 -2.80265685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.699928851 meters 0.08044070709230751 Centerline is valid? [True, True] Translation: X:92.65, Y:-9.07, Z:-2.80 [[ 9.98875452e-01 4.73791956e-02 1.74425985e-03 9.26484643e+01] [-4.73789242e-02 9.98876969e-01 -1.96616332e-04 -9.06835578e+00] [-1.75161652e-03 1.13754072e-04 9.99998459e-01 -2.80352490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.759928851 meters 0.07781183618148306 Centerline is valid? [True, True] Translation: X:92.71, Y:-9.07, Z:-2.80 [[ 9.98708938e-01 5.07688832e-02 1.72551065e-03 9.27092519e+01] [-5.07686247e-02 9.98710423e-01 -1.93362817e-04 -9.06846212e+00] [-1.73310228e-03 1.05511371e-04 9.99998493e-01 -2.80149995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.819928851 meters 0.07816968205711844 Centerline is valid? [True, True] Translation: X:92.77, Y:-9.08, Z:-2.80 [[ 9.98626472e-01 5.23602010e-02 1.89197366e-03 9.27665203e+01] [-5.23598879e-02 9.98628257e-01 -2.14662423e-04 -9.07711708e+00] [-1.90061813e-03 1.15304050e-04 9.99998187e-01 -2.80394029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.879928851 meters 0.077947004578879 Centerline is valid? [True, True] Translation: X:92.82, Y:-9.09, Z:-2.81 [[ 9.98552132e-01 5.37771184e-02 1.28922271e-03 9.28248715e+01] [-5.37769750e-02 9.98552961e-01 -1.45694484e-04 -9.08557686e+00] [-1.29519219e-03 7.61530403e-05 9.99999158e-01 -2.80617590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.939928851 meters 0.07811895228500115 Centerline is valid? [True, True] Translation: X:92.88, Y:-9.09, Z:-2.81 [[ 9.98568436e-01 5.34884535e-02 2.53726096e-04 9.28826306e+01] [-5.34884473e-02 9.98568468e-01 -3.11482452e-05 -9.09321152e+00] [-2.55028950e-04 1.75322396e-05 9.99999967e-01 -2.80935393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.999928851 meters 0.07857388197601524 Centerline is valid? [True, True] Translation: X:92.94, Y:-9.10, Z:-2.81 [[ 9.98610529e-01 5.26936114e-02 -6.28074956e-04 9.29405599e+01] [-5.26935832e-02 9.98610726e-01 6.13954817e-05 -9.10211172e+00] [ 6.30437538e-04 -2.82146545e-05 9.99999801e-01 -2.81258623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.059928851 meters 0.08031413913763372 Centerline is valid? [True, True] Translation: X:93.00, Y:-9.11, Z:-2.82 [[ 9.98795977e-01 4.90358010e-02 -1.44432896e-03 9.29990933e+01] [-4.90356206e-02 9.98797018e-01 1.60140078e-04 -9.11431032e+00] [ 1.45044405e-03 -8.91236985e-05 9.99998944e-01 -2.81682809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.119928851 meters 0.08121610095456189 Centerline is valid? [True, True] Translation: X:93.06, Y:-9.12, Z:-2.82 [[ 9.98895307e-01 4.69695493e-02 -1.42364567e-03 9.30576543e+01] [-4.69693744e-02 9.98896318e-01 1.56024645e-04 -9.12319646e+00] [ 1.42940283e-03 -8.89845393e-05 9.99998974e-01 -2.81939513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.179928851 meters 0.08404258726693728 Centerline is valid? [True, True] Translation: X:93.12, Y:-9.14, Z:-2.82 [[ 9.99222467e-01 3.94208266e-02 -6.78085486e-04 9.31163545e+01] [-3.94207848e-02 9.99222696e-01 7.49079394e-05 -9.13665271e+00] [ 6.80511341e-04 -4.81190340e-05 9.99999767e-01 -2.82282382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.239928851 meters 0.08940810234992053 Centerline is valid? [True, True] Translation: X:93.17, Y:-9.15, Z:-2.83 [[ 9.99482598e-01 3.21493295e-02 -9.78660778e-04 9.31739943e+01] [-3.21492397e-02 9.99483074e-01 1.07302023e-04 -9.15192242e+00] [ 9.81604570e-04 -7.57833043e-05 9.99999515e-01 -2.82754228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.299928851 meters 0.09154967259438158 Centerline is valid? [True, True] Translation: X:93.23, Y:-9.16, Z:-2.83 [[ 9.99593268e-01 2.85167431e-02 -3.05231600e-04 9.32341419e+01] [-2.85167341e-02 9.99593315e-01 3.37941566e-05 -9.15935408e+00] [ 3.06071166e-04 -2.50762030e-05 9.99999953e-01 -2.82975457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.359928851 meters 0.08606477593353073 Centerline is valid? [True, True] Translation: X:93.29, Y:-9.15, Z:-2.83 [[ 9.99615087e-01 2.77430763e-02 9.46782404e-06 9.32945439e+01] [-2.77430762e-02 9.99615087e-01 -3.37781180e-06 -9.14699300e+00] [-9.55789064e-06 3.11384507e-06 1.00000000e+00 -2.82600092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.419928851 meters 0.0859269952956725 Centerline is valid? [True, True] Translation: X:93.35, Y:-9.15, Z:-2.83 [[ 9.99590821e-01 2.86033447e-02 -1.95753449e-04 9.33537140e+01] [-2.86033415e-02 9.99590841e-01 1.93311736e-05 -9.14733453e+00] [ 1.96226291e-04 -1.37240610e-05 9.99999981e-01 -2.82780577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.479928851 meters 0.09497079884094992 Centerline is valid? [True, True] Translation: X:93.41, Y:-9.17, Z:-2.84 [[ 9.99523581e-01 3.08514999e-02 8.92517671e-04 9.34111087e+01] [-3.08514233e-02 9.99523977e-01 -9.94843559e-05 -9.16649350e+00] [-8.95162053e-04 7.19015192e-05 9.99999597e-01 -2.83813376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.53992885099998 meters 0.09563383111770743 Centerline is valid? [True, True] Translation: X:93.47, Y:-9.17, Z:-2.84 [[ 9.99506396e-01 3.14037219e-02 -8.77802017e-04 9.34705673e+01] [-3.14036505e-02 9.99506779e-01 9.50020914e-05 -9.16629171e+00] [ 8.80352486e-04 -6.73890102e-05 9.99999610e-01 -2.84206084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.599928851 meters 0.0849504981462281 Centerline is valid? [True, True] Translation: X:93.53, Y:-9.14, Z:-2.83 [[ 9.99620972e-01 2.75206988e-02 -7.23015805e-04 9.35339377e+01] [-2.75206483e-02 9.99621232e-01 7.97433590e-05 -9.14383316e+00] [ 7.24936543e-04 -5.98152704e-05 9.99999735e-01 -2.83265347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.659928851 meters 0.08607146608105945 Centerline is valid? [True, True] Translation: X:93.59, Y:-9.15, Z:-2.83 [[ 9.99724295e-01 2.34793672e-02 2.31529579e-04 9.35942906e+01] [-2.34793619e-02 9.99724321e-01 -2.57748403e-05 -9.14727798e+00] [-2.32070928e-04 2.03315673e-05 9.99999973e-01 -2.83435724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.719928851 meters 0.08887379701917211 Centerline is valid? [True, True] Translation: X:93.65, Y:-9.15, Z:-2.84 [[ 9.99814567e-01 1.91403697e-02 2.11625465e-03 9.36532403e+01] [-1.91399148e-02 9.99816787e-01 -2.35002359e-04 -9.15097545e+00] [-2.12036496e-03 1.94453848e-04 9.99997733e-01 -2.83700819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.779928851 meters 0.09038065600600152 Centerline is valid? [True, True] Translation: X:93.71, Y:-9.15, Z:-2.84 [[ 9.99847423e-01 1.70988340e-02 3.57220773e-03 9.37125417e+01] [-1.70975264e-02 9.99853748e-01 -3.96290167e-04 -9.15450413e+00] [-3.57846138e-03 3.35153786e-04 9.99993541e-01 -2.83916460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.839928851 meters 0.09066874577937019 Centerline is valid? [True, True] Translation: X:93.77, Y:-9.15, Z:-2.84 [[ 9.99869892e-01 1.55447388e-02 4.30824525e-03 9.37720403e+01] [-1.55428248e-02 9.99879089e-01 -4.77389238e-04 -9.15369196e+00] [-4.31514523e-03 4.10364825e-04 9.99990606e-01 -2.84011353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.899928851 meters 0.0904002195803643 Centerline is valid? [True, True] Translation: X:93.83, Y:-9.15, Z:-2.84 [[ 9.99879949e-01 1.47759350e-02 4.66476101e-03 9.38312440e+01] [-1.47736796e-02 9.99890729e-01 -5.17575162e-04 -9.14918196e+00] [-4.67189895e-03 4.48597342e-04 9.99988986e-01 -2.84178309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.959928851 meters 0.09623093943134811 Centerline is valid? [True, True] Translation: X:93.89, Y:-9.16, Z:-2.85 [[ 9.99879529e-01 1.46608012e-02 5.09788796e-03 9.38878024e+01] [-1.46581099e-02 9.99892405e-01 -5.64881811e-04 -9.16031700e+00] [-5.10562107e-03 4.90088356e-04 9.99986846e-01 -2.84761700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.019928851 meters 0.09661316434397788 Centerline is valid? [True, True] Translation: X:93.95, Y:-9.16, Z:-2.85 [[ 9.99856733e-01 1.54373867e-02 6.94260001e-03 9.39481763e+01] [-1.54324388e-02 9.99880620e-01 -7.65699784e-04 -9.15972217e+00] [-6.95359161e-03 6.58448835e-04 9.99975607e-01 -2.84949764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.079928851 meters 0.09686855911121638 Centerline is valid? [True, True] Translation: X:94.01, Y:-9.16, Z:-2.85 [[ 9.99849077e-01 1.60612148e-02 6.62273911e-03 9.40078272e+01] [-1.60567203e-02 9.99870815e-01 -7.31261160e-04 -9.15969888e+00] [-6.63362849e-03 6.24811326e-04 9.99977802e-01 -2.85290442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.139928851 meters 0.09336584822756254 Centerline is valid? [True, True] Translation: X:94.07, Y:-9.15, Z:-2.85 [[ 9.99849541e-01 1.60316916e-02 6.62426009e-03 9.40676172e+01] [-1.60271930e-02 9.99871289e-01 -7.31639894e-04 -9.15268662e+00] [-6.63513689e-03 6.25361517e-04 9.99977792e-01 -2.85313172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.199928851 meters 0.09470173588561678 Centerline is valid? [True, True] Translation: X:94.13, Y:-9.16, Z:-2.85 [[ 9.99870164e-01 1.42968915e-02 7.43335775e-03 9.41264904e+01] [-1.42911888e-02 9.99897540e-01 -8.19730881e-04 -9.15874924e+00] [-7.44431573e-03 7.13392931e-04 9.99972036e-01 -2.85486392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.259928851 meters 0.09945730714472523 Centerline is valid? [True, True] Translation: X:94.18, Y:-9.17, Z:-2.86 [[ 9.99898560e-01 1.09663975e-02 9.08893060e-03 9.41846536e+01] [-1.09577553e-02 9.99939462e-01 -1.00009760e-03 -9.17033572e+00] [-9.09934784e-03 9.00401874e-04 9.99958195e-01 -2.85883126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.319928851 meters 0.10119632556733947 Centerline is valid? [True, False] Translation: X:94.19, Y:-9.17, Z:-2.85 [[ 9.99991056e-01 3.93378412e-03 1.55364024e-03 9.41935981e+01] [-3.93397758e-03 9.99992255e-01 1.21483699e-04 -9.16651944e+00] [-1.55315032e-03 -1.27594599e-04 9.99998786e-01 -2.85293560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.379928851 meters 0.10545502542896351 Centerline is valid? [False, False] Translation: X:94.19, Y:-9.16, Z:-2.85 [[ 9.99992679e-01 3.18559459e-03 2.12004826e-03 9.41922461e+01] [-3.18433447e-03 9.99994751e-01 -5.97492233e-04 -9.16474720e+00] [-2.12194050e-03 5.90736916e-04 9.99997574e-01 -2.85274276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.439928851 meters 0.10864759820861838 Centerline is valid? [False, False] Translation: X:94.19, Y:-9.16, Z:-2.85 [[ 9.99992924e-01 2.97345690e-03 2.30444097e-03 9.41920204e+01] [-2.97160168e-03 9.99995258e-01 -8.08066397e-04 -9.16385171e+00] [-2.30683279e-03 8.01212798e-04 9.99997018e-01 -2.85301650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.499928851 meters 0.11018204668351206 Centerline is valid? [False, False] Translation: X:94.19, Y:-9.16, Z:-2.85 [[ 9.99993743e-01 2.49311750e-03 2.50971456e-03 9.41913786e+01] [-2.48958977e-03 9.99995910e-01 -1.40777416e-03 -9.16238165e+00] [-2.51321404e-03 1.40151719e-03 9.99995860e-01 -2.85273212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.559928851 meters 0.10847241457844851 Centerline is valid? [False, False] Translation: X:94.19, Y:-9.16, Z:-2.85 [[ 9.99994518e-01 2.16900366e-03 2.50183352e-03 9.41911667e+01] [-2.16408378e-03 9.99995723e-01 -1.96754239e-03 -9.16091844e+00] [-2.50609043e-03 1.96211743e-03 9.99994935e-01 -2.85236700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.619928851 meters 0.11012975150790974 Centerline is valid? [False, False] Translation: X:94.19, Y:-9.16, Z:-2.85 [[ 9.99994894e-01 2.00789123e-03 2.48619496e-03 9.41909091e+01] [-2.00230547e-03 9.99995471e-01 -2.24716465e-03 -9.16051505e+00] [-2.49069576e-03 2.24217505e-03 9.99994385e-01 -2.85190872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.679928851 meters 0.10651829195289829 Centerline is valid? [False, False] Translation: X:94.19, Y:-9.16, Z:-2.85 [[ 9.99995422e-01 2.26547303e-03 2.00580746e-03 9.41919532e+01] [-2.26061384e-03 9.99994513e-01 -2.42152278e-03 -9.15962504e+00] [-2.01128235e-03 2.41697733e-03 9.99995056e-01 -2.85185639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.739928851 meters 0.09962661876914437 Centerline is valid? [False, True] Translation: X:94.19, Y:-9.16, Z:-2.85 [[ 9.99995533e-01 2.59447126e-03 1.48404201e-03 9.41931243e+01] [-2.59080190e-03 9.99993596e-01 -2.46914905e-03 -9.15901183e+00] [-1.49043864e-03 2.46529316e-03 9.99995850e-01 -2.85192748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.799928851 meters 0.09923571379222355 Centerline is valid? [True, True] Translation: X:94.25, Y:-9.17, Z:-2.85 [[ 9.99983159e-01 5.35593052e-03 2.23505061e-03 9.42527486e+01] [-5.35541876e-03 9.99985632e-01 -2.34892350e-04 -9.16648482e+00] [-2.23627656e-03 2.22918763e-04 9.99997475e-01 -2.85472175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.859928851 meters 0.09870691879095038 Centerline is valid? [True, True] Translation: X:94.31, Y:-9.17, Z:-2.86 [[ 9.99948249e-01 9.92034029e-03 2.25504256e-03 9.43120250e+01] [-9.91983061e-03 9.99950769e-01 -2.37091511e-04 -9.17170861e+00] [-2.25728357e-03 2.14709601e-04 9.99997429e-01 -2.85654998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.919928851 meters 0.09399902015461467 Centerline is valid? [True, True] Translation: X:94.37, Y:-9.17, Z:-2.86 [[ 9.99929378e-01 1.17653717e-02 1.67764115e-03 9.43721985e+01] [-1.17650913e-02 9.99930773e-01 -1.76888213e-04 -9.16927095e+00] [-1.67960617e-03 1.57138120e-04 9.99998577e-01 -2.85685057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.979928851 meters 0.09425554820800769 Centerline is valid? [True, True] Translation: X:94.43, Y:-9.18, Z:-2.86 [[ 9.99930119e-01 1.17072332e-02 1.64244924e-03 9.44307984e+01] [-1.17069634e-02 9.99931456e-01 -1.73765763e-04 -9.17807505e+00] [-1.64437098e-03 1.54525527e-04 9.99998636e-01 -2.85879910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.03992885099998 meters 0.09972597964924457 Centerline is valid? [True, True] Translation: X:94.49, Y:-9.20, Z:-2.86 [[ 9.99933796e-01 1.14141776e-02 1.45641702e-03 9.44866526e+01] [-1.14139647e-02 9.99934847e-01 -1.54435209e-04 -9.19504323e+00] [-1.45808489e-03 1.37801492e-04 9.99998927e-01 -2.86194056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.099928851 meters 0.09843543615402445 Centerline is valid? [True, True] Translation: X:94.55, Y:-9.20, Z:-2.86 [[ 9.99955265e-01 9.33632402e-03 1.51676172e-03 9.45463499e+01] [-9.33609291e-03 9.99956405e-01 -1.59375423e-04 -9.20134752e+00] [-1.51818358e-03 1.45207665e-04 9.99998837e-01 -2.86214003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.159928851 meters 0.10083258505538725 Centerline is valid? [True, False] Translation: X:94.55, Y:-9.20, Z:-2.86 [[ 9.99983609e-01 5.56118523e-03 1.36230004e-03 9.45463540e+01] [-5.55637250e-03 9.99978398e-01 -3.51146696e-03 -9.20449126e+00] [-1.38179853e-03 3.50383996e-03 9.99992907e-01 -2.86179617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.219928851 meters 0.0998549416837862 Centerline is valid? [False, True] Translation: X:94.55, Y:-9.21, Z:-2.86 [[ 9.99982619e-01 5.65485537e-03 1.66863495e-03 9.45456162e+01] [-5.64993921e-03 9.99979728e-01 -2.93636919e-03 -9.20656346e+00] [-1.68520587e-03 2.92689047e-03 9.99994297e-01 -2.86172762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.279928851 meters 0.10117416898668798 Centerline is valid? [True, False] Translation: X:94.55, Y:-9.21, Z:-2.86 [[ 9.99981854e-01 5.77084553e-03 1.72881235e-03 9.45454890e+01] [-5.76628155e-03 9.99979907e-01 -2.63340223e-03 -9.20759115e+00] [-1.74397458e-03 2.62338562e-03 9.99995038e-01 -2.86174758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.339928851 meters 0.09679628839188371 Centerline is valid? [False, True] Translation: X:94.55, Y:-9.21, Z:-2.86 [[ 9.99979973e-01 6.07928086e-03 1.75931462e-03 9.45455614e+01] [-6.07569370e-03 9.99979468e-01 -2.03716446e-03 -9.20934725e+00] [-1.77166299e-03 2.02643461e-03 9.99996377e-01 -2.86196634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.399928851 meters 0.09966325348578772 Centerline is valid? [True, True] Translation: X:94.60, Y:-9.22, Z:-2.87 [[ 9.99975635e-01 6.94586254e-03 6.96148465e-04 9.46032608e+01] [-6.94581207e-03 9.99975875e-01 -7.49008515e-05 -9.22301503e+00] [-6.96651921e-04 7.00637101e-05 9.99999755e-01 -2.86547553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.459928851 meters 0.09623395097297863 Centerline is valid? [True, True] Translation: X:94.66, Y:-9.22, Z:-2.87 [[ 9.99960624e-01 8.85092748e-03 6.41755163e-04 9.46634606e+01] [-8.85088539e-03 9.99960828e-01 -6.84059127e-05 -9.22458307e+00] [-6.42335480e-04 6.27231177e-05 9.99999792e-01 -2.86675503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.519928851 meters 0.09535467179860918 Centerline is valid? [True, True] Translation: X:94.72, Y:-9.23, Z:-2.87 [[ 9.99919160e-01 1.27143369e-02 1.38110408e-04 9.47227946e+01] [-1.27143349e-02 9.99919169e-01 -1.52006325e-05 -9.23082716e+00] [-1.38292510e-04 1.34434217e-05 9.99999990e-01 -2.86925468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.579928851 meters 0.09070584626439791 Centerline is valid? [True, True] Translation: X:94.78, Y:-9.23, Z:-2.87 [[ 9.99871145e-01 1.60450243e-02 -4.99894626e-04 9.47841529e+01] [-1.60449998e-02 9.99871269e-01 5.29317642e-05 -9.22772560e+00] [ 5.00679565e-04 -4.49041345e-05 9.99999874e-01 -2.86909578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.639928851 meters 0.09089770071720775 Centerline is valid? [True, True] Translation: X:94.84, Y:-9.23, Z:-2.87 [[ 9.99780039e-01 2.09116503e-02 -1.60491956e-03 9.48429748e+01] [-2.09114050e-02 9.99781318e-01 1.69471802e-04 -9.23286312e+00] [ 1.60811253e-03 -1.35873402e-04 9.99998698e-01 -2.87286979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.699928851 meters 0.08915827563190701 Centerline is valid? [True, True] Translation: X:94.90, Y:-9.24, Z:-2.87 [[ 9.99701826e-01 2.42961970e-02 -2.44020779e-03 9.49031953e+01] [-2.42956380e-02 9.99704784e-01 2.58497154e-04 -9.23537018e+00] [ 2.44576790e-03 -1.99133672e-04 9.99996989e-01 -2.87431463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.759928851 meters 0.08812234755066253 Centerline is valid? [True, True] Translation: X:94.96, Y:-9.24, Z:-2.88 [[ 9.99695484e-01 2.45763414e-02 -2.22334180e-03 9.49620240e+01] [-2.45758814e-02 9.99697940e-01 2.34024332e-04 -9.23877565e+00] [ 2.22842168e-03 -1.79312484e-04 9.99997501e-01 -2.87523698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.819928851 meters 0.08888310176053006 Centerline is valid? [True, True] Translation: X:95.02, Y:-9.25, Z:-2.88 [[ 9.99761686e-01 2.17479081e-02 -1.89717916e-03 9.50214190e+01] [-2.17475668e-02 9.99763474e-01 2.00364839e-04 -9.24777193e+00] [ 1.90108794e-03 -1.59058058e-04 9.99998180e-01 -2.87631682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.879928851 meters 0.09177300366034623 Centerline is valid? [True, True] Translation: X:95.08, Y:-9.26, Z:-2.88 [[ 9.99867537e-01 1.61981430e-02 -1.59047246e-03 9.50803498e+01] [-1.61978959e-02 9.99868791e-01 1.68088783e-04 -9.26166114e+00] [ 1.59298650e-03 -1.42304210e-04 9.99998721e-01 -2.87845716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.939928851 meters 0.09502195905636893 Centerline is valid? [True, True] Translation: X:95.14, Y:-9.28, Z:-2.88 [[ 9.99974846e-01 6.62366121e-03 -2.53662645e-03 9.51389416e+01] [-6.62300167e-03 9.99978032e-01 2.68315449e-04 -9.27755406e+00] [ 2.53834796e-03 -2.51508619e-04 9.99996747e-01 -2.88020920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.999928851 meters 0.1016293814638226 Centerline is valid? [True, False] Translation: X:95.14, Y:-9.28, Z:-2.88 [[ 9.99994898e-01 2.15108389e-03 -2.36166335e-03 9.51380582e+01] [-2.16020817e-03 9.99990187e-01 -3.86777053e-03 -9.27877361e+00] [ 2.35332027e-03 3.87285248e-03 9.99989731e-01 -2.87955397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.059928851 meters 0.10241383502843637 Centerline is valid? [False, False] Translation: X:95.14, Y:-9.28, Z:-2.88 [[ 9.99996191e-01 -1.98911567e-03 -1.91342066e-03 9.51368213e+01] [ 1.97568619e-03 9.99973583e-01 -6.99504001e-03 -9.28273888e+00] [ 1.92728406e-03 6.99123305e-03 9.99973704e-01 -2.87905031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.119928851 meters 0.10484536273421165 Centerline is valid? [False, False] Translation: X:95.14, Y:-9.29, Z:-2.88 [[ 9.99997809e-01 -1.59354106e-03 -1.35712484e-03 9.51360719e+01] [ 1.58617926e-03 9.99984116e-01 -5.40846050e-03 -9.28719311e+00] [ 1.36572188e-03 5.40629601e-03 9.99984453e-01 -2.87970462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.179928851 meters 0.11178046323205326 Centerline is valid? [False, False] Translation: X:95.14, Y:-9.29, Z:-2.88 [[ 9.99998643e-01 -1.14039309e-03 -1.18882267e-03 9.51360265e+01] [ 1.13515733e-03 9.99989695e-01 -4.39556329e-03 -9.28982667e+00] [ 1.19382309e-03 4.39420782e-03 9.99989633e-01 -2.88021243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.239928851 meters 0.10967213172056683 Centerline is valid? [False, False] Translation: X:95.14, Y:-9.29, Z:-2.88 [[ 9.99999017e-01 -6.74214312e-04 -1.22909808e-03 9.51361685e+01] [ 6.69814405e-04 9.99993379e-01 -3.57668936e-03 -9.29210311e+00] [ 1.23150139e-03 3.57586258e-03 9.99992848e-01 -2.88032530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.299928851 meters 0.10742495413398806 Centerline is valid? [False, False] Translation: X:95.14, Y:-9.29, Z:-2.88 [[ 9.99998562e-01 8.04990981e-05 -1.69385010e-03 9.51372551e+01] [-8.51386013e-05 9.99996245e-01 -2.73913439e-03 -9.29419141e+00] [ 1.69362324e-03 2.73927466e-03 9.99994814e-01 -2.88049196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.359928851 meters 0.0991583778015642 Centerline is valid? [False, True] Translation: X:95.14, Y:-9.29, Z:-2.88 [[ 9.99997411e-01 6.75886452e-04 -2.17270711e-03 9.51385616e+01] [-6.80770456e-04 9.99997242e-01 -2.24793614e-03 -9.29489191e+00] [ 2.17118176e-03 2.24940944e-03 9.99995113e-01 -2.88097057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.419928851 meters 0.09699797350658827 Centerline is valid? [True, True] Translation: X:95.20, Y:-9.30, Z:-2.88 [[ 9.99962224e-01 8.29284734e-03 -2.60360543e-03 9.51990534e+01] [-8.29211127e-03 9.99965577e-01 2.93377287e-04 -9.29931781e+00] [ 2.60594874e-03 -2.71776818e-04 9.99996568e-01 -2.88425364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.479928851 meters 0.09354971661342375 Centerline is valid? [True, True] Translation: X:95.26, Y:-9.30, Z:-2.88 [[ 9.99915104e-01 1.24562865e-02 -3.82439989e-03 9.52592582e+01] [-1.24547307e-02 9.99922344e-01 4.30353352e-04 -9.30050929e+00] [ 3.82946351e-03 -3.82684946e-04 9.99992594e-01 -2.88482424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.53992885099998 meters 0.0928359231304961 Centerline is valid? [True, True] Translation: X:95.32, Y:-9.31, Z:-2.89 [[ 9.99871968e-01 1.52459712e-02 -4.85870779e-03 9.53189792e+01] [-1.52434895e-02 9.99883661e-01 5.47399447e-04 -9.30743517e+00] [ 4.86648817e-03 -4.73265701e-04 9.99988047e-01 -2.88659468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.599928851 meters 0.09289610362949671 Centerline is valid? [True, True] Translation: X:95.38, Y:-9.32, Z:-2.89 [[ 9.99866896e-01 1.52068185e-02 -5.91120506e-03 9.53770303e+01] [-1.52031544e-02 9.99884205e-01 6.64293999e-04 -9.31585503e+00] [ 5.92062237e-03 -5.74336616e-04 9.99982308e-01 -2.88776682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.659928851 meters 0.0956617769926688 Centerline is valid? [True, True] Translation: X:95.43, Y:-9.33, Z:-2.89 [[ 9.99885716e-01 1.41591755e-02 -5.29842517e-03 9.54342584e+01] [-1.41562174e-02 9.99899618e-01 5.95380621e-04 -9.33053010e+00] [ 5.30632341e-03 -5.20306919e-04 9.99985786e-01 -2.89037675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.719928851 meters 0.09791046707800193 Centerline is valid? [True, True] Translation: X:95.49, Y:-9.34, Z:-2.89 [[ 9.99911898e-01 1.21181358e-02 -5.41723070e-03 9.54932379e+01] [-1.21150107e-02 9.99926425e-01 6.09337265e-04 -9.34330280e+00] [ 5.42421616e-03 -5.43653774e-04 9.99985141e-01 -2.89224660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.779928851 meters 0.09546607040225638 Centerline is valid? [True, True] Translation: X:95.55, Y:-9.35, Z:-2.89 [[ 9.99943644e-01 8.45701942e-03 -6.41780974e-03 9.55536242e+01] [-8.45255577e-03 9.99964016e-01 7.22314914e-04 -9.34862189e+00] [ 6.42368743e-03 -6.68027312e-04 9.99979145e-01 -2.89196934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.839928851 meters 0.09616587249139984 Centerline is valid? [True, True] Translation: X:95.61, Y:-9.36, Z:-2.89 [[ 9.99952026e-01 4.41087763e-03 -8.74584030e-03 9.56133614e+01] [-4.40243822e-03 9.99989825e-01 9.83979323e-04 -9.35976861e+00] [ 8.75009153e-03 -9.45429096e-04 9.99961270e-01 -2.89319376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.899928851 meters 0.09848114116616746 Centerline is valid? [True, True] Translation: X:95.67, Y:-9.37, Z:-2.90 [[ 9.99952463e-01 3.67552600e-03 -9.03115535e-03 9.56698015e+01] [-3.66652156e-03 9.99992765e-01 1.01339629e-03 -9.37108629e+00] [ 9.03481478e-03 -9.80235192e-04 9.99958705e-01 -2.89521865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.959928851 meters 0.10090782256181918 Centerline is valid? [True, False] Translation: X:95.67, Y:-9.37, Z:-2.89 [[ 9.99955931e-01 -5.39211357e-04 -9.37262139e-03 9.56698715e+01] [ 5.09110827e-04 9.99994707e-01 -3.21362730e-03 -9.37170144e+00] [ 9.37430460e-03 3.20871397e-03 9.99950912e-01 -2.89429509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.019928851 meters 0.09989661011210342 Centerline is valid? [False, True] Translation: X:95.67, Y:-9.37, Z:-2.89 [[ 9.99956860e-01 -4.35450716e-04 -9.27839234e-03 9.56695612e+01] [ 4.08465871e-04 9.99995682e-01 -2.91005008e-03 -9.37284996e+00] [ 9.27961946e-03 2.90613463e-03 9.99952720e-01 -2.89413891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.079928851 meters 0.09985256383454712 Centerline is valid? [True, True] Translation: X:95.73, Y:-9.38, Z:-2.90 [[ 9.99961422e-01 -1.15440355e-03 -8.70752778e-03 9.57279917e+01] [ 1.16269292e-03 9.99998876e-01 9.46975888e-04 -9.38250400e+00] [ 8.70642480e-03 -9.57063537e-04 9.99961640e-01 -2.89572797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.139928851 meters 0.09936596107363418 Centerline is valid? [True, True] Translation: X:95.79, Y:-9.39, Z:-2.90 [[ 9.99950338e-01 -5.52491624e-03 -8.29444338e-03 9.57877632e+01] [ 5.53261557e-03 9.99984285e-01 9.05592400e-04 -9.39233465e+00] [ 8.28930971e-03 -9.51437392e-04 9.99965190e-01 -2.89564743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.199928851 meters 0.10341478524497304 Centerline is valid? [True, False] Translation: X:95.78, Y:-9.40, Z:-2.90 [[ 9.99976437e-01 -6.82641568e-03 -7.24473398e-04 9.57770382e+01] [ 6.82254475e-03 9.99963115e-01 -5.21742930e-03 -9.40249088e+00] [ 7.60063017e-04 5.21236361e-03 9.99986127e-01 -2.89922938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.259928851 meters 0.1062811161789521 Centerline is valid? [False, False] Translation: X:95.78, Y:-9.41, Z:-2.90 [[ 9.99978671e-01 -6.53112236e-03 4.51143829e-05 9.57756252e+01] [ 6.53123470e-03 9.99973362e-01 -3.25867029e-03 -9.40866853e+00] [-2.38304068e-05 3.25889543e-03 9.99994690e-01 -2.89936598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.319928851 meters 0.11290836257594593 Centerline is valid? [False, False] Translation: X:95.77, Y:-9.42, Z:-2.90 [[ 9.99955629e-01 -9.36077094e-03 1.05616984e-03 9.57738767e+01] [ 9.36341918e-03 9.99952959e-01 -2.53095382e-03 -9.42007004e+00] [-1.03242848e-03 2.54073088e-03 9.99996239e-01 -2.90059750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.379928851 meters 0.11483391665844168 Centerline is valid? [False, False] Translation: X:95.77, Y:-9.43, Z:-2.90 [[ 9.99924262e-01 -1.22567646e-02 1.11448916e-03 9.57742778e+01] [ 1.22610994e-02 9.99916950e-01 -3.96965432e-03 -9.42725271e+00] [-1.06574148e-03 3.98301852e-03 9.99991500e-01 -2.90144515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.439928851 meters 0.11291923188325466 Centerline is valid? [False, False] Translation: X:95.77, Y:-9.44, Z:-2.90 [[ 9.99938886e-01 -1.09418669e-02 1.58090629e-03 9.57731924e+01] [ 1.09428750e-02 9.99939926e-01 -6.30432256e-04 -9.43655325e+00] [-1.57391321e-03 6.47693388e-04 9.99998552e-01 -2.90134558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.499928851 meters 0.10854817217351351 Centerline is valid? [False, False] Translation: X:95.77, Y:-9.44, Z:-2.90 [[ 9.99950655e-01 -9.84377952e-03 1.33712961e-03 9.57741301e+01] [ 9.84227360e-03 9.99950927e-01 1.12818368e-03 -9.44069881e+00] [-1.34816958e-03 -1.11496761e-03 9.99998470e-01 -2.90204934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.559928851 meters 0.11184595878204401 Centerline is valid? [False, False] Translation: X:95.77, Y:-9.45, Z:-2.90 [[ 9.99960455e-01 -8.71913197e-03 1.75068289e-03 9.57727445e+01] [ 8.71264788e-03 9.99955281e-01 3.67783374e-03 -9.44838045e+00] [-1.78267212e-03 -3.66243521e-03 9.99991704e-01 -2.90118896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.619928851 meters 0.11003790114981363 Centerline is valid? [False, False] Translation: X:95.77, Y:-9.45, Z:-2.90 [[ 9.99968695e-01 -7.73022834e-03 1.68908177e-03 9.57729218e+01] [ 7.72084155e-03 9.99955096e-01 5.49492351e-03 -9.45329201e+00] [-1.73148294e-03 -5.48171036e-03 9.99983476e-01 -2.90126618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.679928851 meters 0.10311143799609729 Centerline is valid? [False, False] Translation: X:95.76, Y:-9.46, Z:-2.91 [[ 9.99967468e-01 2.12770965e-03 7.78045415e-03 9.57637808e+01] [-2.17256566e-03 9.99981043e-01 5.76131738e-03 -9.45664169e+00] [-7.76804825e-03 -5.77803350e-03 9.99953135e-01 -2.90538199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.739928851 meters 0.1019677581847384 Centerline is valid? [False, False] Translation: X:95.76, Y:-9.45, Z:-2.90 [[ 9.99972433e-01 2.28128366e-03 7.06603045e-03 9.57646305e+01] [-2.31798635e-03 9.99983843e-01 5.19041760e-03 -9.45498951e+00] [-7.05407547e-03 -5.20665348e-03 9.99961565e-01 -2.90461579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.799928851 meters 0.09796826681837606 Centerline is valid? [False, True] Translation: X:95.77, Y:-9.45, Z:-2.90 [[ 9.99976538e-01 2.58609175e-03 6.34308348e-03 9.57654183e+01] [-2.61726781e-03 9.99984513e-01 4.91160250e-03 -9.45409064e+00] [-6.33028339e-03 -4.92808882e-03 9.99967820e-01 -2.90370278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.859928851 meters 0.09856045397101207 Centerline is valid? [True, True] Translation: X:95.82, Y:-9.46, Z:-2.91 [[ 9.99960158e-01 7.10383984e-03 5.40540473e-03 9.58240923e+01] [-7.10043113e-03 9.99974581e-01 -6.49541594e-04 -9.46141927e+00] [-5.40988157e-03 6.11135011e-04 9.99985180e-01 -2.90559624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.919928851 meters 0.09351664722302615 Centerline is valid? [True, True] Translation: X:95.89, Y:-9.46, Z:-2.91 [[ 9.99910595e-01 1.24381444e-02 4.90870274e-03 9.58858086e+01] [-1.24354037e-02 9.99922504e-01 -5.88452019e-04 -9.45879737e+00] [-4.91564159e-03 5.27357707e-04 9.99987779e-01 -2.90685152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.979928851 meters 0.0895137528280532 Centerline is valid? [True, True] Translation: X:95.95, Y:-9.46, Z:-2.91 [[ 9.99843614e-01 1.73485329e-02 3.43157297e-03 9.59471737e+01] [-1.73472204e-02 9.99849441e-01 -4.11866114e-04 -9.45626877e+00] [-3.43820158e-03 3.52273452e-04 9.99994027e-01 -2.90758310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.03992885099998 meters 0.09008478343633218 Centerline is valid? [True, True] Translation: X:96.01, Y:-9.46, Z:-2.91 [[ 9.99807812e-01 1.93534981e-02 3.12739212e-03 9.60070300e+01] [-1.93524162e-02 9.99812654e-01 -3.75816331e-04 -9.46343077e+00] [-3.13407958e-03 3.15221510e-04 9.99995039e-01 -2.91204916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.099928851 meters 0.08952170767031764 Centerline is valid? [True, True] Translation: X:96.07, Y:-9.47, Z:-2.91 [[ 9.99799977e-01 1.96757208e-02 3.58777009e-03 9.60655596e+01] [-1.96742932e-02 9.99806349e-01 -4.32773355e-04 -9.46757932e+00] [-3.59559044e-03 3.62099950e-04 9.99993470e-01 -2.91260470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.159928851 meters 0.09106229452483938 Centerline is valid? [True, True] Translation: X:96.13, Y:-9.48, Z:-2.92 [[ 9.99842650e-01 1.75214211e-02 2.77051410e-03 9.61256520e+01] [-1.75205684e-02 9.99846448e-01 -3.31753721e-04 -9.47690719e+00] [-2.77590148e-03 2.83160537e-04 9.99996107e-01 -2.91575477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.219928851 meters 0.09507503401770168 Centerline is valid? [True, True] Translation: X:96.18, Y:-9.49, Z:-2.92 [[ 9.99915443e-01 1.27593659e-02 2.51109852e-03 9.61839382e+01] [-1.27586498e-02 9.99918560e-01 -3.00988675e-04 -9.49223764e+00] [-2.51473444e-03 2.68924998e-04 9.99996802e-01 -2.91991839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.279928851 meters 0.09457581338426799 Centerline is valid? [True, True] Translation: X:96.24, Y:-9.50, Z:-2.92 [[ 9.99946748e-01 9.83925410e-03 3.11282557e-03 9.62436990e+01] [-9.83813738e-03 9.99951534e-01 -3.73857733e-04 -9.49800624e+00] [-3.11635318e-03 3.43213419e-04 9.99995085e-01 -2.92172585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.339928851 meters 0.0941923282375327 Centerline is valid? [True, True] Translation: X:96.30, Y:-9.50, Z:-2.92 [[ 9.99986727e-01 4.10134964e-03 3.11833263e-03 9.63034667e+01] [-4.10020295e-03 9.99991524e-01 -3.74029496e-04 -9.50406203e+00] [-3.11984022e-03 3.61238735e-04 9.99995068e-01 -2.92186011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.399928851 meters 0.09866079332392094 Centerline is valid? [True, True] Translation: X:96.36, Y:-9.52, Z:-2.93 [[ 9.99993926e-01 6.72970838e-04 3.41972713e-03 9.63619648e+01] [-6.71572006e-04 9.99999690e-01 -4.10179518e-04 -9.51849304e+00] [-3.42000211e-03 4.07880433e-04 9.99994069e-01 -2.92520131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.459928851 meters 0.09884965779997966 Centerline is valid? [True, True] Translation: X:96.42, Y:-9.52, Z:-2.93 [[ 9.99992943e-01 -7.36916829e-04 3.68396001e-03 9.64232073e+01] [ 7.38544328e-04 9.99999630e-01 -4.40438837e-04 -9.52434978e+00] [-3.68363408e-03 4.43156497e-04 9.99993117e-01 -2.92683076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.519928851 meters 0.09772449055159897 Centerline is valid? [True, True] Translation: X:96.49, Y:-9.53, Z:-2.93 [[ 9.99992561e-01 -1.84811751e-04 3.85269186e-03 9.64852372e+01] [ 1.86586127e-04 9.99999877e-01 -4.60200539e-04 -9.52670750e+00] [-3.85260634e-03 4.60915975e-04 9.99992472e-01 -2.92815600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.579928851 meters 0.09824767108895034 Centerline is valid? [True, True] Translation: X:96.55, Y:-9.53, Z:-2.93 [[ 9.99993444e-01 1.27745157e-03 3.38811919e-03 9.65462701e+01] [-1.27608371e-03 9.99999103e-01 -4.05851469e-04 -9.53157620e+00] [-3.38863461e-03 4.01525285e-04 9.99994178e-01 -2.93154182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.639928851 meters 0.09526389706300713 Centerline is valid? [True, True] Translation: X:96.61, Y:-9.53, Z:-2.93 [[ 9.99990834e-01 2.93012496e-03 3.12185216e-03 9.66071658e+01] [-2.92896973e-03 9.99995640e-01 -3.74555314e-04 -9.53054504e+00] [-3.12293604e-03 3.65408070e-04 9.99995057e-01 -2.93254252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.699928851 meters 0.0974131055773854 Centerline is valid? [True, True] Translation: X:96.67, Y:-9.54, Z:-2.94 [[ 9.99984711e-01 4.34906589e-03 3.41526525e-03 9.66670262e+01] [-4.34769146e-03 9.99990465e-01 -4.09758593e-04 -9.53633619e+00] [-3.41701475e-03 3.94903808e-04 9.99994084e-01 -2.93634496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.75992885099998 meters 0.09836345900430937 Centerline is valid? [True, True] Translation: X:96.73, Y:-9.54, Z:-2.94 [[ 9.99981186e-01 4.99702934e-03 3.55774570e-03 9.67272384e+01] [-4.99554189e-03 9.99987431e-01 -4.26853191e-04 -9.54355667e+00] [-3.55983398e-03 4.09072293e-04 9.99993580e-01 -2.93875388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.819928851 meters 0.09661819743308198 Centerline is valid? [True, True] Translation: X:96.79, Y:-9.55, Z:-2.94 [[ 9.99989126e-01 3.78043847e-03 2.73065805e-03 9.67878170e+01] [-3.77955775e-03 9.99992804e-01 -3.27620409e-04 -9.54662181e+00] [-2.73187695e-03 3.17296167e-04 9.99996218e-01 -2.93983177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.879928851 meters 0.09889593889263869 Centerline is valid? [True, True] Translation: X:96.85, Y:-9.56, Z:-2.94 [[ 9.99996167e-01 6.30779904e-04 2.69595388e-03 9.68476303e+01] [-6.29910394e-04 9.99999749e-01 -3.23360882e-04 -9.55827676e+00] [-2.69615717e-03 3.21661433e-04 9.99996314e-01 -2.94351378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.939928851 meters 0.09947833264462658 Centerline is valid? [True, True] Translation: X:96.91, Y:-9.57, Z:-2.95 [[ 9.99994672e-01 -1.96482871e-03 2.60677225e-03 9.69073044e+01] [ 1.96565034e-03 9.99998019e-01 -3.12664761e-04 -9.56656475e+00] [-2.60615275e-03 3.17787098e-04 9.99996553e-01 -2.94551712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.999928851 meters 0.10074496827465869 Centerline is valid? [True, False] Translation: X:96.91, Y:-9.57, Z:-2.95 [[ 9.99994989e-01 -1.75487694e-03 2.63466585e-03 9.69072982e+01] [ 1.75444987e-03 9.99998447e-01 1.64398896e-04 -9.56773003e+00] [-2.63495025e-03 -1.59775683e-04 9.99996516e-01 -2.94561514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.059928851 meters 0.10107274489602047 Centerline is valid? [False, False] Translation: X:96.91, Y:-9.57, Z:-2.95 [[ 9.99995674e-01 -1.30176756e-03 2.63759857e-03 9.69074721e+01] [ 1.29914374e-03 9.99998660e-01 9.96245555e-04 -9.56980857e+00] [-2.63889191e-03 -9.92814626e-04 9.99996025e-01 -2.94592649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.119928851 meters 0.10113964565924735 Centerline is valid? [False, False] Translation: X:96.91, Y:-9.57, Z:-2.95 [[ 9.99996584e-01 -1.17376102e-03 2.33557133e-03 9.69081892e+01] [ 1.17167760e-03 9.99998915e-01 8.93206128e-04 -9.56911361e+00] [-2.33661720e-03 -8.90466540e-04 9.99996874e-01 -2.94608659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.179928851 meters 0.09895787943465127 Centerline is valid? [False, True] Translation: X:96.91, Y:-9.57, Z:-2.95 [[ 9.99998213e-01 -1.07542715e-03 1.55477043e-03 9.69095696e+01] [ 1.07518793e-03 9.99999410e-01 1.54689572e-04 -9.56642201e+00] [-1.55493587e-03 -1.53017625e-04 9.99998779e-01 -2.94590145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.239928851 meters 0.09645138153613839 Centerline is valid? [True, True] Translation: X:96.97, Y:-9.57, Z:-2.95 [[ 9.99978985e-01 6.23629648e-03 1.77140231e-03 9.69706359e+01] [-6.23593680e-03 9.99980535e-01 -2.08495223e-04 -9.56588326e+00] [-1.77266806e-03 1.97444489e-04 9.99998409e-01 -2.94858723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.299928851 meters 0.096364379011178 Centerline is valid? [True, True] Translation: X:97.03, Y:-9.57, Z:-2.95 [[ 9.99934843e-01 1.12564362e-02 1.89774193e-03 9.70300865e+01] [-1.12560310e-02 9.99936624e-01 -2.24042635e-04 -9.57078247e+00] [-1.90014358e-03 2.02666995e-04 9.99998174e-01 -2.95162533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.359928851 meters 0.09539119117278065 Centerline is valid? [True, True] Translation: X:97.09, Y:-9.57, Z:-2.96 [[ 9.99826765e-01 1.85146405e-02 1.91019515e-03 9.70893644e+01] [-1.85142432e-02 9.99828571e-01 -2.25428042e-04 -9.57177429e+00] [-1.91404140e-03 1.90023172e-04 9.99998150e-01 -2.95513383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.419928851 meters 0.09001760589743213 Centerline is valid? [True, True] Translation: X:97.15, Y:-9.57, Z:-2.95 [[ 9.99754660e-01 2.19741845e-02 2.78480134e-03 9.71507608e+01] [-2.19733531e-02 9.99758503e-01 -3.28807320e-04 -9.56653075e+00] [-2.79135409e-03 2.67535227e-04 9.99996068e-01 -2.95353583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.479928851 meters 0.09697366291475802 Centerline is valid? [True, True] Translation: X:97.21, Y:-9.59, Z:-2.96 [[ 9.99744750e-01 2.22063283e-02 4.16109399e-03 9.72066761e+01] [-2.22044708e-02 9.99753329e-01 -4.92063843e-04 -9.58619459e+00] [-4.17099450e-03 3.99543353e-04 9.99991222e-01 -2.96002270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.53992885099998 meters 0.09228161186059801 Centerline is valid? [True, True] Translation: X:97.27, Y:-9.59, Z:-2.96 [[ 9.99790478e-01 2.00740625e-02 4.00394493e-03 9.72675585e+01] [-2.00723355e-02 9.99798419e-01 -4.71051552e-04 -9.58510654e+00] [-4.01259373e-03 3.90584330e-04 9.99991873e-01 -2.95839212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.599928851 meters 0.10064705232085132 Centerline is valid? [True, False] Translation: X:97.28, Y:-9.59, Z:-2.95 [[ 9.99945443e-01 1.00619760e-02 -2.80498971e-03 9.72765083e+01] [-1.00629931e-02 9.99949306e-01 -3.48745923e-04 -9.58602727e+00] [ 2.80133844e-03 3.76953489e-04 9.99996005e-01 -2.95281713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.659928851 meters 0.09910793766592779 Centerline is valid? [False, True] Translation: X:97.28, Y:-9.59, Z:-2.95 [[ 9.99979111e-01 5.80920138e-03 -2.83394829e-03 9.72761889e+01] [-5.82150210e-03 9.99973586e-01 -4.35172344e-03 -9.58724323e+00] [ 2.80859340e-03 4.36813037e-03 9.99986516e-01 -2.95236051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.719928851 meters 0.09547578018135108 Centerline is valid? [True, True] Translation: X:97.34, Y:-9.59, Z:-2.95 [[ 9.99998109e-01 8.62213756e-04 -1.74320046e-03 9.73365271e+01] [-8.61874415e-04 9.99999609e-01 1.95407058e-04 -9.59351012e+00] [ 1.74336827e-03 -1.93904268e-04 9.99998462e-01 -2.95325167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.779928851 meters 0.09519835130469799 Centerline is valid? [True, True] Translation: X:97.40, Y:-9.60, Z:-2.95 [[ 9.99997151e-01 -5.06112368e-04 -2.33258174e-03 9.73959047e+01] [ 5.06722736e-04 9.99999838e-01 2.61086913e-04 -9.60215905e+00] [ 2.33244922e-03 -2.62268141e-04 9.99997245e-01 -2.95491171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.839928851 meters 0.09634515234914551 Centerline is valid? [True, True] Translation: X:97.45, Y:-9.61, Z:-2.96 [[ 9.99986626e-01 2.06577440e-03 -4.74140870e-03 9.74539415e+01] [-2.06328157e-03 9.99997731e-01 5.30590129e-04 -9.61154945e+00] [ 4.74249402e-03 -5.20800172e-04 9.99988619e-01 -2.95959286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.899928851 meters 0.0929924064147898 Centerline is valid? [True, True] Translation: X:97.51, Y:-9.61, Z:-2.96 [[ 9.99961322e-01 7.41710601e-03 -4.72668556e-03 9.75147077e+01] [-7.41468365e-03 9.99972371e-01 5.29802843e-04 -9.61075326e+00] [ 4.73048457e-03 -4.94735473e-04 9.99988689e-01 -2.96007204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.959928851 meters 0.0869023914990573 Centerline is valid? [True, True] Translation: X:97.58, Y:-9.60, Z:-2.96 [[ 9.99825154e-01 1.83894536e-02 -3.38953228e-03 9.75770310e+01] [-1.83882707e-02 9.99830849e-01 3.79837262e-04 -9.60254188e+00] [ 3.39594394e-03 -3.17443212e-04 9.99994183e-01 -2.95802494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.019928851 meters 0.08512151294444918 Centerline is valid? [True, True] Translation: X:97.64, Y:-9.60, Z:-2.96 [[ 9.99636950e-01 2.68296025e-02 -2.47798540e-03 9.76375243e+01] [-2.68289960e-02 9.99639999e-01 2.77682452e-04 -9.60403689e+00] [ 2.48454343e-03 -2.11099779e-04 9.99996891e-01 -2.95892893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.079928851 meters 0.08310439446052723 Centerline is valid? [True, True] Translation: X:97.70, Y:-9.60, Z:-2.96 [[ 9.99309141e-01 3.70695330e-02 -2.66275141e-03 9.76972426e+01] [-3.70688704e-02 9.99312669e-01 2.97796213e-04 -9.60368702e+00] [ 2.67196038e-03 -1.98885291e-04 9.99996411e-01 -2.96105534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.139928851 meters 0.08191409576453751 Centerline is valid? [True, True] Translation: X:97.76, Y:-9.61, Z:-2.96 [[ 9.99179022e-01 4.04823832e-02 -1.56824424e-03 9.77579758e+01] [-4.04821570e-02 9.99180246e-01 1.75689963e-04 -9.60800538e+00] [ 1.57407102e-03 -1.12059816e-04 9.99998755e-01 -2.96247783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.199928851 meters 0.08101821839459775 Centerline is valid? [True, True] Translation: X:97.82, Y:-9.61, Z:-2.96 [[ 9.99191569e-01 4.01917716e-02 -9.11197108e-04 9.78163663e+01] [-4.01916970e-02 9.99191982e-01 9.99981357e-05 -9.61353613e+00] [ 9.14479947e-04 -6.32947360e-05 9.99999580e-01 -2.96349415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.25992885099998 meters 0.08240939159647204 Centerline is valid? [True, True] Translation: X:97.88, Y:-9.63, Z:-2.97 [[ 9.99322826e-01 3.67707008e-02 -1.34380151e-03 9.78754691e+01] [-3.67705316e-02 9.99323724e-01 1.50468887e-04 -9.62508525e+00] [ 1.34842558e-03 -1.00954697e-04 9.99999086e-01 -2.96612191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.319928851 meters 0.08256337522639634 Centerline is valid? [True, True] Translation: X:97.93, Y:-9.64, Z:-2.97 [[ 9.99631944e-01 2.69509880e-02 -3.10161407e-03 9.79349381e+01] [-2.69500394e-02 9.99636721e-01 3.47221265e-04 -9.63576409e+00] [ 3.10984528e-03 -2.63504846e-04 9.99995130e-01 -2.96718996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.379928851 meters 0.08780103935007438 Centerline is valid? [True, True] Translation: X:97.99, Y:-9.66, Z:-2.97 [[ 9.99802948e-01 1.93893037e-02 -4.25667006e-03 9.79923745e+01] [-1.93874502e-02 9.99811932e-01 4.76277607e-04 -9.65786909e+00] [ 4.26510420e-03 -3.93657777e-04 9.99990827e-01 -2.97253595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.439928851 meters 0.09284292767086516 Centerline is valid? [True, True] Translation: X:98.05, Y:-9.68, Z:-2.98 [[ 9.99957073e-01 8.11178294e-03 -4.47783398e-03 9.80505476e+01] [-8.10961860e-03 9.99966991e-01 5.01289720e-04 -9.67738214e+00] [ 4.48175253e-03 -4.64954676e-04 9.99989849e-01 -2.97514363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.499928851 meters 0.0920191898326392 Centerline is valid? [True, True] Translation: X:98.11, Y:-9.68, Z:-2.97 [[ 9.99983191e-01 1.25546056e-03 -5.66054167e-03 9.81108797e+01] [-1.25189305e-03 9.99999016e-01 6.33741044e-04 -9.68400959e+00] [ 5.66133173e-03 -6.26643999e-04 9.99983778e-01 -2.97489107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.559928851 meters 0.09572441183033513 Centerline is valid? [True, True] Translation: X:98.17, Y:-9.70, Z:-2.98 [[ 9.99980532e-01 4.95713573e-04 -6.22015503e-03 9.81679261e+01] [-4.91405990e-04 9.99999638e-01 6.94029436e-04 -9.69732873e+00] [ 6.22049682e-03 -6.90959303e-04 9.99980414e-01 -2.97898904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.619928851 meters 0.09232379780591315 Centerline is valid? [True, True] Translation: X:98.23, Y:-9.69, Z:-2.98 [[ 9.99976287e-01 2.62782692e-03 -6.36559935e-03 9.82288192e+01] [-2.62334589e-03 9.99996305e-01 7.12192823e-04 -9.69421592e+00] [ 6.36744735e-03 -6.95476765e-04 9.99979486e-01 -2.97903196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.679928851 meters 0.0925623776276408 Centerline is valid? [True, True] Translation: X:98.29, Y:-9.70, Z:-2.98 [[ 9.99955293e-01 7.48844823e-03 -5.77368322e-03 9.82881266e+01] [-7.48484283e-03 9.99971780e-01 6.45809096e-04 -9.69827176e+00] [ 5.77835640e-03 -6.02565113e-04 9.99983124e-01 -2.98130070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.739928851 meters 0.08938268953715857 Centerline is valid? [True, True] Translation: X:98.35, Y:-9.70, Z:-2.98 [[ 9.99933638e-01 1.02070974e-02 -5.34181525e-03 9.83495308e+01] [-1.02040486e-02 9.99947759e-01 5.97678384e-04 -9.69654080e+00] [ 5.34763675e-03 -5.43130579e-04 9.99985554e-01 -2.98163522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.799928851 meters 0.08644820355392002 Centerline is valid? [True, True] Translation: X:98.41, Y:-9.69, Z:-2.98 [[ 9.99798487e-01 1.93047241e-02 -5.50568374e-03 9.84110056e+01] [-1.93016219e-02 9.99813517e-01 6.16041941e-04 -9.68962284e+00] [ 5.51654954e-03 -5.09649175e-04 9.99984654e-01 -2.98185132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.859928851 meters 0.08468590965630585 Centerline is valid? [True, True] Translation: X:98.47, Y:-9.69, Z:-2.98 [[ 9.99679611e-01 2.50186309e-02 -3.83961973e-03 9.84717369e+01] [-2.50171644e-02 9.99686930e-01 4.29497807e-04 -9.68657210e+00] [ 3.84916310e-03 -3.33303803e-04 9.99992536e-01 -2.98394241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.919928851 meters 0.08512970018686672 Centerline is valid? [True, True] Translation: X:98.53, Y:-9.69, Z:-2.99 [[ 9.99643938e-01 2.64772077e-02 -3.30965462e-03 9.85316300e+01] [-2.64761276e-02 9.99649378e-01 3.69749187e-04 -9.69151529e+00] [ 3.31828411e-03 -2.81990696e-04 9.99994455e-01 -2.98579287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.979928851 meters 0.08564907893338257 Centerline is valid? [True, True] Translation: X:98.59, Y:-9.69, Z:-2.99 [[ 9.99653617e-01 2.58659132e-02 -4.85814265e-03 9.85913004e+01] [-2.58635808e-02 9.99665335e-01 5.42306655e-04 -9.69408141e+00] [ 4.87054405e-03 -4.16469843e-04 9.99988052e-01 -2.98865898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.03992885099998 meters 0.08450585857255577 Centerline is valid? [True, True] Translation: X:98.65, Y:-9.70, Z:-2.99 [[ 9.99652055e-01 2.57927162e-02 -5.52301853e-03 9.86505715e+01] [-2.57897079e-02 9.99667201e-01 6.15216907e-04 -9.69531766e+00] [ 5.53704859e-03 -4.72565811e-04 9.99984559e-01 -2.98970546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.099928851 meters 0.08654068776058849 Centerline is valid? [True, True] Translation: X:98.71, Y:-9.70, Z:-2.99 [[ 9.99663689e-01 2.54469575e-02 -4.99621715e-03 9.87077708e+01] [-2.54444970e-02 9.99676082e-01 5.55423316e-04 -9.70336207e+00] [ 5.00873262e-03 -4.28110288e-04 9.99987365e-01 -2.99329503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.159928851 meters 0.08585386018789022 Centerline is valid? [True, True] Translation: X:98.77, Y:-9.70, Z:-2.99 [[ 9.99646073e-01 2.62310751e-02 -4.43394635e-03 9.87669676e+01] [-2.62291452e-02 9.99655835e-01 4.92859914e-04 -9.70459637e+00] [ 4.44534859e-03 -3.76386854e-04 9.99990049e-01 -2.99436125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.219928851 meters 0.0844157003001771 Centerline is valid? [True, True] Translation: X:98.83, Y:-9.71, Z:-2.99 [[ 9.99625011e-01 2.69176977e-02 -5.02748833e-03 9.88258102e+01] [-2.69152257e-02 9.99637564e-01 5.58727507e-04 -9.70510906e+00] [ 5.04070585e-03 -4.23202007e-04 9.99987206e-01 -2.99476226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.279928851 meters 0.08548204165901577 Centerline is valid? [True, True] Translation: X:98.88, Y:-9.71, Z:-3.00 [[ 9.99564613e-01 2.90443921e-02 -5.19682299e-03 9.88843642e+01] [-2.90417743e-02 9.99578031e-01 5.78501776e-04 -9.71176317e+00] [ 5.21143233e-03 -4.27324943e-04 9.99986329e-01 -3.00010033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.339928851 meters 0.08451341595255618 Centerline is valid? [True, True] Translation: X:98.94, Y:-9.71, Z:-3.00 [[ 9.99492323e-01 3.13316054e-02 -5.78167326e-03 9.89446271e+01] [-3.13284001e-02 9.99508938e-01 6.44141494e-04 -9.71394964e+00] [ 5.79901609e-03 -4.62683905e-04 9.99983079e-01 -3.00260884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.399928851 meters 0.08229902694038958 Centerline is valid? [True, True] Translation: X:99.01, Y:-9.71, Z:-3.00 [[ 9.99304886e-01 3.69006074e-02 -5.30007036e-03 9.90060810e+01] [-3.68979916e-02 9.99318863e-01 5.90505505e-04 -9.71111715e+00] [ 5.31825030e-03 -3.94533085e-04 9.99985780e-01 -3.00176120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.459928851 meters 0.08097796999866749 Centerline is valid? [True, True] Translation: X:99.07, Y:-9.71, Z:-3.00 [[ 9.99070044e-01 4.30613510e-02 -2.18353255e-03 9.90668586e+01] [-4.30609215e-02 9.99072419e-01 2.43326605e-04 -9.71206834e+00] [ 2.19198512e-03 -1.49075398e-04 9.99997586e-01 -3.00219202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.519928851 meters 0.07950713122501583 Centerline is valid? [True, True] Translation: X:99.13, Y:-9.71, Z:-3.00 [[ 9.98579223e-01 5.32871794e-02 -1.08784770e-04 9.91266201e+01] [-5.32871784e-02 9.98579229e-01 1.15464349e-05 -9.71060358e+00] [ 1.09245489e-04 -5.73319650e-06 9.99999994e-01 -3.00425377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.579928851 meters 0.07875962695557012 Centerline is valid? [True, True] Translation: X:99.19, Y:-9.71, Z:-3.01 [[ 9.98345240e-01 5.75044182e-02 1.56338345e-04 9.91870041e+01] [-5.75044162e-02 9.98345252e-01 -1.75632486e-05 -9.71276796e+00] [-1.57089609e-04 8.54404033e-06 9.99999988e-01 -3.00690071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.639928851 meters 0.07716975539359999 Centerline is valid? [True, True] Translation: X:99.25, Y:-9.71, Z:-3.01 [[ 9.98284490e-01 5.85497877e-02 -1.64271202e-06 9.92466501e+01] [-5.85497877e-02 9.98284490e-01 -6.54427476e-06 -9.71276246e+00] [ 1.25672802e-06 6.62922843e-06 1.00000000e+00 -3.00720039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.699928851 meters 0.07880367836997369 Centerline is valid? [True, True] Translation: X:99.30, Y:-9.73, Z:-3.01 [[ 9.98478999e-01 5.51328043e-02 -2.49991673e-04 9.93042578e+01] [-5.51327993e-02 9.98479030e-01 2.67835040e-05 -9.72515429e+00] [ 2.51088093e-04 -1.29600255e-05 9.99999968e-01 -3.01261847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.75992885099998 meters 0.07848198031942998 Centerline is valid? [True, True] Translation: X:99.36, Y:-9.73, Z:-3.01 [[ 9.98571635e-01 5.34262948e-02 -5.67083563e-04 9.93637625e+01] [-5.34262682e-02 9.98571795e-01 6.20230533e-05 -9.73029316e+00] [ 5.69587313e-04 -3.16373032e-05 9.99999837e-01 -3.01217567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.819928851 meters 0.07900686447112337 Centerline is valid? [True, True] Translation: X:99.42, Y:-9.74, Z:-3.01 [[ 9.98685772e-01 5.12508235e-02 -2.85666819e-04 9.94228641e+01] [-5.12508168e-02 9.98685813e-01 3.07346996e-05 -9.73799660e+00] [ 2.86866578e-04 -1.60536494e-05 9.99999959e-01 -3.01466671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.879928851 meters 0.07928515180451028 Centerline is valid? [True, True] Translation: X:99.48, Y:-9.74, Z:-3.02 [[ 9.98751643e-01 4.99400498e-02 1.07110292e-03 9.94807860e+01] [-4.99399481e-02 9.98752215e-01 -1.21475346e-04 -9.74488153e+00] [-1.07583290e-03 6.78328766e-05 9.99999419e-01 -3.01679942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.939928851 meters 0.07870513901062855 Centerline is valid? [True, True] Translation: X:99.54, Y:-9.75, Z:-3.02 [[ 9.98790402e-01 4.90611593e-02 3.27645126e-03 9.95391821e+01] [-4.90602075e-02 9.98795754e-01 -3.70279508e-04 -9.74758156e+00] [-3.29067195e-03 2.09088240e-04 9.99994564e-01 -3.01652808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.999928851 meters 0.08016109934534593 Centerline is valid? [True, True] Translation: X:99.60, Y:-9.76, Z:-3.02 [[ 9.98762321e-01 4.96106615e-02 3.55088089e-03 9.95967805e+01] [-4.96095685e-02 9.98768609e-01 -3.95289639e-04 -9.75567951e+00] [-3.56611895e-03 2.18642728e-04 9.99993617e-01 -3.02068703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.059928851 meters 0.07799586588561679 Centerline is valid? [True, True] Translation: X:99.66, Y:-9.75, Z:-3.02 [[ 9.98772144e-01 4.94381891e-02 3.17330254e-03 9.96554004e+01] [-4.94372972e-02 9.98777165e-01 -3.58944848e-04 -9.75430129e+00] [-3.18716770e-03 2.01624615e-04 9.99994901e-01 -3.01960528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.119928851 meters 0.078290802307376 Centerline is valid? [True, True] Translation: X:99.71, Y:-9.76, Z:-3.02 [[ 9.98723629e-01 5.03520779e-02 3.97247868e-03 9.97133560e+01] [-5.03507220e-02 9.98731501e-01 -4.40657623e-04 -9.75879483e+00] [-3.98962762e-03 2.40078011e-04 9.99992013e-01 -3.02317694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.179928851 meters 0.0804696710429723 Centerline is valid? [True, True] Translation: X:99.77, Y:-9.77, Z:-3.03 [[ 9.98764159e-01 4.96083828e-02 3.02704523e-03 9.97706721e+01] [-4.96075864e-02 9.98768729e-01 -3.37642083e-04 -9.76633235e+00] [-3.04006799e-03 1.87060403e-04 9.99995361e-01 -3.02894294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.239928851 meters 0.07992101862291517 Centerline is valid? [True, True] Translation: X:99.83, Y:-9.77, Z:-3.03 [[ 9.98818230e-01 4.85469803e-02 2.30974552e-03 9.98302636e+01] [-4.85465184e-02 9.98820890e-01 -2.55658327e-04 -9.76766445e+00] [-2.31943352e-03 1.43226094e-04 9.99997300e-01 -3.03032303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.299928851 meters 0.0796048573646158 Centerline is valid? [True, True] Translation: X:99.89, Y:-9.77, Z:-3.03 [[ 9.98915961e-01 4.64897496e-02 2.36766606e-03 9.98894873e+01] [-4.64892576e-02 9.98918755e-01 -2.62456103e-04 -9.76988799e+00] [-2.37730755e-03 1.52100553e-04 9.99997163e-01 -3.03141807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.359928851 meters 0.08369502990038791 Centerline is valid? [True, True] Translation: X:99.95, Y:-9.78, Z:-3.04 [[ 9.99141333e-01 4.12429465e-02 3.95160702e-03 9.99472198e+01] [-4.12415417e-02 9.99149110e-01 -4.36352720e-04 -9.78262863e+00] [-3.96624111e-03 2.73007673e-04 9.99992097e-01 -3.03665626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.419928851 meters 0.08418232048290954 Centerline is valid? [True, True] Translation: X:100.01, Y:-9.78, Z:-3.04 [[ 9.99405288e-01 3.41753291e-02 4.59534032e-03 1.00008176e+02] [-3.41733595e-02 9.99415792e-01 -5.06465631e-04 -9.78468649e+00] [-4.60996431e-03 3.49126213e-04 9.99989313e-01 -3.03749885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.479928851 meters 0.08653759758904254 Centerline is valid? [True, True] Translation: X:100.07, Y:-9.79, Z:-3.04 [[ 9.99482190e-01 3.17445907e-02 5.25666808e-03 1.00066658e+02] [-3.17419802e-02 9.99495929e-01 -5.79313026e-04 -9.79253827e+00] [-5.27240839e-03 4.12155998e-04 9.99986016e-01 -3.04063583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.53992885099998 meters 0.08838500940452497 Centerline is valid? [True, True] Translation: X:100.13, Y:-9.80, Z:-3.04 [[ 9.99541893e-01 2.96507783e-02 6.06916524e-03 1.00125853e+02] [-2.96472547e-02 9.99560199e-01 -6.69740426e-04 -9.79634706e+00] [-6.08635434e-03 4.89499526e-04 9.99981358e-01 -3.04354682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.599928851 meters 0.09033408901083735 Centerline is valid? [True, True] Translation: X:100.19, Y:-9.80, Z:-3.05 [[ 9.99604356e-01 2.73357712e-02 6.62480593e-03 1.00185545e+02] [-2.73315308e-02 9.99626158e-01 -7.29793123e-04 -9.80075163e+00] [-6.64227875e-03 5.48438298e-04 9.99977789e-01 -3.04514185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.659928851 meters 0.08923946215210533 Centerline is valid? [True, True] Translation: X:100.24, Y:-9.80, Z:-3.05 [[ 9.99619045e-01 2.70403761e-02 5.53010655e-03 1.00244864e+02] [-2.70374098e-02 9.99634236e-01 -6.10460966e-04 -9.80204410e+00] [-5.54459093e-03 4.60708651e-04 9.99984523e-01 -3.04658868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.719928851 meters 0.08834981942122662 Centerline is valid? [True, True] Translation: X:100.30, Y:-9.80, Z:-3.05 [[ 9.99657385e-01 2.58586780e-02 4.05473416e-03 1.00304622e+02] [-2.58570742e-02 9.99665550e-01 -4.47467572e-04 -9.80095815e+00] [-4.06494898e-03 3.42470701e-04 9.99991679e-01 -3.04973469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.779928851 meters 0.08940290498578653 Centerline is valid? [True, True] Translation: X:100.36, Y:-9.81, Z:-3.05 [[ 9.99663400e-01 2.54947896e-02 4.80656975e-03 1.00362853e+02] [-2.54925280e-02 9.99674872e-01 -5.31224032e-04 -9.80534584e+00] [-4.81855044e-03 4.08513608e-04 9.99988307e-01 -3.05263051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.839928851 meters 0.09130988858195313 Centerline is valid? [True, True] Translation: X:100.42, Y:-9.81, Z:-3.06 [[ 9.99655352e-01 2.59532079e-02 3.95079293e-03 1.00420441e+02] [-2.59516848e-02 9.99663103e-01 -4.36300091e-04 -9.80752210e+00] [-3.96078531e-03 3.33619988e-04 9.99992100e-01 -3.05549705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.899928851 meters 0.08937781979746219 Centerline is valid? [True, True] Translation: X:100.48, Y:-9.81, Z:-3.06 [[ 9.99623586e-01 2.68481248e-02 5.64492915e-03 1.00481132e+02] [-2.68450482e-02 9.99639414e-01 -6.20095477e-04 -9.80614657e+00] [-5.65954207e-03 4.68323669e-04 9.99983875e-01 -3.05636128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.959928851 meters 0.08888094006468006 Centerline is valid? [True, True] Translation: X:100.54, Y:-9.81, Z:-3.06 [[ 9.99597993e-01 2.73428197e-02 7.49814567e-03 1.00540466e+02] [-2.73373984e-02 9.99625923e-01 -8.24572545e-04 -9.80558237e+00] [-7.51788692e-03 6.19261265e-04 9.99971549e-01 -3.05655758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.019928851 meters 0.08960035976744421 Centerline is valid? [True, True] Translation: X:100.60, Y:-9.81, Z:-3.06 [[ 9.99610301e-01 2.65182164e-02 8.71951865e-03 1.00598716e+02] [-2.65108590e-02 9.99648066e-01 -9.58308534e-04 -9.80917529e+00] [-8.74186259e-03 7.26773153e-04 9.99961525e-01 -3.05711342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.079928851 meters 0.09150493079737404 Centerline is valid? [True, True] Translation: X:100.66, Y:-9.81, Z:-3.06 [[ 9.99671321e-01 2.42289074e-02 8.37914006e-03 1.00658291e+02] [-2.42220516e-02 9.99706181e-01 -9.18741085e-04 -9.81414772e+00] [-8.39893820e-03 7.15479152e-04 9.99964472e-01 -3.06007410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.139928851 meters 0.09612646737157231 Centerline is valid? [True, True] Translation: X:100.72, Y:-9.83, Z:-3.06 [[ 9.99772296e-01 1.97588953e-02 8.05861823e-03 1.00717258e+02] [-1.97524110e-02 9.99804512e-01 -8.83440646e-04 -9.82522942e+00] [-8.07449868e-03 7.24062344e-04 9.99967139e-01 -3.06444680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.199928851 meters 0.09817893369684505 Centerline is valid? [True, True] Translation: X:100.78, Y:-9.83, Z:-3.07 [[ 9.99840301e-01 1.64683767e-02 6.94008539e-03 1.00777110e+02] [-1.64634908e-02 9.99864178e-01 -7.60556758e-04 -9.83268832e+00] [-6.95166791e-03 6.46177265e-04 9.99975628e-01 -3.06745470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.25992885099998 meters 0.10198723600822023 Centerline is valid? [True, False] Translation: X:100.78, Y:-9.83, Z:-3.06 [[ 9.99956259e-01 9.33895228e-03 -5.14542113e-04 1.00784960e+02] [-9.33904127e-03 9.99956376e-01 -1.70838225e-04 -9.82830448e+00] [ 5.12924216e-04 1.75636083e-04 9.99999853e-01 -3.06074536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.319928851 meters 0.10409929411393434 Centerline is valid? [False, False] Translation: X:100.79, Y:-9.83, Z:-3.06 [[ 9.99987137e-01 4.92081950e-03 -1.22939989e-03 1.00785841e+02] [-4.92742342e-03 9.99973130e-01 -5.42765768e-03 -9.82547746e+00] [ 1.20265833e-03 5.43364564e-03 9.99984514e-01 -3.05973187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.379928851 meters 0.1032276500388829 Centerline is valid? [False, False] Translation: X:100.79, Y:-9.82, Z:-3.06 [[ 9.99988152e-01 4.72389637e-03 -1.17471735e-03 1.00785635e+02] [-4.73054192e-03 9.99972450e-01 -5.72022651e-03 -9.82454789e+00] [ 1.14766323e-03 5.72571578e-03 9.99982949e-01 -3.05961228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.439928851 meters 0.10415627632972338 Centerline is valid? [False, False] Translation: X:100.79, Y:-9.82, Z:-3.06 [[ 9.99988433e-01 4.70326653e-03 -1.00639278e-03 1.00785682e+02] [-4.70883123e-03 9.99973231e-01 -5.60032841e-03 -9.82416632e+00] [ 9.80026000e-04 5.60500256e-03 9.99983812e-01 -3.06028612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.499928851 meters 0.10575765321095344 Centerline is valid? [False, False] Translation: X:100.79, Y:-9.83, Z:-3.06 [[ 9.99987060e-01 5.02650609e-03 -7.83725327e-04 1.00786003e+02] [-5.03024442e-03 9.99975619e-01 -4.84325288e-03 -9.82530220e+00] [ 7.59361579e-04 4.84713254e-03 9.99987964e-01 -3.06157372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.559928851 meters 0.10131513649129681 Centerline is valid? [False, False] Translation: X:100.79, Y:-9.83, Z:-3.06 [[ 9.99985399e-01 5.38933276e-03 -3.96330835e-04 1.00786114e+02] [-5.39078343e-03 9.99978419e-01 -3.75510944e-03 -9.82741367e+00] [ 3.76084747e-04 3.75719115e-03 9.99992871e-01 -3.06315978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.619928851 meters 0.10454930395848377 Centerline is valid? [False, False] Translation: X:100.79, Y:-9.83, Z:-3.06 [[ 9.99983720e-01 5.69008028e-03 -4.26631455e-04 1.00786589e+02] [-5.69145758e-03 9.99978359e-01 -3.29975706e-03 -9.82815737e+00] [ 4.07846340e-04 3.30213150e-03 9.99994465e-01 -3.06375956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.679928851 meters 0.10421897048339233 Centerline is valid? [False, False] Translation: X:100.79, Y:-9.83, Z:-3.06 [[ 9.99983242e-01 5.77372068e-03 -4.25211745e-04 1.00786533e+02] [-5.77503984e-03 9.99978302e-01 -3.16938179e-03 -9.82878072e+00] [ 4.06903394e-04 3.17178429e-03 9.99994887e-01 -3.06366494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.739928851 meters 0.10507898288567029 Centerline is valid? [False, False] Translation: X:100.79, Y:-9.83, Z:-3.06 [[ 9.99983269e-01 5.78339079e-03 -1.22017284e-04 1.00785821e+02] [-5.78370426e-03 9.99979499e-01 -2.74763324e-03 -9.83023034e+00] [ 1.06124145e-04 2.74829298e-03 9.99996218e-01 -3.06365602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.799928851 meters 0.10333168528732121 Centerline is valid? [False, False] Translation: X:100.78, Y:-9.83, Z:-3.06 [[ 9.99982818e-01 5.85391066e-03 3.07387122e-04 1.00784844e+02] [-5.85330465e-03 9.99980994e-01 -1.93670522e-03 -9.83318454e+00] [-3.18718579e-04 1.93487271e-03 9.99998077e-01 -3.06366946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.859928851 meters 0.10879299006760138 Centerline is valid? [False, False] Translation: X:100.79, Y:-9.84, Z:-3.06 [[ 9.99997266e-01 2.33667978e-03 8.36646634e-05 1.00785754e+02] [-2.33623592e-03 9.99984962e-01 -4.96154091e-03 -9.83625482e+00] [-9.52569376e-05 4.96133188e-03 9.99987688e-01 -3.06443025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.919928851 meters 0.11123823249003974 Centerline is valid? [False, False] Translation: X:100.79, Y:-9.84, Z:-3.07 [[ 9.99996237e-01 2.70361820e-03 4.65811101e-04 1.00785408e+02] [-2.70184560e-03 9.99989263e-01 -3.76490631e-03 -9.83947905e+00] [-4.75984969e-04 3.76363359e-03 9.99992804e-01 -3.06529771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.979928851 meters 0.10999575718473686 Centerline is valid? [False, False] Translation: X:100.78, Y:-9.84, Z:-3.07 [[ 9.99995064e-01 3.02884273e-03 8.35880250e-04 1.00784529e+02] [-3.02670589e-03 9.99992179e-01 -2.54592943e-03 -9.84388901e+00] [-8.43584932e-04 2.54338690e-03 9.99996410e-01 -3.06513567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.03992885099998 meters 0.10564717140764332 Centerline is valid? [False, False] Translation: X:100.79, Y:-9.85, Z:-3.06 [[ 9.99999844e-01 -2.25665270e-04 5.11904237e-04 1.00785014e+02] [ 2.28382775e-04 9.99985850e-01 -5.31478868e-03 -9.84896106e+00] [-5.10697630e-04 5.31490476e-03 9.99985745e-01 -3.06482688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.099928851 meters 0.1153499063954702 Centerline is valid? [False, False] Translation: X:100.79, Y:-9.85, Z:-3.07 [[ 9.99999796e-01 2.68551982e-04 5.79132063e-04 1.00785226e+02] [-2.66026292e-04 9.99990474e-01 -4.35684179e-03 -9.85142530e+00] [-5.80296585e-04 4.35668684e-03 9.99990341e-01 -3.06538213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.159928851 meters 0.11720391758150732 Centerline is valid? [False, False] Translation: X:100.78, Y:-9.86, Z:-3.07 [[ 9.99999063e-01 9.90102745e-04 9.45283953e-04 1.00784496e+02] [-9.87766225e-04 9.99996464e-01 -2.46904064e-03 -9.85797022e+00] [-9.47725215e-04 2.46810461e-03 9.99996505e-01 -3.06529909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.219928851 meters 0.11249257840631618 Centerline is valid? [False, False] Translation: X:100.78, Y:-9.86, Z:-3.07 [[ 9.99998036e-01 1.61326454e-03 1.15100783e-03 1.00784057e+02] [-1.61199772e-03 9.99998095e-01 -1.10070488e-03 -9.86282202e+00] [-1.15278136e-03 1.09884730e-03 9.99998732e-01 -3.06524478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.279928851 meters 0.11597032125857945 Centerline is valid? [False, False] Translation: X:100.79, Y:-9.87, Z:-3.06 [[ 9.99999158e-01 -1.21449135e-03 4.57588882e-04 1.00785106e+02] [ 1.21607903e-03 9.99993186e-01 -3.48551137e-03 -9.86903172e+00] [-4.53352640e-04 3.48606489e-03 9.99993821e-01 -3.06460757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.339928851 meters 0.11120147262697207 Centerline is valid? [False, False] Translation: X:100.79, Y:-9.88, Z:-3.06 [[ 9.99992201e-01 -3.94447432e-03 -1.98410815e-04 1.00786272e+02] [ 3.94329921e-03 9.99976488e-01 -5.61016031e-03 -9.87564298e+00] [ 2.20535283e-04 5.60933417e-03 9.99984243e-01 -3.06429583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.399928851 meters 0.10987628579613896 Centerline is valid? [False, False] Translation: X:100.79, Y:-9.88, Z:-3.07 [[ 9.99996189e-01 -2.75216956e-03 -2.17896517e-04 1.00786809e+02] [ 2.75139048e-03 9.99990095e-01 -3.49846376e-03 -9.88165261e+00] [ 2.27522724e-04 3.49785091e-03 9.99993857e-01 -3.06505697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.459928851 meters 0.11201424766455013 Centerline is valid? [False, False] Translation: X:100.79, Y:-9.89, Z:-3.07 [[ 9.99986157e-01 -5.15890448e-03 -1.03529792e-03 1.00788635e+02] [ 5.15332169e-03 9.99972546e-01 -5.32454626e-03 -9.88866527e+00] [ 1.06273832e-03 5.31913732e-03 9.99985289e-01 -3.06514605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.519928851 meters 0.10994672927546657 Centerline is valid? [False, False] Translation: X:100.79, Y:-9.89, Z:-3.07 [[ 9.99990148e-01 -4.28511909e-03 -1.15869325e-03 1.00789504e+02] [ 4.28051715e-03 9.99983055e-01 -3.94539967e-03 -9.89187143e+00] [ 1.17558013e-03 3.94040099e-03 9.99991546e-01 -3.06606535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.579928851 meters 0.10771920451379488 Centerline is valid? [False, False] Translation: X:100.79, Y:-9.90, Z:-3.07 [[ 9.99994128e-01 -3.18682667e-03 -1.26045214e-03 1.00790070e+02] [ 3.18414666e-03 9.99992678e-01 -2.12254870e-03 -9.89727830e+00] [ 1.26720710e-03 2.11852277e-03 9.99996953e-01 -3.06656569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.639928851 meters 0.10909009744446022 Centerline is valid? [False, False] Translation: X:100.79, Y:-9.90, Z:-3.07 [[ 9.99997140e-01 -1.45047621e-03 -1.90136712e-03 1.00791758e+02] [ 1.45066064e-03 9.99998943e-01 9.56203439e-05 -9.90359425e+00] [ 1.90122642e-03 -9.83783089e-05 9.99998188e-01 -3.06696014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.699928851 meters 0.1034556006167145 Centerline is valid? [False, False] Translation: X:100.79, Y:-9.91, Z:-3.07 [[ 9.99997520e-01 -8.57446838e-04 -2.05561175e-03 1.00791615e+02] [ 8.59498778e-04 9.99999133e-01 9.97537986e-04 -9.90704169e+00] [ 2.05475463e-03 -9.99302307e-04 9.99997390e-01 -3.06620492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.75992885099998 meters 0.10615591788506265 Centerline is valid? [False, False] Translation: X:100.79, Y:-9.91, Z:-3.07 [[ 9.99997653e-01 2.41160711e-04 -2.15288920e-03 1.00791387e+02] [-2.35085558e-04 9.99995991e-01 2.82166756e-03 -9.91359474e+00] [ 2.15356104e-03 -2.82115483e-03 9.99993702e-01 -3.06542173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.819928851 meters 0.10630090956108752 Centerline is valid? [False, False] Translation: X:100.79, Y:-9.92, Z:-3.07 [[ 9.99997221e-01 1.12860501e-03 -2.06986318e-03 1.00791488e+02] [-1.11932356e-03 9.99989339e-01 4.47978086e-03 -9.91865574e+00] [ 2.07489701e-03 -4.47745157e-03 9.99987824e-01 -3.06575549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.879928851 meters 0.10290253344180672 Centerline is valid? [False, False] Translation: X:100.79, Y:-9.92, Z:-3.07 [[ 9.99994344e-01 -1.93097458e-03 -2.75386599e-03 1.00792765e+02] [ 1.93581000e-03 9.99996588e-01 1.75428285e-03 -9.92321429e+00] [ 2.75046912e-03 -1.75960389e-03 9.99994669e-01 -3.06553585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.939928851 meters 0.09947307340040523 Centerline is valid? [False, True] Translation: X:100.79, Y:-9.93, Z:-3.07 [[ 9.99995066e-01 -1.08171219e-03 -2.94913400e-03 1.00793285e+02] [ 1.09063326e-03 9.99994830e-01 3.02504955e-03 -9.92693280e+00] [ 2.94584652e-03 -3.02825105e-03 9.99991076e-01 -3.06565485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.999928851 meters 0.09645919573583338 Centerline is valid? [True, True] Translation: X:100.85, Y:-9.93, Z:-3.07 [[ 9.99989466e-01 2.10567105e-03 -4.07858754e-03 1.00853200e+02] [-2.10386179e-03 9.99997687e-01 4.47840329e-04 -9.93332153e+00] [ 4.07952111e-03 -4.39254827e-04 9.99991582e-01 -3.06536543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.059928851 meters 0.095228244175764 Centerline is valid? [True, True] Translation: X:100.91, Y:-9.94, Z:-3.07 [[ 9.99985287e-01 2.97812698e-03 -4.53401293e-03 1.00911456e+02] [-2.97590804e-03 9.99995449e-01 4.96065114e-04 -9.94371536e+00] [ 4.53546964e-03 -4.82565010e-04 9.99989598e-01 -3.06592996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.119928851 meters 0.09541038704786382 Centerline is valid? [True, True] Translation: X:100.97, Y:-9.95, Z:-3.07 [[ 9.99984759e-01 3.13401126e-03 -4.54520533e-03 1.00969575e+02] [-3.13178426e-03 9.99994972e-01 4.97000957e-04 -9.95462937e+00] [ 4.54674008e-03 -4.82758779e-04 9.99989547e-01 -3.06798961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.179928851 meters 0.09501213353292579 Centerline is valid? [True, True] Translation: X:101.03, Y:-9.97, Z:-3.07 [[ 9.99981796e-01 1.42828102e-03 -5.86247279e-03 1.01028302e+02] [-1.42453883e-03 9.99998779e-01 6.42454548e-04 -9.96791143e+00] [ 5.86338324e-03 -6.34091532e-04 9.99982609e-01 -3.07128867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.239928851 meters 0.09699764658597129 Centerline is valid? [True, True] Translation: X:101.09, Y:-9.98, Z:-3.07 [[ 9.99982915e-01 -2.59093439e-05 -5.84542035e-03 1.01086046e+02] [ 2.96469296e-05 9.99999795e-01 6.39318351e-04 -9.98280867e+00] [ 5.84540259e-03 -6.39480727e-04 9.99982711e-01 -3.07273530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.299928851 meters 0.09905159057458543 Centerline is valid? [True, True] Translation: X:101.14, Y:-10.00, Z:-3.08 [[ 9.99974787e-01 -2.00973811e-03 -6.81071830e-03 1.01144450e+02] [ 2.01486693e-03 9.99997692e-01 7.46273737e-04 -9.99947303e+00] [ 6.80920277e-03 -7.59977613e-04 9.99976528e-01 -3.07524399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.359928851 meters 0.09473602592699626 Centerline is valid? [True, True] Translation: X:101.20, Y:-10.00, Z:-3.08 [[ 9.99962705e-01 -3.14753543e-03 -8.04254589e-03 1.01204794e+02] [ 3.15472043e-03 9.99994636e-01 8.80842787e-04 -1.00022831e+01] [ 8.03973027e-03 -9.06181920e-04 9.99967270e-01 -3.07505594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.419928851 meters 0.09507784768160649 Centerline is valid? [True, True] Translation: X:101.26, Y:-10.01, Z:-3.08 [[ 9.99940121e-01 -3.27637613e-03 -1.04412853e-02 1.01262590e+02] [ 3.28841781e-03 9.99993948e-01 1.13631612e-03 -1.00140708e+01] [ 1.04374991e-02 -1.17058338e-03 9.99944843e-01 -3.07794379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.479928851 meters 0.09681282783787998 Centerline is valid? [True, True] Translation: X:101.32, Y:-10.03, Z:-3.08 [[ 9.99932713e-01 -2.38742074e-03 -1.13520952e-02 1.01319492e+02] [ 2.40163102e-03 9.99996349e-01 1.23830812e-03 -1.00255759e+01] [ 1.13490974e-02 -1.26548834e-03 9.99934796e-01 -3.08018661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.53992885099998 meters 0.09127775508365354 Centerline is valid? [True, True] Translation: X:101.38, Y:-10.02, Z:-3.08 [[ 9.99946826e-01 5.87790734e-04 -1.02955920e-02 1.01380744e+02] [-5.76244496e-04 9.99999202e-01 1.12440448e-03 -1.00225038e+01] [ 1.02962447e-02 -1.11841192e-03 9.99946367e-01 -3.07750609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.599928851 meters 0.08985109205821368 Centerline is valid? [True, True] Translation: X:101.44, Y:-10.03, Z:-3.08 [[ 9.99896404e-01 8.96384070e-03 -1.12619582e-02 1.01441419e+02] [-8.95054878e-03 9.99959186e-01 1.23009913e-03 -1.00257842e+01] [ 1.12725250e-02 -1.12917099e-03 9.99935826e-01 -3.08005117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.659928851 meters 0.08505050110270578 Centerline is valid? [True, True] Translation: X:101.50, Y:-10.02, Z:-3.08 [[ 9.99661411e-01 2.22077026e-02 -1.35602753e-02 1.01503209e+02] [-2.21896382e-02 9.99752682e-01 1.48118417e-03 -1.00177985e+01] [ 1.35898153e-02 -1.17978505e-03 9.99906958e-01 -3.08003188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.719928851 meters 0.08348130425605657 Centerline is valid? [True, True] Translation: X:101.56, Y:-10.02, Z:-3.08 [[ 9.99384907e-01 3.22980797e-02 -1.36616650e-02 1.01563422e+02] [-3.22806817e-02 9.99477729e-01 1.49214578e-03 -1.00170206e+01] [ 1.37027233e-02 -1.05022011e-03 9.99905562e-01 -3.08220124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.779928851 meters 0.07946479711116584 Centerline is valid? [True, True] Translation: X:101.62, Y:-10.01, Z:-3.08 [[ 9.98761885e-01 4.79053984e-02 -1.34078515e-02 1.01624717e+02] [-4.78900416e-02 9.98851540e-01 1.46427397e-03 -1.00081257e+01] [ 1.34625998e-02 -8.20358464e-04 9.99909039e-01 -3.08264422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.839928851 meters 0.07780922366312132 Centerline is valid? [True, True] Translation: X:101.69, Y:-10.01, Z:-3.08 [[ 9.98358228e-01 5.57118487e-02 -1.33056131e-02 1.01685142e+02] [-5.56974244e-02 9.98446637e-01 1.45247650e-03 -1.00057111e+01] [ 1.33658648e-02 -7.09003485e-04 9.99910421e-01 -3.08422758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.899928851 meters 0.07609262738374292 Centerline is valid? [True, True] Translation: X:101.75, Y:-10.00, Z:-3.08 [[ 9.97972265e-01 6.24890785e-02 -1.21025946e-02 1.01746017e+02] [-6.24776487e-02 9.98045490e-01 1.32057381e-03 -1.00007360e+01] [ 1.21614614e-02 -5.61754377e-04 9.99925889e-01 -3.08398522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.959928851 meters 0.07615127069879032 Centerline is valid? [True, True] Translation: X:101.80, Y:-10.01, Z:-3.09 [[ 9.97925682e-01 6.34036295e-02 -1.11495648e-02 1.01804489e+02] [-6.33940040e-02 9.97987838e-01 1.21497360e-03 -1.00057031e+01] [ 1.12041638e-02 -5.05637801e-04 9.99937104e-01 -3.08660921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.019928851 meters 0.07650075739368066 Centerline is valid? [True, True] Translation: X:101.86, Y:-10.01, Z:-3.09 [[ 9.98149165e-01 6.01090397e-02 -9.22759642e-03 1.01862858e+02] [-6.01023627e-02 9.98191719e-01 9.99450105e-04 -1.00103874e+01] [ 9.27098632e-03 -4.42999940e-04 9.99956925e-01 -3.08765016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.079928851 meters 0.07740756577128605 Centerline is valid? [True, True] Translation: X:101.92, Y:-10.02, Z:-3.09 [[ 9.98367490e-01 5.62163076e-02 -1.01035323e-02 1.01922804e+02] [-5.62080525e-02 9.98418472e-01 1.09937973e-03 -1.00178628e+01] [ 1.01493563e-02 -5.29685108e-04 9.99948354e-01 -3.08974126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.139928851 meters 0.07924156496441098 Centerline is valid? [True, True] Translation: X:101.98, Y:-10.03, Z:-3.09 [[ 9.98744924e-01 4.88015965e-02 -1.12685724e-02 1.01982540e+02] [-4.87908519e-02 9.98808264e-01 1.22661388e-03 -1.00291756e+01] [ 1.13150040e-02 -6.75271138e-04 9.99935755e-01 -3.09166491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.199928851 meters 0.08134984173092684 Centerline is valid? [True, True] Translation: X:102.04, Y:-10.04, Z:-3.09 [[ 9.98976819e-01 4.36324070e-02 -1.18965434e-02 1.02041607e+02] [-4.36200695e-02 9.99047353e-01 1.29469621e-03 -1.00402519e+01] [ 1.19417009e-02 -7.74443452e-04 9.99928395e-01 -3.09349817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.25992885099998 meters 0.08271756310834086 Centerline is valid? [True, True] Translation: X:102.10, Y:-10.05, Z:-3.09 [[ 9.99137639e-01 3.99355487e-02 -1.13635644e-02 1.02101288e+02] [-3.99240556e-02 9.99201952e-01 1.23654839e-03 -1.00490258e+01] [ 1.14038779e-02 -7.81802462e-04 9.99934668e-01 -3.09450921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.319928851 meters 0.085227344338989 Centerline is valid? [True, True] Translation: X:102.16, Y:-10.06, Z:-3.10 [[ 9.99282987e-01 3.58905021e-02 -1.20574848e-02 1.02159901e+02] [-3.58772732e-02 9.99355343e-01 1.31173915e-03 -1.00584924e+01] [ 1.20967908e-02 -8.78208936e-04 9.99926445e-01 -3.09782235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.379928851 meters 0.08366547543929641 Centerline is valid? [True, True] Translation: X:102.22, Y:-10.06, Z:-3.10 [[ 9.99308174e-01 3.47933957e-02 -1.31374525e-02 1.02219235e+02] [-3.47776144e-02 9.99394056e-01 1.42786650e-03 -1.00595438e+01] [ 1.31791722e-02 -9.69989406e-04 9.99912680e-01 -3.09748232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.439928851 meters 0.08143109522702752 Centerline is valid? [True, True] Translation: X:102.28, Y:-10.06, Z:-3.10 [[ 9.99318039e-01 3.41644737e-02 -1.40087691e-02 1.02278510e+02] [-3.41465725e-02 9.99415687e-01 1.51513135e-03 -1.00570294e+01] [ 1.40523473e-02 -1.03574664e-03 9.99900724e-01 -3.09623859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.499928851 meters 0.08443333653358687 Centerline is valid? [True, True] Translation: X:102.34, Y:-10.07, Z:-3.10 [[ 9.99353826e-01 3.33757625e-02 -1.33412179e-02 1.02335066e+02] [-3.33594382e-02 9.99442375e-01 1.44433379e-03 -1.00661616e+01] [ 1.33819843e-02 -9.98344965e-04 9.99909959e-01 -3.09975635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.559928851 meters 0.08655269297857017 Centerline is valid? [True, True] Translation: X:102.39, Y:-10.07, Z:-3.10 [[ 9.99406015e-01 3.23249068e-02 -1.19464324e-02 1.02392436e+02] [-3.23117518e-02 9.99477003e-01 1.29258921e-03 -1.00748917e+01] [ 1.19819673e-02 -9.05811268e-04 9.99927803e-01 -3.10235637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.619928851 meters 0.08459686051585419 Centerline is valid? [True, True] Translation: X:102.45, Y:-10.07, Z:-3.10 [[ 9.99532440e-01 2.80627475e-02 -1.21401541e-02 1.02452946e+02] [-2.80488348e-02 9.99605689e-01 1.31478458e-03 -1.00740409e+01] [ 1.21722636e-02 -9.73652658e-04 9.99925441e-01 -3.10138414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.679928851 meters 0.08592690232392573 Centerline is valid? [True, True] Translation: X:102.51, Y:-10.08, Z:-3.10 [[ 9.99641418e-01 2.39495798e-02 -1.19771963e-02 1.02512759e+02] [-2.39357405e-02 9.99712657e-01 1.29750420e-03 -1.00808577e+01] [ 1.20048294e-02 -1.01035588e-03 9.99927429e-01 -3.10325485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.739928851 meters 0.08892394689910849 Centerline is valid? [True, True] Translation: X:102.57, Y:-10.09, Z:-3.10 [[ 9.99787830e-01 1.76238924e-02 -1.06627437e-02 1.02572722e+02] [-1.76125682e-02 9.99844220e-01 1.15500928e-03 -1.00915603e+01] [ 1.06814384e-02 -9.66965918e-04 9.99942484e-01 -3.10483855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.799928851 meters 0.08919646656554042 Centerline is valid? [True, True] Translation: X:102.63, Y:-10.10, Z:-3.10 [[ 9.99868048e-01 1.32229011e-02 -9.43621359e-03 1.02632653e+02] [-1.32138401e-02 9.99912171e-01 1.02193964e-03 -1.00984470e+01] [ 9.44889782e-03 -8.97116177e-04 9.99954956e-01 -3.10466630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.859928851 meters 0.093151598255061 Centerline is valid? [True, True] Translation: X:102.69, Y:-10.11, Z:-3.11 [[ 9.99933024e-01 7.06009076e-03 -9.17071379e-03 1.02692178e+02] [-7.05127596e-03 9.99974646e-01 9.93169005e-04 -1.01112024e+01] [ 9.17749314e-03 -9.28437253e-04 9.99957455e-01 -3.10637770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.919928851 meters 0.0965532598712135 Centerline is valid? [True, True] Translation: X:102.75, Y:-10.12, Z:-3.11 [[ 9.99954519e-01 2.82448763e-03 -9.10946946e-03 1.02751675e+02] [-2.81561458e-03 9.99995549e-01 9.86724942e-04 -1.01234500e+01] [ 9.11221591e-03 -9.61031310e-04 9.99958021e-01 -3.10878970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.979928851 meters 0.09732250383674895 Centerline is valid? [True, True] Translation: X:102.81, Y:-10.13, Z:-3.11 [[ 9.99965366e-01 -7.27666658e-04 -8.29078396e-03 1.02811434e+02] [ 7.35137146e-04 9.99999327e-01 8.98047405e-04 -1.01322681e+01] [ 8.29012490e-03 -9.04111165e-04 9.99965228e-01 -3.11007695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.03992885099998 meters 0.09759711927753989 Centerline is valid? [True, True] Translation: X:102.87, Y:-10.14, Z:-3.11 [[ 9.99967004e-01 -1.99211519e-03 -7.87545507e-03 1.02870969e+02] [ 1.99888646e-03 9.99997639e-01 8.52016987e-04 -1.01390832e+01] [ 7.87373916e-03 -8.67731015e-04 9.99968625e-01 -3.11024718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.099928851 meters 0.09567072924311039 Centerline is valid? [True, True] Translation: X:102.93, Y:-10.14, Z:-3.11 [[ 9.99973061e-01 -5.45112353e-04 -7.31990609e-03 1.02931335e+02] [ 5.50925062e-04 9.99999535e-01 7.92103196e-04 -1.01417329e+01] [ 7.31947089e-03 -7.96114577e-04 9.99972895e-01 -3.10985432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.159928851 meters 0.0958252931239681 Centerline is valid? [True, True] Translation: X:102.99, Y:-10.15, Z:-3.11 [[ 9.99961286e-01 2.07053820e-03 -8.55214041e-03 1.02991410e+02] [-2.06269537e-03 9.99997444e-01 9.25779211e-04 -1.01488550e+01] [ 8.55403542e-03 -9.08102910e-04 9.99963001e-01 -3.11261392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.219928851 meters 0.09218972785216423 Centerline is valid? [True, True] Translation: X:103.05, Y:-10.15, Z:-3.11 [[ 9.99930130e-01 7.06919123e-03 -9.47423584e-03 1.03052290e+02] [-7.05978746e-03 9.99974553e-01 1.02563992e-03 -1.01472187e+01] [ 9.48124520e-03 -9.58682166e-04 9.99954592e-01 -3.11270046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.279928851 meters 0.09028970906379115 Centerline is valid? [True, True] Translation: X:103.11, Y:-10.15, Z:-3.11 [[ 9.99863714e-01 1.28099056e-02 -1.04143879e-02 1.03113079e+02] [-1.27988525e-02 9.99917456e-01 1.12728296e-03 -1.01487030e+01] [ 1.04279686e-02 -9.93837112e-04 9.99945133e-01 -3.11412438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.339928851 meters 0.08511818852622512 Centerline is valid? [True, True] Translation: X:103.17, Y:-10.14, Z:-3.11 [[ 9.99659914e-01 2.38441483e-02 -1.05599536e-02 1.03174703e+02] [-2.38333955e-02 9.99715291e-01 1.14295367e-03 -1.01410081e+01] [ 1.05841998e-02 -8.90885415e-04 9.99943589e-01 -3.11465075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.399928851 meters 0.08250719639142604 Centerline is valid? [True, True] Translation: X:103.24, Y:-10.14, Z:-3.12 [[ 9.99375333e-01 3.35778352e-02 -1.10214813e-02 1.03235425e+02] [-3.35667105e-02 9.99435767e-01 1.19284778e-03 -1.01387339e+01] [ 1.10553158e-02 -8.22147774e-04 9.99938550e-01 -3.11560674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.459928851 meters 0.07767213314691236 Centerline is valid? [True, True] Translation: X:103.30, Y:-10.13, Z:-3.11 [[ 9.98654996e-01 5.09426963e-02 -9.64576296e-03 1.03297361e+02] [-5.09349832e-02 9.98701426e-01 1.04376920e-03 -1.01264841e+01] [ 9.68640964e-03 -5.51058555e-04 9.99952934e-01 -3.11458503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.519928851 meters 0.07465032033369763 Centerline is valid? [True, True] Translation: X:103.36, Y:-10.12, Z:-3.11 [[ 9.98034229e-01 6.20204526e-02 -9.00780005e-03 1.03358690e+02] [-6.20141766e-02 9.98074793e-01 9.74654281e-04 -1.01204153e+01] [ 9.05090667e-03 -4.14127032e-04 9.99958954e-01 -3.11322665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.579928851 meters 0.07307175989513254 Centerline is valid? [True, True] Translation: X:103.42, Y:-10.12, Z:-3.12 [[ 9.97240149e-01 7.39626768e-02 -6.45036190e-03 1.03418947e+02] [-7.39597086e-02 9.97260986e-01 6.97819255e-04 -1.01187296e+01] [ 6.48430685e-03 -2.18826492e-04 9.99978953e-01 -3.11506504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.639928851 meters 0.07243082945811727 Centerline is valid? [True, True] Translation: X:103.48, Y:-10.12, Z:-3.11 [[ 9.97031210e-01 7.67210600e-02 -6.53033011e-03 1.03478154e+02] [-7.67180960e-02 9.97052576e-01 7.03547126e-04 -1.01233523e+01] [ 6.56505934e-03 -2.00463950e-04 9.99978430e-01 -3.11483346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.699928851 meters 0.07266427658317143 Centerline is valid? [True, True] Translation: X:103.54, Y:-10.13, Z:-3.12 [[ 9.97157675e-01 7.50019434e-02 -7.16095655e-03 1.03535794e+02] [-7.49983334e-02 9.97183360e-01 7.71706833e-04 -1.01334529e+01] [ 7.19866623e-03 -2.32453584e-04 9.99974062e-01 -3.11656291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.75992885099998 meters 0.07354575688949598 Centerline is valid? [True, True] Translation: X:103.59, Y:-10.15, Z:-3.12 [[ 9.97406723e-01 7.15516572e-02 -7.75818025e-03 1.03594706e+02] [-7.15473080e-02 9.97436856e-01 8.37051485e-04 -1.01457124e+01] [ 7.79818734e-03 -2.79803866e-04 9.99969555e-01 -3.11891398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.819928851 meters 0.07457081958152981 Centerline is valid? [True, True] Translation: X:103.65, Y:-10.16, Z:-3.12 [[ 9.97768240e-01 6.60404231e-02 -9.85910010e-03 1.03653284e+02] [-6.60331225e-02 9.97816864e-01 1.06453569e-03 -1.01616422e+01] [ 9.90787872e-03 -4.11132739e-04 9.99950831e-01 -3.12132223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.879928851 meters 0.07512161143832896 Centerline is valid? [True, True] Translation: X:103.71, Y:-10.17, Z:-3.12 [[ 9.98022762e-01 6.20115727e-02 -1.02533772e-02 1.03712402e+02] [-6.20034690e-02 9.98075320e-01 1.10665009e-03 -1.01738517e+01] [ 1.03022679e-02 -4.68717025e-04 9.99946820e-01 -3.12251037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.939928851 meters 0.07612094125193529 Centerline is valid? [True, True] Translation: X:103.77, Y:-10.19, Z:-3.12 [[ 9.98310007e-01 5.72557727e-02 -9.94514915e-03 1.03771358e+02] [-5.72479151e-02 9.98359416e-01 1.07321989e-03 -1.01890359e+01] [ 9.99028134e-03 -5.02067104e-04 9.99949970e-01 -3.12319532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.999928851 meters 0.07591855548065252 Centerline is valid? [True, True] Translation: X:103.83, Y:-10.20, Z:-3.12 [[ 9.98427060e-01 5.51603458e-02 -1.00370533e-02 1.03830027e+02] [-5.51522491e-02 9.98477370e-01 1.08189368e-03 -1.01978431e+01] [ 1.00814483e-02 -5.26625863e-04 9.99949042e-01 -3.12309526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.059928851 meters 0.07644034496423216 Centerline is valid? [True, True] Translation: X:103.89, Y:-10.21, Z:-3.13 [[ 9.98533987e-01 5.28739390e-02 -1.15854564e-02 1.03889568e+02] [-5.28629833e-02 9.98600993e-01 1.25005368e-03 -1.02090744e+01] [ 1.16353435e-02 -6.35779297e-04 9.99932105e-01 -3.12508831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.119928851 meters 0.07701372108885977 Centerline is valid? [True, True] Translation: X:103.95, Y:-10.22, Z:-3.13 [[ 9.98594134e-01 5.18592692e-02 -1.09714471e-02 1.03947741e+02] [-5.18494669e-02 9.98654219e-01 1.17619348e-03 -1.02182727e+01] [ 1.10176785e-02 -6.05676228e-04 9.99939120e-01 -3.12692384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.179928851 meters 0.07776538686356327 Centerline is valid? [True, True] Translation: X:104.01, Y:-10.23, Z:-3.13 [[ 9.98712746e-01 4.95313783e-02 -1.09313196e-02 1.04006171e+02] [-4.95214712e-02 9.98772368e-01 1.17529643e-03 -1.02296198e+01] [ 1.09761140e-02 -6.32448496e-04 9.99939561e-01 -3.12779605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.239928851 meters 0.07802699967306015 Centerline is valid? [True, True] Translation: X:104.06, Y:-10.24, Z:-3.13 [[ 9.98839765e-01 4.71053714e-02 -1.00103955e-02 1.04064784e+02] [-4.70969426e-02 9.98889744e-01 1.07620955e-03 -1.02401859e+01] [ 1.00499766e-02 -6.03501867e-04 9.99949316e-01 -3.12863105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.299928851 meters 0.07723546017981538 Centerline is valid? [True, True] Translation: X:104.12, Y:-10.25, Z:-3.13 [[ 9.98919439e-01 4.52794506e-02 -1.04749818e-02 1.04123584e+02] [-4.52701307e-02 9.98974148e-01 1.12525690e-03 -1.02461580e+01] [ 1.05151870e-02 -6.49837195e-04 9.99944503e-01 -3.12798436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.359928851 meters 0.07902944330661507 Centerline is valid? [True, True] Translation: X:104.18, Y:-10.26, Z:-3.13 [[ 9.98950011e-01 4.46517427e-02 -1.02516753e-02 1.04180654e+02] [-4.46427995e-02 9.99002408e-01 1.09966409e-03 -1.02582011e+01] [ 1.02905502e-02 -6.40845973e-04 9.99946846e-01 -3.13195113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.419928851 meters 0.08024433873138208 Centerline is valid? [True, True] Translation: X:104.24, Y:-10.27, Z:-3.14 [[ 9.99015083e-01 4.29390232e-02 -1.11850065e-02 1.04238434e+02] [-4.29282741e-02 9.99077437e-01 1.19945120e-03 -1.02702522e+01] [ 1.12261909e-02 -7.18116814e-04 9.99936726e-01 -3.13514982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.479928851 meters 0.07924088306563884 Centerline is valid? [True, True] Translation: X:104.30, Y:-10.28, Z:-3.13 [[ 9.99054450e-01 4.18752725e-02 -1.16905028e-02 1.04296555e+02] [-4.18634877e-02 9.99122557e-01 1.25106958e-03 -1.02751185e+01] [ 1.17326339e-02 -7.60481409e-04 9.99930881e-01 -3.13475654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.53992885099998 meters 0.0791295623427207 Centerline is valid? [True, True] Translation: X:104.36, Y:-10.28, Z:-3.14 [[ 9.99066610e-01 4.10274953e-02 -1.35149694e-02 1.04356073e+02] [-4.10116410e-02 9.99157619e-01 1.44827141e-03 -1.02820332e+01] [ 1.35630036e-02 -8.92648532e-04 9.99907620e-01 -3.13643875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.599928851 meters 0.0791807408649721 Centerline is valid? [True, True] Translation: X:104.41, Y:-10.29, Z:-3.14 [[ 9.99046688e-01 4.13481845e-02 -1.40014975e-02 1.04414665e+02] [-4.13313067e-02 9.99144381e-01 1.49277548e-03 -1.02884686e+01] [ 1.40512411e-02 -9.12652215e-04 9.99900860e-01 -3.13758747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.659928851 meters 0.07862113679071159 Centerline is valid? [True, True] Translation: X:104.47, Y:-10.29, Z:-3.14 [[ 9.99064678e-01 4.09288626e-02 -1.39498385e-02 1.04473196e+02] [-4.09121166e-02 9.99161647e-01 1.48382939e-03 -1.02927330e+01] [ 1.39988751e-02 -9.11724111e-04 9.99901595e-01 -3.13791889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.719928851 meters 0.0801888125573788 Centerline is valid? [True, True] Translation: X:104.53, Y:-10.30, Z:-3.14 [[ 9.99153413e-01 3.88180479e-02 -1.36240854e-02 1.04530448e+02] [-3.88018431e-02 9.99245870e-01 1.45185069e-03 -1.03025173e+01] [ 1.36701691e-02 -9.21981946e-04 9.99906134e-01 -3.14043296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.779928851 meters 0.08110235460562196 Centerline is valid? [True, True] Translation: X:104.59, Y:-10.31, Z:-3.14 [[ 9.99228896e-01 3.68364577e-02 -1.35900087e-02 1.04589178e+02] [-3.68201660e-02 9.99320860e-01 1.44714971e-03 -1.03107339e+01] [ 1.36340871e-02 -9.45647427e-04 9.99906604e-01 -3.14231655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.839928851 meters 0.08053320678225621 Centerline is valid? [True, True] Translation: X:104.65, Y:-10.31, Z:-3.14 [[ 9.99320014e-01 3.51830654e-02 -1.10300500e-02 1.04647821e+02] [-3.51723050e-02 9.99380580e-01 1.16807860e-03 -1.03144796e+01] [ 1.10643144e-02 -7.79332034e-04 9.99938485e-01 -3.14155401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.899928851 meters 0.08064315283225194 Centerline is valid? [True, True] Translation: X:104.71, Y:-10.32, Z:-3.14 [[ 9.99346956e-01 3.45152218e-02 -1.06939451e-02 1.04706753e+02] [-3.45050982e-02 9.99403883e-01 1.12978022e-03 -1.03194357e+01] [ 1.07265649e-02 -7.60046797e-04 9.99942180e-01 -3.14210659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.959928851 meters 0.0799957699540596 Centerline is valid? [True, True] Translation: X:104.77, Y:-10.32, Z:-3.14 [[ 9.99340123e-01 3.44309854e-02 -1.15683135e-02 1.04765114e+02] [-3.44191608e-02 9.99406741e-01 1.21975840e-03 -1.03223880e+01] [ 1.16034480e-02 -8.20781862e-04 9.99932341e-01 -3.14243458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.019928851 meters 0.08046961433378526 Centerline is valid? [True, True] Translation: X:104.82, Y:-10.33, Z:-3.15 [[ 9.99204219e-01 3.78604871e-02 -1.25504258e-02 1.04824487e+02] [-3.78467824e-02 9.99282672e-01 1.32777150e-03 -1.03261031e+01] [ 1.25916931e-02 -8.51721647e-04 9.99920359e-01 -3.14575255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.079928851 meters 0.07943245010089943 Centerline is valid? [True, True] Translation: X:104.88, Y:-10.32, Z:-3.15 [[ 9.98956214e-01 4.40801865e-02 -1.19757706e-02 1.04884512e+02] [-4.40681534e-02 9.99027724e-01 1.26695183e-03 -1.03243657e+01] [ 1.20199744e-02 -7.37879308e-04 9.99927485e-01 -3.14769000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.139928851 meters 0.0784629041296938 Centerline is valid? [True, True] Translation: X:104.94, Y:-10.32, Z:-3.15 [[ 9.98715736e-01 4.94581864e-02 -1.09893654e-02 1.04944630e+02] [-4.94483831e-02 9.98776004e-01 1.16216425e-03 -1.03239975e+01] [ 1.10333930e-02 -6.17265368e-04 9.99938940e-01 -3.14855924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.199928851 meters 0.07536893085856598 Centerline is valid? [True, True] Translation: X:105.01, Y:-10.31, Z:-3.15 [[ 9.98367149e-01 5.64835156e-02 -8.52336386e-03 1.05006730e+02] [-5.64778744e-02 9.98403444e-01 9.01290188e-04 -1.03137908e+01] [ 8.56066387e-03 -4.18437043e-04 9.99963269e-01 -3.14587456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.25992885099998 meters 0.07493994053029773 Centerline is valid? [True, True] Translation: X:105.07, Y:-10.31, Z:-3.15 [[ 9.98152231e-01 6.02001177e-02 -8.25040658e-03 1.05066591e+02] [-6.01949640e-02 9.98186258e-01 8.71786598e-04 -1.03138034e+01] [ 8.28792413e-03 -3.73542811e-04 9.99965585e-01 -3.14634810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.319928851 meters 0.07454135878006418 Centerline is valid? [True, True] Translation: X:105.13, Y:-10.31, Z:-3.15 [[ 9.98017235e-01 6.25187803e-02 -7.28013072e-03 1.05126513e+02] [-6.25148315e-02 9.98043739e-01 7.68934718e-04 -1.03136205e+01] [ 7.31396174e-03 -3.12293956e-04 9.99973204e-01 -3.14856652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.379928851 meters 0.07459563048062215 Centerline is valid? [True, True] Translation: X:105.19, Y:-10.32, Z:-3.15 [[ 9.98038251e-01 6.21137772e-02 -7.84397479e-03 1.05185185e+02] [-6.21092286e-02 9.98069019e-01 8.22385580e-04 -1.03181813e+01] [ 7.87990970e-03 -3.33589043e-04 9.99968897e-01 -3.14951786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.439928851 meters 0.075277627681683 Centerline is valid? [True, True] Translation: X:105.24, Y:-10.32, Z:-3.15 [[ 9.98241961e-01 5.87039759e-02 -8.17497295e-03 1.05244787e+02] [-5.86988821e-02 9.98275362e-01 8.61852477e-04 -1.03242605e+01] [ 8.21146825e-03 -3.80475534e-04 9.99966213e-01 -3.15322920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.499928851 meters 0.07605148809495846 Centerline is valid? [True, True] Translation: X:105.30, Y:-10.33, Z:-3.16 [[ 9.98387983e-01 5.61693191e-02 -8.15126680e-03 1.05303895e+02] [-5.61641756e-02 9.98421178e-01 8.58728379e-04 -1.03310888e+01] [ 8.18663159e-03 -3.99534914e-04 9.99966409e-01 -3.15578677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.559928851 meters 0.0775378158522817 Centerline is valid? [True, True] Translation: X:105.36, Y:-10.34, Z:-3.16 [[ 9.98511187e-01 5.37496934e-02 -9.29411622e-03 1.05362618e+02] [-5.37428990e-02 9.98554326e-01 9.79436514e-04 -1.03406198e+01] [ 9.33332437e-03 -4.78485567e-04 9.99956329e-01 -3.15911754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.619928851 meters 0.07810400998185679 Centerline is valid? [True, True] Translation: X:105.42, Y:-10.35, Z:-3.16 [[ 9.98683162e-01 5.03342617e-02 -9.91988769e-03 1.05422771e+02] [-5.03263498e-02 9.98732279e-01 1.04575712e-03 -1.03470625e+01] [ 9.95994945e-03 -5.45148292e-04 9.99950250e-01 -3.16223516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.679928851 meters 0.07751690993960338 Centerline is valid? [True, True] Translation: X:105.48, Y:-10.35, Z:-3.16 [[ 9.98774276e-01 4.85800385e-02 -9.48286624e-03 1.05482618e+02] [-4.85727394e-02 9.98819149e-01 9.98651705e-04 -1.03495891e+01] [ 9.52018292e-03 -5.36818843e-04 9.99954538e-01 -3.16066376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.739928851 meters 0.07920880281862563 Centerline is valid? [True, True] Translation: X:105.54, Y:-10.36, Z:-3.16 [[ 9.98797742e-01 4.83169447e-02 -8.27906324e-03 1.05539283e+02] [-4.83113873e-02 9.98831944e-01 8.70052764e-04 -1.03592671e+01] [ 8.31143113e-03 -4.69033706e-04 9.99965349e-01 -3.16400303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.799928851 meters 0.07789840304979795 Centerline is valid? [True, True] Translation: X:105.60, Y:-10.36, Z:-3.16 [[ 9.98872163e-01 4.70128145e-02 -6.64816224e-03 1.05598492e+02] [-4.70092364e-02 9.98894214e-01 6.93530671e-04 -1.03603071e+01] [ 6.67341562e-03 -3.80223451e-04 9.99977660e-01 -3.16288479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.859928851 meters 0.07936725173908452 Centerline is valid? [True, True] Translation: X:105.66, Y:-10.37, Z:-3.17 [[ 9.98952948e-01 4.51556364e-02 -7.34681539e-03 1.05656200e+02] [-4.51511924e-02 9.98979868e-01 7.69711367e-04 -1.03692102e+01] [ 7.37407747e-03 -4.37187965e-04 9.99972716e-01 -3.16620223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.919928851 meters 0.08038163072461532 Centerline is valid? [True, True] Translation: X:105.72, Y:-10.38, Z:-3.17 [[ 9.99053597e-01 4.27811994e-02 -7.85356151e-03 1.05716304e+02] [-4.27760341e-02 9.99084346e-01 8.24585596e-04 -1.03761790e+01] [ 7.88164713e-03 -4.87860991e-04 9.99968820e-01 -3.16890993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.979928851 meters 0.08075422896077959 Centerline is valid? [True, True] Translation: X:105.77, Y:-10.38, Z:-3.17 [[ 9.99137302e-01 4.09683289e-02 -6.80052233e-03 1.05774978e+02] [-4.09644577e-02 9.99160354e-01 7.07626473e-04 -1.03830975e+01] [ 6.82380257e-03 -4.28436296e-04 9.99976626e-01 -3.17006302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.03992885099998 meters 0.08049761246917352 Centerline is valid? [True, True] Translation: X:105.84, Y:-10.39, Z:-3.17 [[ 9.99289003e-01 3.74751327e-02 -4.13557164e-03 1.05835073e+02] [-3.74736609e-02 9.99297522e-01 4.32840666e-04 -1.03880591e+01] [ 4.14888726e-03 -2.77557908e-04 9.99991355e-01 -3.16782824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.099928851 meters 0.08359213696094633 Centerline is valid? [True, True] Translation: X:105.89, Y:-10.40, Z:-3.17 [[ 9.99465090e-01 3.25066308e-02 -3.58505650e-03 1.05893109e+02] [-3.25054895e-02 9.99471486e-01 3.76162094e-04 -1.04014249e+01] [ 3.59538951e-03 -2.59426864e-04 9.99993503e-01 -3.17116965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.159928851 meters 0.08370335266025573 Centerline is valid? [True, True] Translation: X:105.95, Y:-10.41, Z:-3.17 [[ 9.99564159e-01 2.90438352e-02 -5.28653120e-03 1.05953282e+02] [-2.90413095e-02 9.99578059e-01 5.53902073e-04 -1.04079885e+01] [ 5.30038804e-03 -4.00132871e-04 9.99985873e-01 -3.17371784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.219928851 meters 0.0863918307283512 Centerline is valid? [True, True] Translation: X:106.01, Y:-10.42, Z:-3.18 [[ 9.99620754e-01 2.67722680e-02 -6.44932878e-03 1.06011923e+02] [-2.67684652e-02 9.99641432e-01 6.75270348e-04 -1.04194283e+01] [ 6.46509478e-03 -5.02375622e-04 9.99978975e-01 -3.17737012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.279928851 meters 0.0841366819488809 Centerline is valid? [True, True] Translation: X:106.07, Y:-10.42, Z:-3.18 [[ 9.99629211e-01 2.63811653e-02 -6.74349802e-03 1.06071022e+02] [-2.63770093e-02 9.99651818e-01 7.04510010e-04 -1.04187275e+01] [ 6.75973585e-03 -5.26375476e-04 9.99977014e-01 -3.17716640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.339928851 meters 0.08320195680498188 Centerline is valid? [True, True] Translation: X:106.13, Y:-10.42, Z:-3.18 [[ 9.99572613e-01 2.84430757e-02 -6.75144344e-03 1.06131400e+02] [-2.84389499e-02 9.99595282e-01 7.06332250e-04 -1.04191742e+01] [ 6.76880127e-03 -5.14026411e-04 9.99976959e-01 -3.17843488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.399928851 meters 0.08386398588390481 Centerline is valid? [True, True] Translation: X:106.19, Y:-10.42, Z:-3.18 [[ 9.99520961e-01 3.05729958e-02 -4.81042917e-03 1.06189866e+02] [-3.05709288e-02 9.99532474e-01 5.02645507e-04 -1.04249761e+01] [ 4.82354755e-03 -3.55345432e-04 9.99988303e-01 -3.18047115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.459928851 meters 0.08542617903041065 Centerline is valid? [True, True] Translation: X:106.25, Y:-10.43, Z:-3.18 [[ 9.99513681e-01 3.11442794e-02 -1.56077877e-03 1.06248097e+02] [-3.11440639e-02 9.99514893e-01 1.62178687e-04 -1.04329450e+01] [ 1.56507256e-03 -1.13490823e-04 9.99998769e-01 -3.18091847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.519928851 meters 0.08309893959613943 Centerline is valid? [True, True] Translation: X:106.31, Y:-10.43, Z:-3.18 [[ 9.99565686e-01 2.94645408e-02 -5.29259219e-04 1.06307571e+02] [-2.94645162e-02 9.99565825e-01 5.42186358e-05 -1.04322548e+01] [ 5.30626955e-04 -3.86007211e-05 9.99999858e-01 -3.17967907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.579928851 meters 0.08555078293935889 Centerline is valid? [True, True] Translation: X:106.37, Y:-10.44, Z:-3.18 [[ 9.99627839e-01 2.72773655e-02 -3.57846005e-04 1.06365838e+02] [-2.72773539e-02 9.99627903e-01 3.72711621e-05 -1.04431714e+01] [ 3.58729510e-04 -2.74961991e-05 9.99999935e-01 -3.18175656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.639928851 meters 0.08696081363433983 Centerline is valid? [True, True] Translation: X:106.43, Y:-10.45, Z:-3.18 [[ 9.99723498e-01 2.34462110e-02 -1.78984835e-03 1.06425317e+02] [-2.34459141e-02 9.99725089e-01 1.86724000e-04 -1.04500916e+01] [ 1.79373427e-03 -1.44707740e-04 9.99998381e-01 -3.18482764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.699928851 meters 0.09046019033533409 Centerline is valid? [True, True] Translation: X:106.48, Y:-10.46, Z:-3.19 [[ 9.99757407e-01 2.16164417e-02 -4.22581425e-03 1.06483590e+02] [-2.16147702e-02 9.99766276e-01 4.40808053e-04 -1.04623193e+01] [ 4.23435528e-03 -3.49361112e-04 9.99990974e-01 -3.19057106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.75992885099998 meters 0.0879302871469378 Centerline is valid? [True, True] Translation: X:106.54, Y:-10.46, Z:-3.19 [[ 9.99753449e-01 2.14151259e-02 -5.86797730e-03 1.06543087e+02] [-2.14119047e-02 9.99770552e-01 6.11227032e-04 -1.04617888e+01] [ 5.87972040e-03 -4.85431763e-04 9.99982596e-01 -3.19259749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.819928851 meters 0.08837372905624302 Centerline is valid? [True, True] Translation: X:106.60, Y:-10.47, Z:-3.19 [[ 9.99735230e-01 2.21774052e-02 -6.13451957e-03 1.06602130e+02] [-2.21738981e-02 9.99753925e-01 6.39126023e-04 -1.04671318e+01] [ 6.14718417e-03 -5.02930590e-04 9.99980979e-01 -3.19412305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.879928851 meters 0.08797498056226095 Centerline is valid? [True, True] Translation: X:106.66, Y:-10.47, Z:-3.19 [[ 9.99725528e-01 2.27576467e-02 -5.56407508e-03 1.06660884e+02] [-2.27547752e-02 9.99740909e-01 5.78852988e-04 -1.04702107e+01] [ 5.57580681e-03 -4.52084831e-04 9.99984353e-01 -3.19437035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.939928851 meters 0.09062832123820691 Centerline is valid? [True, True] Translation: X:106.72, Y:-10.48, Z:-3.20 [[ 9.99720769e-01 2.30149363e-02 -5.35700303e-03 1.06718330e+02] [-2.30122803e-02 9.99735027e-01 5.56922850e-04 -1.04807316e+01] [ 5.36840112e-03 -4.33490485e-04 9.99985496e-01 -3.19756383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.999928851 meters 0.08802821296541884 Centerline is valid? [True, True] Translation: X:106.78, Y:-10.48, Z:-3.20 [[ 9.99727392e-01 2.30006916e-02 -4.01369290e-03 1.06777860e+02] [-2.29992014e-02 9.99735396e-01 4.17045516e-04 -1.04813924e+01] [ 4.02222320e-03 -3.24620095e-04 9.99991858e-01 -3.19630300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.059928851 meters 0.08805063117169126 Centerline is valid? [True, True] Translation: X:106.84, Y:-10.49, Z:-3.20 [[ 9.99781635e-01 2.07721831e-02 -2.27996145e-03 1.06836899e+02] [-2.07716978e-02 9.99784217e-01 2.36300700e-04 -1.04871119e+01] [ 2.28437795e-03 -1.88890430e-04 9.99997373e-01 -3.19658461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.119928851 meters 0.08903171047285245 Centerline is valid? [True, True] Translation: X:106.90, Y:-10.50, Z:-3.20 [[ 9.99833724e-01 1.81249782e-02 -2.00219664e-03 1.06896488e+02] [-1.81245975e-02 9.99835714e-01 2.08077378e-04 -1.04953004e+01] [ 2.00563911e-03 -1.71753771e-04 9.99997974e-01 -3.19742359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.179928851 meters 0.0932129283802639 Centerline is valid? [True, True] Translation: X:106.95, Y:-10.51, Z:-3.20 [[ 9.99920694e-01 1.22687728e-02 -2.84320231e-03 1.06954962e+02] [-1.22679803e-02 9.99924702e-01 2.96033110e-04 -1.05110188e+01] [ 2.84662018e-03 -2.61129283e-04 9.99995914e-01 -3.20000756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.239928851 meters 0.09636259447833535 Centerline is valid? [True, True] Translation: X:107.01, Y:-10.52, Z:-3.20 [[ 9.99964129e-01 7.11432770e-03 -4.59641340e-03 1.07014567e+02] [-7.11220307e-03 9.99974594e-01 4.78416651e-04 -1.05247576e+01] [ 4.59970024e-03 -4.45708864e-04 9.99989322e-01 -3.20342281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.299928851 meters 0.09973339662442891 Centerline is valid? [True, True] Translation: X:107.07, Y:-10.54, Z:-3.21 [[ 9.99984671e-01 7.38398792e-04 -5.48755655e-03 1.07073376e+02] [-7.35276480e-04 9.99999567e-01 5.70976079e-04 -1.05392738e+01] [ 5.48797578e-03 -5.66932455e-04 9.99984780e-01 -3.20631908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.359928851 meters 0.10790947820477854 Centerline is valid? [True, False] Translation: X:107.07, Y:-10.54, Z:-3.21 [[ 9.99986712e-01 6.58535916e-04 -5.11296759e-03 1.07072509e+02] [-6.53901017e-04 9.99999374e-01 9.08117671e-04 -1.05407921e+01] [ 5.11356241e-03 -9.04762229e-04 9.99986516e-01 -3.20621708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.419928851 meters 0.09731478743069943 Centerline is valid? [False, True] Translation: X:107.07, Y:-10.54, Z:-3.21 [[ 9.99986915e-01 4.72057338e-04 -5.09379560e-03 1.07072147e+02] [-4.68992152e-04 9.99999708e-01 6.02926522e-04 -1.05403602e+01] [ 5.09407873e-03 -6.00529683e-04 9.99986845e-01 -3.20571206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.479928851 meters 0.09821184609253654 Centerline is valid? [True, True] Translation: X:107.13, Y:-10.55, Z:-3.21 [[ 9.99987899e-01 3.19204840e-03 -3.74327144e-03 1.07130759e+02] [-3.19060178e-03 9.99994833e-01 3.92367327e-04 -1.05480289e+01] [ 3.74450456e-03 -3.80419290e-04 9.99992917e-01 -3.20595393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.53992885099998 meters 0.0985622468035825 Centerline is valid? [True, True] Translation: X:107.19, Y:-10.56, Z:-3.21 [[ 9.99966162e-01 7.79180882e-03 -2.63853010e-03 1.07189777e+02] [-7.79110634e-03 9.99969611e-01 2.76412575e-04 -1.05554730e+01] [ 2.64060367e-03 -2.55846153e-04 9.99996481e-01 -3.20694608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.599928851 meters 0.09436714059340609 Centerline is valid? [True, True] Translation: X:107.25, Y:-10.55, Z:-3.21 [[ 9.99926517e-01 1.16821436e-02 -3.23853927e-03 1.07249803e+02] [-1.16811060e-02 9.99931716e-01 3.39122749e-04 -1.05547509e+01] [ 3.24227982e-03 -3.01268108e-04 9.99994698e-01 -3.20838790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.659928851 meters 0.09273703078621025 Centerline is valid? [True, True] Translation: X:107.31, Y:-10.56, Z:-3.21 [[ 9.99910246e-01 1.28303447e-02 -3.85769960e-03 1.07308691e+02] [-1.28288849e-02 9.99917625e-01 4.02913212e-04 -1.05583103e+01] [ 3.86255134e-03 -3.53387065e-04 9.99992478e-01 -3.20962562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.719928851 meters 0.09232445179704611 Centerline is valid? [True, True] Translation: X:107.37, Y:-10.56, Z:-3.21 [[ 9.99907997e-01 1.28411338e-02 -4.37064750e-03 1.07366732e+02] [-1.28392606e-02 9.99917469e-01 4.56379172e-04 -1.05641813e+01] [ 4.37614721e-03 -4.00221301e-04 9.99990345e-01 -3.21071320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.779928851 meters 0.09550813498590104 Centerline is valid? [True, True] Translation: X:107.42, Y:-10.58, Z:-3.21 [[ 9.99915420e-01 1.21385870e-02 -4.66994105e-03 1.07423119e+02] [-1.21364474e-02 9.99926232e-01 4.86226264e-04 -1.05768857e+01] [ 4.67549866e-03 -4.29508645e-04 9.99988978e-01 -3.21470232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.839928851 meters 0.09540013388016166 Centerline is valid? [True, True] Translation: X:107.48, Y:-10.58, Z:-3.22 [[ 9.99934755e-01 1.05183539e-02 -4.45531709e-03 1.07481883e+02] [-1.05163860e-02 9.99944593e-01 4.64898923e-04 -1.05841362e+01] [ 4.45996021e-03 -4.18014757e-04 9.99989967e-01 -3.21532998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.899928851 meters 0.0993467683474628 Centerline is valid? [True, True] Translation: X:107.54, Y:-10.60, Z:-3.22 [[ 9.99964609e-01 7.82849555e-03 -3.08150479e-03 1.07539235e+02] [-7.82754168e-03 9.99969313e-01 3.21486313e-04 -1.05992698e+01] [ 3.08392698e-03 -2.97354328e-04 9.99995200e-01 -3.21659573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.959928851 meters 0.10158214684643849 Centerline is valid? [True, False] Translation: X:107.54, Y:-10.60, Z:-3.22 [[ 9.99989269e-01 3.30864320e-03 -3.24254805e-03 1.07538829e+02] [-3.32252108e-03 9.99985304e-01 -4.28393209e-03 -1.05991947e+01] [ 3.22832639e-03 4.29465956e-03 9.99985567e-01 -3.21553214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.019928851 meters 0.09676363098804537 Centerline is valid? [False, True] Translation: X:107.54, Y:-10.60, Z:-3.22 [[ 9.99991638e-01 3.28594987e-03 -2.43448452e-03 1.07537320e+02] [-3.29343056e-03 9.99989848e-01 -3.07518908e-03 -1.06031822e+01] [ 2.42435489e-03 3.08318117e-03 9.99992308e-01 -3.21582374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.079928851 meters 0.09898282320860759 Centerline is valid? [True, True] Translation: X:107.60, Y:-10.62, Z:-3.22 [[ 9.99995042e-01 1.33604263e-03 -2.85161912e-03 1.07596057e+02] [-1.33517015e-03 9.99999061e-01 3.07843556e-04 -1.06168091e+01] [ 2.85202773e-03 -3.04034633e-04 9.99995887e-01 -3.22056421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.139928851 meters 0.09825044964303141 Centerline is valid? [True, True] Translation: X:107.66, Y:-10.62, Z:-3.22 [[ 9.99989765e-01 7.18788950e-05 -4.52380653e-03 1.07655682e+02] [-6.96699044e-05 9.99999878e-01 4.88459211e-04 -1.06237520e+01] [ 4.52384109e-03 -4.88139038e-04 9.99989648e-01 -3.22195788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.199928851 meters 0.10227775123792483 Centerline is valid? [True, False] Translation: X:107.66, Y:-10.62, Z:-3.22 [[ 9.99989875e-01 -1.36997484e-05 -4.50004483e-03 1.07655554e+02] [ 1.54389155e-05 9.99999925e-01 3.86443214e-04 -1.06235448e+01] [ 4.50003920e-03 -3.86508777e-04 9.99989800e-01 -3.22184194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.25992885099998 meters 0.09887489928902646 Centerline is valid? [False, True] Translation: X:107.66, Y:-10.62, Z:-3.22 [[ 9.99987224e-01 4.63374573e-04 -5.03358970e-03 1.07656804e+02] [-4.60263318e-04 9.99999702e-01 6.19239441e-04 -1.06236746e+01] [ 5.03387514e-03 -6.16914753e-04 9.99987140e-01 -3.22198326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.319928851 meters 0.09937617180357079 Centerline is valid? [True, True] Translation: X:107.72, Y:-10.63, Z:-3.22 [[ 9.99975485e-01 3.82007749e-03 -5.86820997e-03 1.07715850e+02] [-3.81655165e-03 9.99992530e-01 6.11916685e-04 -1.06306066e+01] [ 5.87050371e-03 -5.89505358e-04 9.99982595e-01 -3.22413930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.379928851 meters 0.09742532794032475 Centerline is valid? [True, True] Translation: X:107.78, Y:-10.63, Z:-3.23 [[ 9.99932673e-01 9.49539336e-03 -6.66986937e-03 1.07776721e+02] [-9.49096104e-03 9.99954718e-01 6.95867745e-04 -1.06330587e+01] [ 6.67617488e-03 -6.32517424e-04 9.99977514e-01 -3.22561573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.439928851 meters 0.0957641557703641 Centerline is valid? [True, True] Translation: X:107.84, Y:-10.64, Z:-3.23 [[ 9.99880913e-01 1.37772565e-02 -6.95327347e-03 1.07836927e+02] [-1.37725478e-02 9.99904891e-01 7.24622606e-04 -1.06353463e+01] [ 6.96259546e-03 -6.28772021e-04 9.99975563e-01 -3.22733535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.499928851 meters 0.08810153188254559 Centerline is valid? [True, True] Translation: X:107.90, Y:-10.62, Z:-3.23 [[ 9.99774807e-01 1.98054391e-02 -7.62099661e-03 1.07899044e+02] [-1.97999521e-02 9.99803646e-01 7.94756107e-04 -1.06249342e+01] [ 7.63524069e-03 -6.43681766e-04 9.99970644e-01 -3.22590169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.559928851 meters 0.08671589822484745 Centerline is valid? [True, True] Translation: X:107.96, Y:-10.63, Z:-3.23 [[ 9.99730757e-01 2.21740177e-02 -6.83569974e-03 1.07959427e+02] [-2.21696606e-02 9.99753969e-01 7.12527108e-04 -1.06269657e+01] [ 6.84981754e-03 -5.60790122e-04 9.99976382e-01 -3.22544825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.619928851 meters 0.0877919854899614 Centerline is valid? [True, True] Translation: X:108.02, Y:-10.64, Z:-3.23 [[ 9.99751031e-01 2.13048218e-02 -6.63173604e-03 1.08017072e+02] [-2.13007149e-02 9.99772876e-01 6.89304505e-04 -1.06354177e+01] [ 6.64491532e-03 -5.47872171e-04 9.99977772e-01 -3.22784454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.679928851 meters 0.0893657957869798 Centerline is valid? [True, True] Translation: X:108.08, Y:-10.65, Z:-3.23 [[ 9.99812001e-01 1.80169261e-02 -7.16604528e-03 1.08077073e+02] [-1.80120336e-02 9.99837491e-01 7.46686408e-04 -1.06460589e+01] [ 7.17833373e-03 -6.17470983e-04 9.99974045e-01 -3.22923668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.739928851 meters 0.09157392230683205 Centerline is valid? [True, True] Translation: X:108.14, Y:-10.66, Z:-3.23 [[ 9.99910736e-01 1.08362405e-02 -7.81638549e-03 1.08135961e+02] [-1.08302043e-02 9.99941020e-01 8.14167019e-04 -1.06584992e+01] [ 7.82474699e-03 -7.29441292e-04 9.99969120e-01 -3.23135131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.799928851 meters 0.09751758523078671 Centerline is valid? [True, True] Translation: X:108.19, Y:-10.68, Z:-3.24 [[ 9.99950462e-01 3.84039258e-03 -9.18283554e-03 1.08193613e+02] [-3.83177109e-03 9.99992202e-01 9.56278920e-04 -1.06788520e+01] [ 9.18643642e-03 -9.21045024e-04 9.99957380e-01 -3.23557168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.859928851 meters 0.10122593039698283 Centerline is valid? [True, False] Translation: X:108.19, Y:-10.68, Z:-3.24 [[ 9.99954908e-01 3.85872612e-03 -8.67705657e-03 1.08192997e+02] [-3.84495288e-03 9.99991323e-01 1.60343928e-03 -1.06803869e+01] [ 8.68316850e-03 -1.57000410e-03 9.99961068e-01 -3.23629483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.919928851 meters 0.09876120648481329 Centerline is valid? [False, True] Translation: X:108.19, Y:-10.68, Z:-3.24 [[ 9.99958133e-01 3.64175622e-03 -8.39467166e-03 1.08192444e+02] [-3.62872628e-03 9.99992189e-01 1.56687757e-03 -1.06803694e+01] [ 8.40031227e-03 -1.53635001e-03 9.99963537e-01 -3.23640496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.979928851 meters 0.09621535031034277 Centerline is valid? [True, True] Translation: X:108.25, Y:-10.68, Z:-3.24 [[ 9.99962158e-01 3.67604642e-03 -7.88476102e-03 1.08251106e+02] [-3.66933499e-03 9.99992893e-01 8.65487520e-04 -1.06818906e+01] [ 7.88788656e-03 -8.36522938e-04 9.99968540e-01 -3.23592667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.03992885099998 meters 0.09492734633979688 Centerline is valid? [True, True] Translation: X:108.31, Y:-10.68, Z:-3.24 [[ 9.99958479e-01 6.65505032e-03 -6.22500125e-03 1.08311619e+02] [-6.65091809e-03 9.99977648e-01 6.84277968e-04 -1.06847740e+01] [ 6.22941601e-03 -6.42847583e-04 9.99980390e-01 -3.23638191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.099928851 meters 0.09781966491944644 Centerline is valid? [True, True] Translation: X:108.37, Y:-10.70, Z:-3.24 [[ 9.99932191e-01 1.00899257e-02 -5.81433899e-03 1.08369293e+02] [-1.00863844e-02 9.99948928e-01 6.38063948e-04 -1.06951553e+01] [ 5.82048005e-03 -5.79375023e-04 9.99982893e-01 -3.23968844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.159928851 meters 0.0934738040268051 Centerline is valid? [True, True] Translation: X:108.43, Y:-10.69, Z:-3.24 [[ 9.99892259e-01 1.40067458e-02 -4.39102746e-03 1.08430206e+02] [-1.40047598e-02 9.99901812e-01 4.82714237e-04 -1.06932802e+01] [ 4.39735757e-03 -4.21166944e-04 9.99990243e-01 -3.23920673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.219928851 meters 0.09323719187640489 Centerline is valid? [True, True] Translation: X:108.49, Y:-10.70, Z:-3.24 [[ 9.99821345e-01 1.86123629e-02 -3.29529898e-03 1.08489177e+02] [-1.86112709e-02 9.99826730e-01 3.61756138e-04 -1.06982619e+01] [ 3.30146114e-03 -3.00361806e-04 9.99994505e-01 -3.24189721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.279928851 meters 0.09505926713999875 Centerline is valid? [True, True] Translation: X:108.55, Y:-10.71, Z:-3.25 [[ 9.99863890e-01 1.60189116e-02 -3.94922184e-03 1.08549103e+02] [-1.60173214e-02 9.99871620e-01 4.33956493e-04 -1.07093372e+01] [ 3.95566635e-03 -3.70641471e-04 9.99992108e-01 -3.24590524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.339928851 meters 0.09505926713999875 Centerline is valid? [True, True] Translation: X:108.61, Y:-10.72, Z:-3.25 [[ 9.99865461e-01 1.59204609e-02 -3.94950107e-03 1.08606482e+02] [-1.59188799e-02 9.99873194e-01 4.31414502e-04 -1.07155260e+01] [ 3.95586857e-03 -3.68484827e-04 9.99992108e-01 -3.24720396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.399928851 meters 0.09184839103500234 Centerline is valid? [True, True] Translation: X:108.67, Y:-10.72, Z:-3.25 [[ 9.99889535e-01 1.42581672e-02 -4.19798019e-03 1.08667252e+02] [-1.42563566e-02 9.99898267e-01 4.60925607e-04 -1.07162354e+01] [ 4.20412507e-03 -4.01026788e-04 9.99991082e-01 -3.24646830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.459928851 meters 0.09456314734009522 Centerline is valid? [True, True] Translation: X:108.73, Y:-10.73, Z:-3.25 [[ 9.99930363e-01 1.08702054e-02 -4.59439808e-03 1.08726455e+02] [-1.08680012e-02 9.99940814e-01 5.04468903e-04 -1.07286649e+01] [ 4.59960984e-03 -4.54501850e-04 9.99989318e-01 -3.24932790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.519928851 meters 0.098362985007464 Centerline is valid? [True, True] Translation: X:108.78, Y:-10.74, Z:-3.25 [[ 9.99976408e-01 6.07931247e-03 -3.19765783e-03 1.08784656e+02] [-6.07822176e-03 9.99981466e-01 3.50703522e-04 -1.07449878e+01] [ 3.19973060e-03 -3.31259174e-04 9.99994826e-01 -3.25115669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.579928851 meters 0.09719767747285506 Centerline is valid? [True, True] Translation: X:108.84, Y:-10.75, Z:-3.25 [[ 9.99987227e-01 2.86931043e-03 -4.16086363e-03 1.08844512e+02] [-2.86743503e-03 9.99995785e-01 4.56618501e-04 -1.07499140e+01] [ 4.16215628e-03 -4.44681662e-04 9.99991239e-01 -3.25248419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.639928851 meters 0.10056367982966136 Centerline is valid? [True, False] Translation: X:108.84, Y:-10.75, Z:-3.25 [[ 9.99987427e-01 2.70756334e-03 -4.22066539e-03 1.08844671e+02] [-2.70716051e-03 9.99996331e-01 1.01154734e-04 -1.07488448e+01] [ 4.22092378e-03 -8.97274438e-05 9.99991088e-01 -3.25252791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.699928851 meters 0.09533490720675007 Centerline is valid? [False, True] Translation: X:108.85, Y:-10.75, Z:-3.25 [[ 9.99984796e-01 2.62212613e-03 -4.85091607e-03 1.08845802e+02] [-2.62691949e-03 9.99996067e-01 -9.82028498e-04 -1.07454684e+01] [ 4.84832199e-03 9.94756533e-04 9.99987752e-01 -3.25222844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.75992885099998 meters 0.09560812514716359 Centerline is valid? [True, True] Translation: X:108.91, Y:-10.75, Z:-3.25 [[ 9.99965811e-01 7.24817387e-03 -3.98004816e-03 1.08905099e+02] [-7.24658938e-03 9.99973658e-01 4.12385386e-04 -1.07506822e+01] [ 3.98293236e-03 -3.83529512e-04 9.99991995e-01 -3.25408264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.819928851 meters 0.09434026195691514 Centerline is valid? [True, True] Translation: X:108.97, Y:-10.75, Z:-3.26 [[ 9.99898774e-01 1.41665923e-02 -1.32283751e-03 1.08965079e+02] [-1.41664236e-02 9.99899642e-01 1.36767638e-04 -1.07524146e+01] [ 1.32464229e-03 -1.18013917e-04 9.99999116e-01 -3.25504431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.879928851 meters 0.08909493831644508 Centerline is valid? [True, True] Translation: X:109.03, Y:-10.75, Z:-3.25 [[ 9.99847792e-01 1.74468350e-02 -3.19590105e-05 1.09026606e+02] [-1.74468349e-02 9.99847792e-01 3.25561128e-06 -1.07476497e+01] [ 3.20109462e-05 -2.69753217e-06 9.99999999e-01 -3.25441617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.939928851 meters 0.09050233267326564 Centerline is valid? [True, True] Translation: X:109.09, Y:-10.76, Z:-3.26 [[ 9.99813939e-01 1.92352958e-02 1.44601157e-03 1.09085249e+02] [-1.92350981e-02 9.99814977e-01 -1.50526541e-04 -1.07559712e+01] [-1.44863944e-03 1.22684360e-04 9.99998943e-01 -3.25591091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.999928851 meters 0.09090224778373032 Centerline is valid? [True, True] Translation: X:109.14, Y:-10.76, Z:-3.26 [[ 9.99920294e-01 1.25853933e-02 -1.00654888e-03 1.09144987e+02] [-1.25852946e-02 9.99920797e-01 1.04333733e-04 -1.07646467e+01] [ 1.00778223e-03 -9.16577032e-05 9.99999488e-01 -3.25767933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.059928851 meters 0.09717815521046126 Centerline is valid? [True, True] Translation: X:109.20, Y:-10.78, Z:-3.26 [[ 9.99952721e-01 9.33825361e-03 -2.71169479e-03 1.09202587e+02] [-9.33752604e-03 9.99956365e-01 2.80847634e-04 -1.07840343e+01] [ 2.71419909e-03 -2.55513835e-04 9.99996284e-01 -3.26284437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.119928851 meters 0.09831367644934796 Centerline is valid? [True, True] Translation: X:109.26, Y:-10.80, Z:-3.26 [[ 9.99989146e-01 5.68748191e-04 -4.62424773e-03 1.09261863e+02] [-5.66539730e-04 9.99999725e-01 4.78878683e-04 -1.07954462e+01] [ 4.62451882e-03 -4.76253665e-04 9.99989193e-01 -3.26479647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.179928851 meters 0.10252687072615485 Centerline is valid? [True, False] Translation: X:109.26, Y:-10.80, Z:-3.27 [[ 9.99986271e-01 -3.71511448e-03 -3.69541691e-03 1.09260214e+02] [ 3.70983873e-03 9.99992091e-01 -1.43347634e-03 -1.08020800e+01] [ 3.70071321e-03 1.41974726e-03 9.99992144e-01 -3.26573809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.239928851 meters 0.11315350580355196 Centerline is valid? [False, False] Translation: X:109.26, Y:-10.81, Z:-3.27 [[ 9.99989265e-01 -3.44621722e-03 -3.09723653e-03 1.09259412e+02] [ 3.44628405e-03 9.99994061e-01 1.62399071e-05 -1.08062026e+01] [ 3.09716217e-03 -2.69136897e-05 9.99995203e-01 -3.26644196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.299928851 meters 0.1076308499606208 Centerline is valid? [False, False] Translation: X:109.26, Y:-10.81, Z:-3.27 [[ 9.99991218e-01 -3.16310568e-03 -2.74925637e-03 1.09258592e+02] [ 3.16608599e-03 9.99994404e-01 1.08036877e-03 -1.08099002e+01] [ 2.74582366e-03 -1.08906366e-03 9.99995637e-01 -3.26624056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.359928851 meters 0.10994006782699473 Centerline is valid? [False, False] Translation: X:109.26, Y:-10.81, Z:-3.27 [[ 9.99990934e-01 -2.83827482e-03 -3.17418766e-03 1.09259125e+02] [ 2.84224715e-03 9.99995183e-01 1.24763929e-03 -1.08106370e+01] [ 3.17063122e-03 -1.25664981e-03 9.99994184e-01 -3.26564696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.419928851 meters 0.1092094753968487 Centerline is valid? [False, False] Translation: X:109.26, Y:-10.81, Z:-3.27 [[ 9.99990049e-01 -2.39955941e-03 -3.76088669e-03 1.09260357e+02] [ 2.40463016e-03 9.99996205e-01 1.34434598e-03 -1.08105198e+01] [ 3.75764658e-03 -1.35337614e-03 9.99992024e-01 -3.26562181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.479928851 meters 0.10564878435016703 Centerline is valid? [False, False] Translation: X:109.26, Y:-10.81, Z:-3.27 [[ 9.99987487e-01 -1.96784137e-03 -4.59921398e-03 1.09261826e+02] [ 1.97289438e-03 9.99997455e-01 1.09438855e-03 -1.08095745e+01] [ 4.59704869e-03 -1.10344862e-03 9.99988825e-01 -3.26529787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.53992885099998 meters 0.0963521213672049 Centerline is valid? [False, True] Translation: X:109.26, Y:-10.81, Z:-3.27 [[ 9.99985080e-01 -1.46163619e-03 -5.26334858e-03 1.09263338e+02] [ 1.46734486e-03 9.99998339e-01 1.08090962e-03 -1.08089493e+01] [ 5.26175994e-03 -1.08861664e-03 9.99985564e-01 -3.26551066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.599928851 meters 0.09449332121439716 Centerline is valid? [True, True] Translation: X:109.32, Y:-10.81, Z:-3.27 [[ 9.99963818e-01 6.89649596e-03 -4.98008435e-03 1.09322356e+02] [-6.89399887e-03 9.99976102e-01 5.18407111e-04 -1.08119138e+01] [ 4.98354053e-03 -4.84055658e-04 9.99987465e-01 -3.26726819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.659928851 meters 0.08923983801848286 Centerline is valid? [True, True] Translation: X:109.38, Y:-10.81, Z:-3.27 [[ 9.99891737e-01 1.35545646e-02 -5.72600913e-03 1.09383297e+02] [-1.35513713e-02 9.99907998e-01 5.96124039e-04 -1.08083490e+01] [ 5.73356253e-03 -5.18464225e-04 9.99983429e-01 -3.26755766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.719928851 meters 0.08848674662515194 Centerline is valid? [True, True] Translation: X:109.44, Y:-10.81, Z:-3.27 [[ 9.99837772e-01 1.71728354e-02 -5.43350840e-03 1.09443586e+02] [-1.71700128e-02 9.99852424e-01 5.65691913e-04 -1.08141694e+01] [ 5.44242108e-03 -4.72306733e-04 9.99985078e-01 -3.27014484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.779928851 meters 0.08719605801737432 Centerline is valid? [True, True] Translation: X:109.50, Y:-10.82, Z:-3.27 [[ 9.99797222e-01 1.97401919e-02 -3.98002791e-03 1.09503743e+02] [-1.97386978e-02 9.99805087e-01 4.14333084e-04 -1.08193863e+01] [ 3.98743117e-03 -3.35688498e-04 9.99991994e-01 -3.27021804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.839928851 meters 0.08649742754157796 Centerline is valid? [True, True] Translation: X:109.56, Y:-10.83, Z:-3.27 [[ 9.99795599e-01 1.99402025e-02 -3.33890825e-03 1.09562459e+02] [-1.99391573e-02 9.99801135e-01 3.46025172e-04 -1.08257166e+01] [ 3.34514407e-03 -2.79379427e-04 9.99994366e-01 -3.27112576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.899928851 meters 0.0875259437002204 Centerline is valid? [True, True] Translation: X:109.62, Y:-10.84, Z:-3.27 [[ 9.99805743e-01 1.93317242e-02 -3.84187404e-03 1.09619951e+02] [-1.93303377e-02 9.99813072e-01 3.97701773e-04 -1.08355979e+01] [ 3.84884415e-03 -3.23359794e-04 9.99992541e-01 -3.27370001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.959928851 meters 0.08843145350013505 Centerline is valid? [True, True] Translation: X:109.68, Y:-10.85, Z:-3.28 [[ 9.99827042e-01 1.81602907e-02 -4.01121094e-03 1.09678853e+02] [-1.81587659e-02 9.99835029e-01 4.16211156e-04 -1.08452185e+01] [ 4.01810772e-03 -3.43300528e-04 9.99991868e-01 -3.27601297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.019928851 meters 0.08971394301301773 Centerline is valid? [True, True] Translation: X:109.74, Y:-10.86, Z:-3.28 [[ 9.99867761e-01 1.54588196e-02 -5.04834871e-03 1.09738467e+02] [-1.54563662e-02 9.99880406e-01 5.24633394e-04 -1.08561854e+01] [ 5.05585517e-03 -4.46534890e-04 9.99987119e-01 -3.27815582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.079928851 meters 0.08965900991967875 Centerline is valid? [True, True] Translation: X:109.80, Y:-10.86, Z:-3.28 [[ 9.99888635e-01 1.38670436e-02 -5.51569938e-03 1.09797770e+02] [-1.38640954e-02 9.99903725e-01 5.72376205e-04 -1.08640990e+01] [ 5.52310552e-03 -4.95842279e-04 9.99984625e-01 -3.27978869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.139928851 meters 0.0903053833214061 Centerline is valid? [True, True] Translation: X:109.86, Y:-10.87, Z:-3.28 [[ 9.99921730e-01 1.11061813e-02 -5.76074806e-03 1.09857522e+02] [-1.11029163e-02 9.99938182e-01 5.98423704e-04 -1.08741942e+01] [ 5.76703814e-03 -5.34415761e-04 9.99983228e-01 -3.28049774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.199928851 meters 0.09286039787898909 Centerline is valid? [True, True] Translation: X:109.92, Y:-10.89, Z:-3.28 [[ 9.99935593e-01 9.35834326e-03 -6.42111133e-03 1.09915969e+02] [-9.35425356e-03 9.99956026e-01 6.66652623e-04 -1.08886644e+01] [ 6.42706773e-03 -6.06544982e-04 9.99979162e-01 -3.28295823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.25992885099998 meters 0.09108010562240713 Centerline is valid? [True, True] Translation: X:109.97, Y:-10.89, Z:-3.28 [[ 9.99936470e-01 9.25019513e-03 -6.44120504e-03 1.09973346e+02] [-9.24609292e-03 9.99957032e-01 6.66358438e-04 -1.08931758e+01] [ 6.44709222e-03 -6.06760125e-04 9.99979033e-01 -3.28228476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.319928851 meters 0.09279207845176034 Centerline is valid? [True, True] Translation: X:110.03, Y:-10.91, Z:-3.28 [[ 9.99947715e-01 9.29394987e-03 -4.26503841e-03 1.10029827e+02] [-9.29215583e-03 9.99956730e-01 4.40262274e-04 -1.09065496e+01] [ 4.26894564e-03 -4.00607854e-04 9.99990808e-01 -3.28321008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.379928851 meters 0.08809965989362548 Centerline is valid? [True, True] Translation: X:110.09, Y:-10.91, Z:-3.28 [[ 9.99947127e-01 9.65360880e-03 -3.54273519e-03 1.10089489e+02] [-9.65237713e-03 9.99953348e-01 3.64594929e-04 -1.09069616e+01] [ 3.54608957e-03 -3.30379835e-04 9.99993658e-01 -3.28124757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.439928851 meters 0.09009648072248921 Centerline is valid? [True, True] Translation: X:110.15, Y:-10.92, Z:-3.28 [[ 9.99952082e-01 8.34968290e-03 -5.11051248e-03 1.10147562e+02] [-8.34708820e-03 9.99965023e-01 5.28838219e-04 -1.09228585e+01] [ 5.11474936e-03 -4.86154980e-04 9.99986801e-01 -3.28451962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.499928851 meters 0.0917020824521201 Centerline is valid? [True, True] Translation: X:110.21, Y:-10.94, Z:-3.29 [[ 9.99962052e-01 6.64121145e-03 -5.63816162e-03 1.10207002e+02] [-6.63802421e-03 9.99977798e-01 5.83822909e-04 -1.09368658e+01] [ 5.64191373e-03 -5.46374501e-04 9.99983935e-01 -3.28638995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.559928851 meters 0.0913739738210403 Centerline is valid? [True, True] Translation: X:110.27, Y:-10.95, Z:-3.29 [[ 9.99959011e-01 4.33343163e-03 -7.94964201e-03 1.10266081e+02] [-4.32702703e-03 9.99990300e-01 8.22669423e-04 -1.09483912e+01] [ 7.95312988e-03 -7.88237387e-04 9.99968063e-01 -3.28885703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.619928851 meters 0.09111225104456483 Centerline is valid? [True, True] Translation: X:110.32, Y:-10.96, Z:-3.29 [[ 9.99943446e-01 3.42704258e-03 -1.00677957e-02 1.10324629e+02] [-3.41673572e-03 9.99993621e-01 1.04076754e-03 -1.09575554e+01] [ 1.00712982e-02 -1.00630969e-03 9.99948777e-01 -3.29073758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.679928851 meters 0.09289494059687405 Centerline is valid? [True, True] Translation: X:110.38, Y:-10.97, Z:-3.29 [[ 9.99938343e-01 2.30938396e-03 -1.08617639e-02 1.10382646e+02] [-2.29733395e-03 9.99996732e-01 1.12174305e-03 -1.09721662e+01] [ 1.08643189e-02 -1.09672078e-03 9.99940380e-01 -3.29365351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.739928851 meters 0.09321107956447326 Centerline is valid? [True, True] Translation: X:110.44, Y:-10.98, Z:-3.30 [[ 9.99921852e-01 2.82008466e-03 -1.21793730e-02 1.10440592e+02] [-2.80497780e-03 9.99995276e-01 1.25726772e-03 -1.09822459e+01] [ 1.21828610e-02 -1.22300660e-03 9.99925038e-01 -3.29573594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.799928851 meters 0.09305053553763562 Centerline is valid? [True, True] Translation: X:110.50, Y:-10.99, Z:-3.30 [[ 9.99931040e-01 3.40894950e-03 -1.12380672e-02 1.10499286e+02] [-3.39612818e-03 9.99993561e-01 1.15976866e-03 -1.09910121e+01] [ 1.12419484e-02 -1.12152277e-03 9.99936178e-01 -3.29665619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.859928851 meters 0.09159775991553101 Centerline is valid? [True, True] Translation: X:110.56, Y:-11.00, Z:-3.30 [[ 9.99937354e-01 5.12028060e-03 -9.95339578e-03 1.10558473e+02] [-5.11030814e-03 9.99986415e-01 1.02709029e-03 -1.09986773e+01] [ 9.95851955e-03 -9.76161026e-04 9.99949936e-01 -3.29610921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.919928851 meters 0.088812647321634 Centerline is valid? [True, True] Translation: X:110.62, Y:-11.00, Z:-3.30 [[ 9.99934194e-01 5.97871086e-03 -9.79098231e-03 1.10617301e+02] [-5.96911585e-03 9.99981676e-01 1.00891440e-03 -1.10018704e+01] [ 9.79683491e-03 -9.50404500e-04 9.99951558e-01 -3.29536261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.979928851 meters 0.09092349130200901 Centerline is valid? [True, True] Translation: X:110.67, Y:-11.01, Z:-3.30 [[ 9.99929388e-01 6.85431942e-03 -9.70755710e-03 1.10674400e+02] [-6.84493939e-03 9.99976074e-01 9.99156912e-04 -1.10133779e+01] [ 9.71417338e-03 -9.32638720e-04 9.99952381e-01 -3.29848904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.03992885099998 meters 0.09075468603083596 Centerline is valid? [True, True] Translation: X:110.73, Y:-11.02, Z:-3.30 [[ 9.99893521e-01 1.06864338e-02 -9.93717176e-03 1.10733199e+02] [-1.06767827e-02 9.99942477e-01 1.02375094e-03 -1.10236136e+01] [ 9.94754040e-03 -9.17544904e-04 9.99950101e-01 -3.30085490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.099928851 meters 0.08612093124503564 Centerline is valid? [True, True] Translation: X:110.79, Y:-11.02, Z:-3.30 [[ 9.99847056e-01 1.48763339e-02 -9.19556815e-03 1.10793191e+02] [-1.48682489e-02 9.99889013e-01 9.46975137e-04 -1.10242801e+01] [ 9.20863508e-03 -8.10108307e-04 9.99957271e-01 -3.29981216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.159928851 meters 0.08486834085092666 Centerline is valid? [True, True] Translation: X:110.85, Y:-11.03, Z:-3.30 [[ 9.99792669e-01 1.78155603e-02 -9.86021735e-03 1.10853051e+02] [-1.78064011e-02 9.99840937e-01 1.01592581e-03 -1.10305623e+01] [ 9.87674825e-03 -8.40140195e-04 9.99950871e-01 -3.30000622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.219928851 meters 0.08318684947239828 Centerline is valid? [True, True] Translation: X:110.91, Y:-11.04, Z:-3.30 [[ 9.99734151e-01 2.06220305e-02 -1.03130465e-02 1.10912637e+02] [-2.06121633e-02 9.99786983e-01 1.06216018e-03 -1.10368808e+01] [ 1.03327535e-02 -8.49303604e-04 9.99946255e-01 -3.30049050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.279928851 meters 0.08303222668191335 Centerline is valid? [True, True] Translation: X:110.97, Y:-11.05, Z:-3.30 [[ 9.99711608e-01 2.20763561e-02 -9.45177953e-03 1.10971776e+02] [-2.20681396e-02 9.99755996e-01 9.72730587e-04 -1.10451930e+01] [ 9.47094760e-03 -7.63866868e-04 9.99954858e-01 -3.30199580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.339928851 meters 0.08401245492956667 Centerline is valid? [True, True] Translation: X:111.03, Y:-11.06, Z:-3.30 [[ 9.99675784e-01 2.37830608e-02 -9.09354461e-03 1.11029241e+02] [-2.37755332e-02 9.99716885e-01 9.35029170e-04 -1.10572102e+01] [ 9.11320794e-03 -7.18522147e-04 9.99958216e-01 -3.30472964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.399928851 meters 0.08415633009954869 Centerline is valid? [True, True] Translation: X:111.09, Y:-11.06, Z:-3.31 [[ 9.99594149e-01 2.62184955e-02 -1.11412236e-02 1.11088445e+02] [-2.62073437e-02 9.99655872e-01 1.14580044e-03 -1.10644939e+01] [ 1.11674308e-02 -8.53353542e-04 9.99937278e-01 -3.30763645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.459928851 meters 0.08373522347253291 Centerline is valid? [True, True] Translation: X:111.15, Y:-11.07, Z:-3.31 [[ 9.99474239e-01 2.99252905e-02 -1.24788958e-02 1.11149019e+02] [-2.99115789e-02 9.99551724e-01 1.28401362e-03 -1.10687041e+01] [ 1.25117263e-02 -9.10075058e-04 9.99921311e-01 -3.31019154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.519928851 meters 0.0802186704593457 Centerline is valid? [True, True] Translation: X:111.21, Y:-11.06, Z:-3.31 [[ 9.99269808e-01 3.67204869e-02 -1.05573372e-02 1.11210565e+02] [-3.67110509e-02 9.99325332e-01 1.08625631e-03 -1.10640778e+01] [ 1.05901024e-02 -6.97892191e-04 9.99943680e-01 -3.30870741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.579928851 meters 0.07949035977208851 Centerline is valid? [True, True] Translation: X:111.27, Y:-11.07, Z:-3.31 [[ 9.99142507e-01 4.06557055e-02 -7.83356713e-03 1.11270917e+02] [-4.06506323e-02 9.99173096e-01 8.05829788e-04 -1.10662780e+01] [ 7.85985111e-03 -4.86699337e-04 9.99968992e-01 -3.30908781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.639928851 meters 0.07916803350320517 Centerline is valid? [True, True] Translation: X:111.33, Y:-11.07, Z:-3.31 [[ 9.98992718e-01 4.45427273e-02 -5.43083666e-03 1.11331409e+02] [-4.45403461e-02 9.99007430e-01 5.58681736e-04 -1.10695095e+01] [ 5.45033138e-03 -3.16227642e-04 9.99985097e-01 -3.31018610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.699928851 meters 0.07892793872310111 Centerline is valid? [True, True] Translation: X:111.39, Y:-11.07, Z:-3.31 [[ 9.98955158e-01 4.55428707e-02 -3.79998754e-03 1.11390248e+02] [-4.55417183e-02 9.98962362e-01 3.89284438e-04 -1.10732148e+01] [ 3.81377366e-03 -2.15819735e-04 9.99992704e-01 -3.31199764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.75992885099998 meters 0.08033527287543765 Centerline is valid? [True, True] Translation: X:111.45, Y:-11.08, Z:-3.32 [[ 9.99019756e-01 4.41771544e-02 -2.81193060e-03 1.11447120e+02] [-4.41765206e-02 9.99023700e-01 2.87128520e-04 -1.10830130e+01] [ 2.82186983e-03 -1.62625754e-04 9.99996005e-01 -3.31535179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.819928851 meters 0.08063416153069856 Centerline is valid? [True, True] Translation: X:111.51, Y:-11.09, Z:-3.32 [[ 9.99180097e-01 4.04332305e-02 -2.07066792e-03 1.11506373e+02] [-4.04328772e-02 9.99182234e-01 2.12205462e-04 -1.10908730e+01] [ 2.07755475e-03 -1.28308412e-04 9.99997834e-01 -3.31650404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.879928851 meters 0.08365878348761763 Centerline is valid? [True, True] Translation: X:111.56, Y:-11.11, Z:-3.32 [[ 9.99506009e-01 3.13308073e-02 -2.47366086e-03 1.11564467e+02] [-3.13302749e-02 9.99509054e-01 2.53714491e-04 -1.11093639e+01] [ 2.48039551e-03 -1.76088684e-04 9.99996908e-01 -3.32043468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.939928851 meters 0.08634143164658364 Centerline is valid? [True, True] Translation: X:111.62, Y:-11.12, Z:-3.32 [[ 9.99701018e-01 2.42407787e-02 -3.20300439e-03 1.11623594e+02] [-2.42398485e-02 9.99706118e-01 3.28909903e-04 -1.11244695e+01] [ 3.21003612e-03 -2.51171224e-04 9.99994816e-01 -3.32336070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.999928851 meters 0.09018665251476411 Centerline is valid? [True, True] Translation: X:111.68, Y:-11.14, Z:-3.33 [[ 9.99851588e-01 1.64864001e-02 -5.00004880e-03 1.11681497e+02] [-1.64840374e-02 9.99863997e-01 5.13398587e-04 -1.11406393e+01] [ 5.00783287e-03 -4.30901402e-04 9.99987368e-01 -3.32765845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.059928851 meters 0.0912144762045973 Centerline is valid? [True, True] Translation: X:111.74, Y:-11.15, Z:-3.33 [[ 9.99879742e-01 1.46072266e-02 -5.20872449e-03 1.11741305e+02] [-1.46046391e-02 9.99893204e-01 5.34454963e-04 -1.11489998e+01] [ 5.21597512e-03 -4.58319149e-04 9.99986292e-01 -3.32941221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.119928851 meters 0.09231845263012997 Centerline is valid? [True, True] Translation: X:111.80, Y:-11.15, Z:-3.33 [[ 9.99866988e-01 1.54667231e-02 -5.17549886e-03 1.11798531e+02] [-1.54641891e-02 9.99880282e-01 5.29289431e-04 -1.11548750e+01] [ 5.18306563e-03 -4.49184137e-04 9.99986467e-01 -3.33159284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.179928851 meters 0.08764045885787278 Centerline is valid? [True, True] Translation: X:111.86, Y:-11.15, Z:-3.33 [[ 9.99834876e-01 1.75872489e-02 -4.57273592e-03 1.11859979e+02] [-1.75852900e-02 9.99845257e-01 4.68245336e-04 -1.11482305e+01] [ 4.58026347e-03 -3.87755130e-04 9.99989435e-01 -3.32996705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.239928851 meters 0.08682553912296069 Centerline is valid? [True, True] Translation: X:111.92, Y:-11.15, Z:-3.33 [[ 9.99802209e-01 1.95829201e-02 -3.47153004e-03 1.11919827e+02] [-1.95818040e-02 9.99808195e-01 3.55198986e-04 -1.11496975e+01] [ 3.47782002e-03 -2.87149910e-04 9.99993911e-01 -3.33147548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.299928851 meters 0.08651609753024865 Centerline is valid? [True, True] Translation: X:111.98, Y:-11.15, Z:-3.33 [[ 9.99827692e-01 1.82287407e-02 -3.50695091e-03 1.11978918e+02] [-1.82275954e-02 9.99833799e-01 3.58281486e-04 -1.11523732e+01] [ 3.51289907e-03 -2.94296469e-04 9.99993786e-01 -3.33212587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.359928851 meters 0.08725911626521007 Centerline is valid? [True, True] Translation: X:112.04, Y:-11.16, Z:-3.33 [[ 9.99890359e-01 1.42038925e-02 -4.18565042e-03 1.12038503e+02] [-1.42022222e-02 9.99899052e-01 4.28495250e-04 -1.11583960e+01] [ 4.19131418e-03 -3.69002732e-04 9.99991148e-01 -3.33325721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.419928851 meters 0.09371308137696983 Centerline is valid? [True, True] Translation: X:112.10, Y:-11.18, Z:-3.34 [[ 9.99962083e-01 8.41093575e-03 -2.25593595e-03 1.12096362e+02] [-8.41043575e-03 9.99964605e-01 2.31034557e-04 -1.11780379e+01] [ 2.25779932e-03 -2.12052392e-04 9.99997429e-01 -3.33616876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.479928851 meters 0.09221919149076427 Centerline is valid? [True, True] Translation: X:112.16, Y:-11.18, Z:-3.34 [[ 9.99987291e-01 4.79886241e-03 -1.54534984e-03 1.12156394e+02] [-4.79862398e-03 9.99988474e-01 1.57954495e-04 -1.11808822e+01] [ 1.54609003e-03 -1.50536935e-04 9.99998793e-01 -3.33613314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.53992885099998 meters 0.09501462627529715 Centerline is valid? [True, True] Translation: X:112.21, Y:-11.19, Z:-3.34 [[ 9.99997145e-01 1.64090497e-03 -1.73717290e-03 1.12214928e+02] [-1.64059843e-03 9.99998638e-01 1.77872443e-04 -1.11927277e+01] [ 1.73746241e-03 -1.75021932e-04 9.99998475e-01 -3.33823908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.599928851 meters 0.09520792045105934 Centerline is valid? [True, True] Translation: X:112.27, Y:-11.20, Z:-3.34 [[ 9.99988168e-01 -2.23904706e-03 -4.31873353e-03 1.12274429e+02] [ 2.24097655e-03 9.99997391e-01 4.41985430e-04 -1.11980635e+01] [ 4.31773264e-03 -4.51658380e-04 9.99990577e-01 -3.33998439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.659928851 meters 0.09766997513492161 Centerline is valid? [True, True] Translation: X:112.33, Y:-11.21, Z:-3.34 [[ 9.99977444e-01 -4.27415302e-03 -5.18105156e-03 1.12332681e+02] [ 4.27695862e-03 9.99990713e-01 5.30551395e-04 -1.12069557e+01] [ 5.17873579e-03 -5.52698571e-04 9.99986438e-01 -3.34258232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.719928851 meters 0.09950390038339953 Centerline is valid? [True, True] Translation: X:112.39, Y:-11.21, Z:-3.34 [[ 9.99978570e-01 -4.27559914e-03 -4.95772900e-03 1.12391102e+02] [ 4.27816206e-03 9.99990720e-01 5.06466115e-04 -1.12130665e+01] [ 4.95551755e-03 -5.27665230e-04 9.99987582e-01 -3.34459118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.779928851 meters 0.09727191448457921 Centerline is valid? [True, True] Translation: X:112.45, Y:-11.21, Z:-3.34 [[ 9.99985165e-01 -1.95656216e-03 -5.08349682e-03 1.12452330e+02] [ 1.95923198e-03 9.99997945e-01 5.20265995e-04 -1.12076453e+01] [ 5.08246844e-03 -5.30218026e-04 9.99986944e-01 -3.34443120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.839928851 meters 0.10034217560508021 Centerline is valid? [True, False] Translation: X:112.45, Y:-11.20, Z:-3.34 [[ 9.99985362e-01 1.72613019e-03 -5.12796503e-03 1.12452630e+02] [-1.70827207e-03 9.99992469e-01 3.48483725e-03 -1.12036474e+01] [ 5.13394169e-03 -3.47602628e-03 9.99980780e-01 -3.34476943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.899928851 meters 0.0935813594809224 Centerline is valid? [False, True] Translation: X:112.45, Y:-11.20, Z:-3.35 [[ 9.99982199e-01 1.46395079e-03 -5.78433641e-03 1.12454112e+02] [-1.45274676e-03 9.99997062e-01 1.94068720e-03 -1.11982140e+01] [ 5.78716048e-03 -1.93224948e-03 9.99981387e-01 -3.34517061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.959928851 meters 0.09264433596995543 Centerline is valid? [True, True] Translation: X:112.52, Y:-11.20, Z:-3.35 [[ 9.99970138e-01 4.27250319e-03 -6.43966039e-03 1.12515384e+02] [-4.26844712e-03 9.99990683e-01 6.43469326e-04 -1.11958785e+01] [ 6.44234962e-03 -6.15962761e-04 9.99979058e-01 -3.34633930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.019928851 meters 0.09363304554226701 Centerline is valid? [True, True] Translation: X:112.57, Y:-11.20, Z:-3.35 [[ 9.99962428e-01 6.19186904e-03 -6.06665696e-03 1.12574584e+02] [-6.18830897e-03 9.99980669e-01 6.05422441e-04 -1.11957319e+01] [ 6.07028838e-03 -5.67857346e-04 9.99981414e-01 -3.34815822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.079928851 meters 0.09498155063615028 Centerline is valid? [True, True] Translation: X:112.63, Y:-11.20, Z:-3.35 [[ 9.99968272e-01 5.60136607e-03 -5.66384869e-03 1.12633390e+02] [-5.59825977e-03 9.99984170e-01 5.64148909e-04 -1.12014650e+01] [ 5.66691904e-03 -5.32423313e-04 9.99983801e-01 -3.34977750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.139928851 meters 0.09762825139912922 Centerline is valid? [True, True] Translation: X:112.69, Y:-11.21, Z:-3.35 [[ 9.99981004e-01 2.21175267e-03 -5.75325584e-03 1.12693831e+02] [-2.20848394e-03 9.99997396e-01 5.74443471e-04 -1.12078644e+01] [ 5.75451139e-03 -5.61726586e-04 9.99983285e-01 -3.35128895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.199928851 meters 0.10054073943833747 Centerline is valid? [True, False] Translation: X:112.69, Y:-11.21, Z:-3.35 [[ 9.99982525e-01 1.90777110e-03 -5.59551476e-03 1.12693743e+02] [-1.90677477e-03 9.99998165e-01 1.83388439e-04 -1.12063315e+01] [ 5.59585436e-03 -1.72715848e-04 9.99984328e-01 -3.35165903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.25992885099998 meters 0.10541463429910758 Centerline is valid? [False, False] Translation: X:112.69, Y:-11.20, Z:-3.35 [[ 9.99984489e-01 1.51841164e-03 -5.35881960e-03 1.12693716e+02] [-1.52011061e-03 9.99998796e-01 -3.12982362e-04 -1.12042825e+01] [ 5.35833791e-03 3.21123506e-04 9.99985592e-01 -3.35237150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.319928851 meters 0.09648089425710887 Centerline is valid? [False, True] Translation: X:112.69, Y:-11.20, Z:-3.35 [[ 9.99983779e-01 1.05312711e-03 -5.59761571e-03 1.12694317e+02] [-1.06091679e-03 9.99998473e-01 -1.38881881e-03 -1.12004702e+01] [ 5.59614455e-03 1.39473489e-03 9.99983369e-01 -3.35259348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.379928851 meters 0.09792654055440475 Centerline is valid? [True, True] Translation: X:112.75, Y:-11.21, Z:-3.35 [[ 9.99982958e-01 3.25103450e-03 -4.84927298e-03 1.12753431e+02] [-3.24863433e-03 9.99994597e-01 5.02749931e-04 -1.12069231e+01] [ 4.85088124e-03 -4.86987848e-04 9.99988116e-01 -3.35489542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.439928851 meters 0.09669086832811258 Centerline is valid? [True, True] Translation: X:112.81, Y:-11.21, Z:-3.36 [[ 9.99960500e-01 8.18433402e-03 -3.46615849e-03 1.12813940e+02] [-8.18313624e-03 9.99966453e-01 3.59604203e-04 -1.12051617e+01] [ 3.46898533e-03 -3.31225951e-04 9.99993928e-01 -3.35676783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.499928851 meters 0.09254569157408585 Centerline is valid? [True, True] Translation: X:112.88, Y:-11.20, Z:-3.36 [[ 9.99923277e-01 1.17927815e-02 -3.79081275e-03 1.12875398e+02] [-1.17913745e-02 9.99930402e-01 3.93292795e-04 -1.11980757e+01] [ 3.79518693e-03 -3.48563728e-04 9.99992738e-01 -3.35602725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.559928851 meters 0.09314306876040651 Centerline is valid? [True, True] Translation: X:112.94, Y:-11.20, Z:-3.36 [[ 9.99866250e-01 1.60577062e-02 -3.10351623e-03 1.12935016e+02] [-1.60567845e-02 9.99871030e-01 3.21678468e-04 -1.11986997e+01] [ 3.10828138e-03 -2.71802952e-04 9.99995132e-01 -3.35856162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.619928851 meters 0.09131251307004937 Centerline is valid? [True, True] Translation: X:113.00, Y:-11.20, Z:-3.36 [[ 9.99828499e-01 1.82687557e-02 -3.03716682e-03 1.12995169e+02] [-1.82678848e-02 9.99833079e-01 3.14233300e-04 -1.11971143e+01] [ 3.04240050e-03 -2.58696795e-04 9.99995338e-01 -3.35986367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.679928851 meters 0.09057631641441911 Centerline is valid? [True, True] Translation: X:113.05, Y:-11.20, Z:-3.36 [[ 9.99819438e-01 1.85396969e-02 -4.16775394e-03 1.13053916e+02] [-1.85380665e-02 9.99828063e-01 4.29484583e-04 -1.11965177e+01] [ 4.17499986e-03 -3.52144935e-04 9.99991223e-01 -3.36218084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.739928851 meters 0.09490004527625102 Centerline is valid? [True, True] Translation: X:113.11, Y:-11.21, Z:-3.37 [[ 9.99846152e-01 1.68326851e-02 -4.93282392e-03 1.13112068e+02] [-1.68303714e-02 9.99858229e-01 5.10182705e-04 -1.12087769e+01] [ 4.94071233e-03 -4.27082956e-04 9.99987703e-01 -3.36645687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.799928851 meters 0.09260083965828661 Centerline is valid? [True, True] Translation: X:113.17, Y:-11.21, Z:-3.37 [[ 9.99900882e-01 1.35927688e-02 -3.66926273e-03 1.13173110e+02] [-1.35914654e-02 9.99907560e-01 3.79926416e-04 -1.12092742e+01] [ 3.67408779e-03 -3.30018101e-04 9.99993196e-01 -3.36631544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.859928851 meters 0.09706366614339539 Centerline is valid? [True, True] Translation: X:113.23, Y:-11.22, Z:-3.37 [[ 9.99939778e-01 1.05250855e-02 -3.10841500e-03 1.13230900e+02] [-1.05241367e-02 9.99944568e-01 3.21443079e-04 -1.12240961e+01] [ 3.11162591e-03 -2.88710336e-04 9.99995117e-01 -3.36873215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.919928851 meters 0.09960323349856054 Centerline is valid? [True, True] Translation: X:113.29, Y:-11.24, Z:-3.37 [[ 9.99987848e-01 4.78742274e-03 -1.17628067e-03 1.13290461e+02] [-4.78728284e-03 9.99988533e-01 1.21715113e-04 -1.12367303e+01] [ 1.17684989e-03 -1.16082446e-04 9.99999301e-01 -3.36870659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.979928851 meters 0.09823900003750988 Centerline is valid? [True, True] Translation: X:113.35, Y:-11.24, Z:-3.37 [[ 9.99999090e-01 1.10219439e-04 -1.34470614e-03 1.13350418e+02] [-1.10032791e-04 9.99999984e-01 1.38874848e-04 -1.12412813e+01] [ 1.34472143e-03 -1.38726760e-04 9.99999086e-01 -3.36877666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.03992885099998 meters 0.10192349914566066 Centerline is valid? [True, False] Translation: X:113.35, Y:-11.24, Z:-3.37 [[ 9.99999856e-01 4.08241401e-05 -5.35326375e-04 1.13349045e+02] [-4.02421585e-05 9.99999408e-01 1.08711843e-03 -1.12447153e+01] [ 5.35370439e-04 -1.08709673e-03 9.99999266e-01 -3.36920574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.099928851 meters 0.10271299031105316 Centerline is valid? [False, False] Translation: X:113.35, Y:-11.25, Z:-3.37 [[ 9.99999956e-01 1.71844982e-04 -2.42933082e-04 1.13348512e+02] [-1.71430110e-04 9.99998529e-01 1.70675522e-03 -1.12469176e+01] [ 2.43226022e-04 -1.70671350e-03 9.99998514e-01 -3.36931974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.159928851 meters 0.10087454078308017 Centerline is valid? [False, False] Translation: X:113.35, Y:-11.25, Z:-3.37 [[ 9.99999704e-01 4.50235475e-04 -6.24236281e-04 1.13349502e+02] [-4.49110612e-04 9.99998277e-01 1.80095320e-03 -1.12467851e+01] [ 6.25046059e-04 -1.80067232e-03 9.99998183e-01 -3.36958909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.219928851 meters 0.10035327402156327 Centerline is valid? [False, False] Translation: X:113.35, Y:-11.25, Z:-3.37 [[ 9.99999420e-01 3.80693727e-04 -1.00749436e-03 1.13350064e+02] [-3.79393878e-04 9.99999096e-01 1.29005694e-03 -1.12453032e+01] [ 1.00798457e-03 -1.28967396e-03 9.99998660e-01 -3.36922719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.279928851 meters 0.0979529455162033 Centerline is valid? [False, True] Translation: X:113.35, Y:-11.24, Z:-3.37 [[ 9.99998708e-01 5.15848644e-04 -1.52250372e-03 1.13351068e+02] [-5.14415045e-04 9.99999424e-01 9.41847902e-04 -1.12439453e+01] [ 1.52298869e-03 -9.41063486e-04 9.99998397e-01 -3.36915342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.339928851 meters 0.09812877052741723 Centerline is valid? [True, True] Translation: X:113.41, Y:-11.25, Z:-3.37 [[ 9.99986507e-01 5.11043317e-03 -9.31931296e-04 1.13410556e+02] [-5.11034625e-03 9.99986938e-01 9.56292660e-05 -1.12494521e+01] [ 9.32407829e-04 -9.08654841e-05 9.99999561e-01 -3.37053909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.399928851 meters 0.09567678327256218 Centerline is valid? [True, True] Translation: X:113.47, Y:-11.25, Z:-3.37 [[ 9.99976794e-01 6.73066267e-03 -1.05343297e-03 1.13470135e+02] [-6.73055287e-03 9.99977344e-01 1.07740554e-04 -1.12519413e+01] [ 1.05413427e-03 -1.00647868e-04 9.99999439e-01 -3.37143787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.459928851 meters 0.09631245074426385 Centerline is valid? [True, True] Translation: X:113.53, Y:-11.26, Z:-3.37 [[ 9.99975471e-01 6.96860604e-03 -7.04751747e-04 1.13528711e+02] [-6.96855747e-03 9.99975717e-01 7.13554734e-05 -1.12611601e+01] [ 7.05231881e-04 -6.64426201e-05 9.99999749e-01 -3.37303808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.519928851 meters 0.0950424750122464 Centerline is valid? [True, True] Translation: X:113.59, Y:-11.27, Z:-3.37 [[ 9.99984237e-01 5.42914331e-03 -1.43184550e-03 1.13588285e+02] [-5.42893828e-03 9.99985252e-01 1.47039328e-04 -1.12689566e+01] [ 1.43262268e-03 -1.39263610e-04 9.99998964e-01 -3.37448659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.579928851 meters 0.09586075434346625 Centerline is valid? [True, True] Translation: X:113.65, Y:-11.28, Z:-3.38 [[ 9.99988536e-01 4.46589149e-03 -1.72748692e-03 1.13646836e+02] [-4.46559225e-03 9.99990014e-01 1.77043588e-04 -1.12799437e+01] [ 1.72826033e-03 -1.69327306e-04 9.99998492e-01 -3.37663079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.639928851 meters 0.09796326892657786 Centerline is valid? [True, True] Translation: X:113.71, Y:-11.29, Z:-3.38 [[ 9.99994401e-01 2.26269649e-03 -2.46538418e-03 1.13705786e+02] [-2.26207802e-03 9.99997409e-01 2.53620857e-04 -1.12948091e+01] [ 2.46595166e-03 -2.48042546e-04 9.99996929e-01 -3.38012649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.699928851 meters 0.09550782631511893 Centerline is valid? [True, True] Translation: X:113.77, Y:-11.30, Z:-3.38 [[ 9.99974371e-01 4.20518471e-03 -5.79423821e-03 1.13765026e+02] [-4.20183693e-03 9.99990998e-01 5.89829424e-04 -1.12982980e+01] [ 5.79666640e-03 -5.65467864e-04 9.99983039e-01 -3.38314217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.75992885099998 meters 0.0956000718821751 Centerline is valid? [True, True] Translation: X:113.82, Y:-11.30, Z:-3.39 [[ 9.99962270e-01 5.80180698e-03 -6.46507389e-03 1.13824819e+02] [-5.79763622e-03 9.99982973e-01 6.63675963e-04 -1.13040393e+01] [ 6.46881433e-03 -6.26168776e-04 9.99978881e-01 -3.38550967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.819928851 meters 0.09303304075604897 Centerline is valid? [True, True] Translation: X:113.89, Y:-11.30, Z:-3.39 [[ 9.99898844e-01 1.19936038e-02 -7.64556078e-03 1.13885752e+02] [-1.19879473e-02 9.99927834e-01 7.85238166e-04 -1.13038806e+01] [ 7.65442687e-03 -6.93504154e-04 9.99970464e-01 -3.38728824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.879928851 meters 0.08854168663998384 Centerline is valid? [True, True] Translation: X:113.95, Y:-11.30, Z:-3.39 [[ 9.99652010e-01 2.56447136e-02 -6.18130622e-03 1.13947447e+02] [-2.56412758e-02 9.99671007e-01 6.34767929e-04 -1.12955689e+01] [ 6.19555106e-03 -4.76050458e-04 9.99980694e-01 -3.38631551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.939928851 meters 0.08485991689339041 Centerline is valid? [True, True] Translation: X:114.01, Y:-11.29, Z:-3.38 [[ 9.99319680e-01 3.65429113e-02 -4.97932454e-03 1.14008642e+02] [-3.65408150e-02 9.99332031e-01 5.11348951e-04 -1.12878800e+01] [ 4.99468469e-03 -3.29052493e-04 9.99987472e-01 -3.38497839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.999928851 meters 0.08047897602086422 Centerline is valid? [True, True] Translation: X:114.07, Y:-11.27, Z:-3.38 [[ 9.98654445e-01 5.17353479e-02 -3.57125165e-03 1.14070511e+02] [-5.17343676e-02 9.98660814e-01 3.66391300e-04 -1.12739125e+01] [ 3.58542446e-03 -1.81141854e-04 9.99993556e-01 -3.38407086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.059928851 meters 0.07954812353797701 Centerline is valid? [True, True] Translation: X:114.13, Y:-11.27, Z:-3.39 [[ 9.98284763e-01 5.84700125e-02 -2.96470123e-03 1.14130774e+02] [-5.84693681e-02 9.98289157e-01 3.03632745e-04 -1.12733796e+01] [ 2.97738250e-03 -1.29767735e-04 9.99995559e-01 -3.38683734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.119928851 meters 0.07906808306948264 Centerline is valid? [True, True] Translation: X:114.19, Y:-11.28, Z:-3.39 [[ 9.98077644e-01 6.18850316e-02 -3.35557736e-03 1.14190353e+02] [-6.18842257e-02 9.98083275e-01 3.43567096e-04 -1.12751180e+01] [ 3.37040730e-03 -1.35249331e-04 9.99994311e-01 -3.38958245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.179928851 meters 0.07948720086784594 Centerline is valid? [True, True] Translation: X:114.25, Y:-11.28, Z:-3.39 [[ 9.98215051e-01 5.96254540e-02 -3.39367828e-03 1.14249702e+02] [-5.96246170e-02 9.98220809e-01 3.47365013e-04 -1.12834041e+01] [ 3.40835207e-03 -1.44398217e-04 9.99994181e-01 -3.39106928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.239928851 meters 0.08088086975592913 Centerline is valid? [True, True] Translation: X:114.31, Y:-11.30, Z:-3.39 [[ 9.98712827e-01 5.06649396e-02 -2.39856060e-03 1.14308640e+02] [-5.06644951e-02 9.98715700e-01 2.45731625e-04 -1.12981608e+01] [ 2.40793010e-03 -1.23893464e-04 9.99997093e-01 -3.39187898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.299928851 meters 0.08282403033997755 Centerline is valid? [True, True] Translation: X:114.37, Y:-11.31, Z:-3.39 [[ 9.99039587e-01 4.38082783e-02 -8.58932475e-04 1.14366504e+02] [-4.38082182e-02 9.99039955e-01 8.86889807e-05 -1.13140915e+01] [ 8.61993173e-04 -5.09755014e-05 9.99999627e-01 -3.39432940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.359928851 meters 0.08636201609354394 Centerline is valid? [True, True] Translation: X:114.42, Y:-11.33, Z:-3.40 [[ 9.99443426e-01 3.33552167e-02 -5.16619731e-04 1.14423824e+02] [-3.33551937e-02 9.99443559e-01 5.30179259e-05 -1.13336320e+01] [ 5.18100687e-04 -3.57564663e-05 9.99999865e-01 -3.39648524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.419928851 meters 0.08765295520741222 Centerline is valid? [True, True] Translation: X:114.48, Y:-11.35, Z:-3.40 [[ 9.99671389e-01 2.56140834e-02 -1.01606474e-03 1.14483073e+02] [-2.56139908e-02 9.99671902e-01 1.04102065e-04 -1.13466664e+01] [ 1.01839785e-03 -7.80423831e-05 9.99999478e-01 -3.39836491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.479928851 meters 0.09013717317774114 Centerline is valid? [True, True] Translation: X:114.54, Y:-11.36, Z:-3.40 [[ 9.99779366e-01 2.08666508e-02 -2.40887074e-03 1.14542563e+02] [-2.08661154e-02 9.99782248e-01 2.47189443e-04 -1.13607484e+01] [ 2.41350422e-03 -1.96871130e-04 9.99997068e-01 -3.40175764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.53992885099998 meters 0.09189726443419886 Centerline is valid? [True, True] Translation: X:114.60, Y:-11.37, Z:-3.41 [[ 9.99875646e-01 1.49805495e-02 -4.92712644e-03 1.14601887e+02] [-1.49782395e-02 9.99887692e-01 5.05390279e-04 -1.13730167e+01] [ 4.93414411e-03 -4.31527751e-04 9.99987734e-01 -3.40556761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.599928851 meters 0.09299861030267759 Centerline is valid? [True, True] Translation: X:114.66, Y:-11.38, Z:-3.41 [[ 9.99890844e-01 1.28869400e-02 -7.22686288e-03 1.14661470e+02] [-1.28819156e-02 9.99916750e-01 7.41359589e-04 -1.13824152e+01] [ 7.23581510e-03 -6.48182828e-04 9.99973611e-01 -3.40788897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.659928851 meters 0.09353048756067618 Centerline is valid? [True, True] Translation: X:114.72, Y:-11.39, Z:-3.41 [[ 9.99868343e-01 1.43616372e-02 -7.55245359e-03 1.14720649e+02] [-1.43561990e-02 9.99896645e-01 7.73773232e-04 -1.13904511e+01] [ 7.56278566e-03 -6.65246833e-04 9.99971180e-01 -3.41003777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.719928851 meters 0.09348375521069967 Centerline is valid? [True, True] Translation: X:114.78, Y:-11.40, Z:-3.41 [[ 9.99824056e-01 1.72667092e-02 -7.32919400e-03 1.14780060e+02] [-1.72616641e-02 9.99850724e-01 7.51064039e-04 -1.13968190e+01] [ 7.34106833e-03 -6.24417809e-04 9.99972859e-01 -3.41134253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.779928851 meters 0.08784977630862292 Centerline is valid? [True, True] Translation: X:114.84, Y:-11.39, Z:-3.41 [[ 9.99697738e-01 2.40997599e-02 -4.86149517e-03 1.14842067e+02] [-2.40976192e-02 9.99709486e-01 4.98439943e-04 -1.13906193e+01] [ 4.87209512e-03 -3.81138824e-04 9.99988059e-01 -3.40722695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.839928851 meters 0.08631780095053679 Centerline is valid? [True, True] Translation: X:114.90, Y:-11.39, Z:-3.41 [[ 9.99564335e-01 2.93750338e-02 -2.87169604e-03 1.14901945e+02] [-2.93743099e-02 9.99568439e-01 2.93963381e-04 -1.13944139e+01] [ 2.87909191e-03 -2.09481223e-04 9.99995833e-01 -3.40781574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.899928851 meters 0.08470454674529068 Centerline is valid? [True, True] Translation: X:114.96, Y:-11.40, Z:-3.41 [[ 9.99403308e-01 3.45095640e-02 -1.45554193e-03 1.14962168e+02] [-3.45093844e-02 9.99404363e-01 1.48346669e-04 -1.13973937e+01] [ 1.45979434e-03 -9.80282959e-05 9.99998930e-01 -3.40778869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.959928851 meters 0.08641840259745918 Centerline is valid? [True, True] Translation: X:115.02, Y:-11.41, Z:-3.41 [[ 9.99331704e-01 3.65256817e-02 -1.42137711e-03 1.15020379e+02] [-3.65255125e-02 9.99332710e-01 1.44828541e-04 -1.14092542e+01] [ 1.42571860e-03 -9.28152256e-05 9.99998979e-01 -3.41158246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.019928851 meters 0.0837523454733784 Centerline is valid? [True, True] Translation: X:115.08, Y:-11.41, Z:-3.41 [[ 9.99308576e-01 3.70946601e-02 -2.52129970e-03 1.15079645e+02] [-3.70941304e-02 9.99311743e-01 2.56516900e-04 -1.14113670e+01] [ 2.52907981e-03 -1.62814118e-04 9.99996789e-01 -3.41076497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.079928851 meters 0.08355711557593822 Centerline is valid? [True, True] Translation: X:115.14, Y:-11.42, Z:-3.41 [[ 9.99279342e-01 3.77320172e-02 -4.13408118e-03 1.15136789e+02] [-3.77305995e-02 9.99287859e-01 4.20406396e-04 -1.14173162e+01] [ 4.14699992e-03 -2.64122066e-04 9.99991366e-01 -3.41324562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.139928851 meters 0.08332875306814286 Centerline is valid? [True, True] Translation: X:115.20, Y:-11.42, Z:-3.42 [[ 9.99136347e-01 4.11082882e-02 -6.05542346e-03 1.15196895e+02] [-4.11052896e-02 9.99154629e-01 6.18871810e-04 -1.14220723e+01] [ 6.07574514e-03 -3.69427385e-04 9.99981474e-01 -3.41703847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.199928851 meters 0.08152464774215958 Centerline is valid? [True, True] Translation: X:115.26, Y:-11.42, Z:-3.42 [[ 9.98826382e-01 4.79979019e-02 -6.48535731e-03 1.15257057e+02] [-4.79946099e-02 9.98847375e-01 6.62377980e-04 -1.14200464e+01] [ 6.50967488e-03 -3.50338408e-04 9.99978750e-01 -3.41819534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.25992885099998 meters 0.08085232701996951 Centerline is valid? [True, True] Translation: X:115.32, Y:-11.42, Z:-3.42 [[ 9.98503979e-01 5.43121164e-02 -6.32432907e-03 1.15317111e+02] [-5.43091109e-02 9.98523962e-01 6.46129246e-04 -1.14205178e+01] [ 6.35008677e-03 -3.01693934e-04 9.99979792e-01 -3.42018019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.319928851 meters 0.07989423309339562 Centerline is valid? [True, True] Translation: X:115.38, Y:-11.42, Z:-3.42 [[ 9.98006756e-01 6.27776067e-02 -6.44099088e-03 1.15376657e+02] [-6.27746687e-02 9.98027509e-01 6.57502685e-04 -1.14201180e+01] [ 6.46956253e-03 -2.51861053e-04 9.99979040e-01 -3.42239031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.379928851 meters 0.07885086589497384 Centerline is valid? [True, True] Translation: X:115.44, Y:-11.42, Z:-3.42 [[ 9.97687169e-01 6.77155734e-02 -5.90883748e-03 1.15437337e+02] [-6.77131863e-02 9.97704646e-01 6.03343665e-04 -1.14212732e+01] [ 5.93613036e-03 -2.01842020e-04 9.99982361e-01 -3.42222896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.439928851 meters 0.0786269399049149 Centerline is valid? [True, True] Translation: X:115.50, Y:-11.43, Z:-3.42 [[ 9.97437149e-01 7.13107974e-02 -5.82277110e-03 1.15496896e+02] [-7.13085440e-02 9.97454129e-01 5.93957101e-04 -1.14256760e+01] [ 5.85030262e-03 -1.77221548e-04 9.99982871e-01 -3.42337753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.499928851 meters 0.07865436918689199 Centerline is valid? [True, True] Translation: X:115.55, Y:-11.43, Z:-3.42 [[ 9.97476704e-01 7.08135379e-02 -5.06627806e-03 1.15554925e+02] [-7.08118572e-02 9.97489559e-01 5.10579604e-04 -1.14328354e+01] [ 5.08971541e-03 -1.50538702e-04 9.99987036e-01 -3.42448786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.559928851 meters 0.07910168770786434 Centerline is valid? [True, True] Translation: X:115.61, Y:-11.44, Z:-3.43 [[ 9.97666067e-01 6.80608892e-02 -5.48951324e-03 1.15613453e+02] [-6.80588456e-02 9.97681152e-01 5.58427917e-04 -1.14438889e+01] [ 5.51479099e-03 -1.83514649e-04 9.99984777e-01 -3.42704129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.619928851 meters 0.07992822687102354 Centerline is valid? [True, True] Translation: X:115.67, Y:-11.46, Z:-3.43 [[ 9.98100906e-01 6.11576420e-02 -7.37050737e-03 1.15673003e+02] [-6.11537634e-02 9.98128075e-01 7.50666080e-04 -1.14581529e+01] [ 7.40261930e-03 -2.98506230e-04 9.99972556e-01 -3.42923077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.679928851 meters 0.08085223529695279 Centerline is valid? [True, True] Translation: X:115.73, Y:-11.47, Z:-3.43 [[ 9.98409657e-01 5.58287421e-02 -7.82991223e-03 1.15732378e+02] [-5.58242021e-02 9.98440295e-01 7.97353764e-04 -1.14701984e+01] [ 7.86221513e-03 -3.58987095e-04 9.99969028e-01 -3.43153865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.739928851 meters 0.08243534531379776 Centerline is valid? [True, True] Translation: X:115.79, Y:-11.48, Z:-3.44 [[ 9.98714586e-01 4.99491680e-02 -8.61717574e-03 1.15791058e+02] [-4.99434496e-02 9.98751662e-01 8.77661276e-04 -1.14842430e+01] [ 8.65025704e-03 -4.46161636e-04 9.99962486e-01 -3.43600025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.799928851 meters 0.08450146070022659 Centerline is valid? [True, True] Translation: X:115.85, Y:-11.50, Z:-3.44 [[ 9.98962646e-01 4.48400766e-02 -7.93727373e-03 1.15849406e+02] [-4.48350688e-02 9.98994076e-01 8.07822528e-04 -1.14988450e+01] [ 7.96551226e-03 -4.51116316e-04 9.99968173e-01 -3.43880348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.859928851 meters 0.0839609418087425 Centerline is valid? [True, True] Translation: X:115.91, Y:-11.50, Z:-3.44 [[ 9.99098607e-01 4.16345085e-02 -8.27901283e-03 1.15909877e+02] [-4.16289463e-02 9.99132784e-01 8.43111592e-04 -1.15034798e+01] [ 8.30693568e-03 -4.97705036e-04 9.99965373e-01 -3.43729484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.919928851 meters 0.08503488301730859 Centerline is valid? [True, True] Translation: X:115.97, Y:-11.51, Z:-3.44 [[ 9.99239205e-01 3.79654472e-02 -8.92389139e-03 1.15969119e+02] [-3.79588404e-02 9.99278890e-01 9.08623067e-04 -1.15136612e+01] [ 8.95195257e-03 -5.69191222e-04 9.99959768e-01 -3.43941509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.979928851 meters 0.08497993069294461 Centerline is valid? [True, True] Translation: X:116.03, Y:-11.52, Z:-3.44 [[ 9.99309002e-01 3.62343908e-02 -8.28181381e-03 1.16027746e+02] [-3.62287043e-02 9.99343176e-01 8.35660419e-04 -1.15195793e+01] [ 8.30665376e-03 -5.35043595e-04 9.99965356e-01 -3.44023046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.03992885099998 meters 0.08506227477598123 Centerline is valid? [True, True] Translation: X:116.09, Y:-11.52, Z:-3.44 [[ 9.99322170e-01 3.56942463e-02 -9.00676576e-03 1.16086106e+02] [-3.56875139e-02 9.99362586e-01 9.07150138e-04 -1.15235494e+01] [ 9.03340476e-03 -5.85106166e-04 9.99959027e-01 -3.44181688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.099928851 meters 0.08580442211417222 Centerline is valid? [True, True] Translation: X:116.14, Y:-11.53, Z:-3.44 [[ 9.99313879e-01 3.57466829e-02 -9.69261911e-03 1.16143321e+02] [-3.57388560e-02 9.99360683e-01 9.79578907e-04 -1.15291503e+01] [ 9.72143915e-03 -6.32503678e-04 9.99952546e-01 -3.44375001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.159928851 meters 0.08614496444513597 Centerline is valid? [True, True] Translation: X:116.20, Y:-11.53, Z:-3.45 [[ 9.99348186e-01 3.46607337e-02 -1.00914022e-02 1.16201905e+02] [-3.46522537e-02 9.99398916e-01 1.01401545e-03 -1.15332393e+01] [ 1.01204830e-02 -6.63664676e-04 9.99948566e-01 -3.44568036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.219928851 meters 0.08624488951305746 Centerline is valid? [True, True] Translation: X:116.26, Y:-11.54, Z:-3.45 [[ 9.99458189e-01 3.14890158e-02 -9.57972617e-03 1.16261578e+02] [-3.14811830e-02 9.99503877e-01 9.67376791e-04 -1.15368673e+01] [ 9.60543518e-03 -6.65271543e-04 9.99953645e-01 -3.44588486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.279928851 meters 0.0883968793137378 Centerline is valid? [True, True] Translation: X:116.32, Y:-11.54, Z:-3.45 [[ 9.99620537e-01 2.59297858e-02 -9.29662484e-03 1.16321707e+02] [-2.59221658e-02 9.99663523e-01 9.39234922e-04 -1.15446167e+01] [ 9.31785090e-03 -6.97889866e-04 9.99956344e-01 -3.44827632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.339928851 meters 0.0894947984896564 Centerline is valid? [True, True] Translation: X:116.38, Y:-11.55, Z:-3.45 [[ 9.99716884e-01 2.18487409e-02 -9.42254744e-03 1.16381760e+02] [-2.18407350e-02 9.99761010e-01 9.51736078e-04 -1.15511525e+01] [ 9.44108978e-03 -7.45671265e-04 9.99955154e-01 -3.44986944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.399928851 meters 0.09174625568665441 Centerline is valid? [True, True] Translation: X:116.44, Y:-11.56, Z:-3.45 [[ 9.99802693e-01 1.77694205e-02 -8.87826868e-03 1.16442253e+02] [-1.77621517e-02 9.99841838e-01 8.96903061e-04 -1.15568696e+01] [ 8.89280192e-03 -7.39028940e-04 9.99960185e-01 -3.45301173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.459928851 meters 0.09280988682394127 Centerline is valid? [True, True] Translation: X:116.50, Y:-11.56, Z:-3.45 [[ 9.99849196e-01 1.50156130e-02 -8.72453243e-03 1.16502126e+02] [-1.50084966e-02 9.99886978e-01 8.80576997e-04 -1.15607933e+01] [ 8.73676877e-03 -7.49502086e-04 9.99961553e-01 -3.45422833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.519928851 meters 0.09292674321960501 Centerline is valid? [True, True] Translation: X:116.56, Y:-11.56, Z:-3.45 [[ 9.99890157e-01 1.26506355e-02 -7.72238083e-03 1.16563186e+02] [-1.26449862e-02 9.99919745e-01 7.79937837e-04 -1.15588218e+01] [ 7.73162778e-03 -6.82202767e-04 9.99969878e-01 -3.45376334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.579928851 meters 0.09731954670570947 Centerline is valid? [True, True] Translation: X:116.62, Y:-11.57, Z:-3.46 [[ 9.99910744e-01 1.17888348e-02 -6.28710637e-03 1.16620239e+02] [-1.17850897e-02 9.99930353e-01 6.32387286e-04 -1.15691898e+01] [ 6.29412360e-03 -5.58236728e-04 9.99980036e-01 -3.45799672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.639928851 meters 0.09416800148534481 Centerline is valid? [True, True] Translation: X:116.68, Y:-11.56, Z:-3.46 [[ 9.99929562e-01 9.61750727e-03 -6.95511922e-03 1.16681844e+02] [-9.61285991e-03 9.99953549e-01 7.01313888e-04 -1.15610832e+01] [ 6.96154104e-03 -6.34405902e-04 9.99975567e-01 -3.45793941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.699928851 meters 0.09971172218653701 Centerline is valid? [True, True] Translation: X:116.74, Y:-11.57, Z:-3.46 [[ 9.99943744e-01 9.13663014e-03 -5.38808465e-03 1.16738248e+02] [-9.13384606e-03 9.99958139e-01 5.41091896e-04 -1.15732511e+01] [ 5.39280286e-03 -4.91847520e-04 9.99985338e-01 -3.46247796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.75992885099998 meters 0.0961521170327505 Centerline is valid? [True, True] Translation: X:116.80, Y:-11.57, Z:-3.46 [[ 9.99952727e-01 8.90835716e-03 -3.89670826e-03 1.16798467e+02] [-8.90690103e-03 9.99960256e-01 3.90877065e-04 -1.15658671e+01] [ 3.90003546e-03 -3.56150993e-04 9.99992331e-01 -3.46178436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.819928851 meters 0.0956541130503985 Centerline is valid? [True, True] Translation: X:116.86, Y:-11.56, Z:-3.46 [[ 9.99948899e-01 9.17311846e-03 -4.24890310e-03 1.16857295e+02] [-9.17139026e-03 9.99957851e-01 4.26048123e-04 -1.15643966e+01] [ 4.25263220e-03 -3.87058003e-04 9.99990883e-01 -3.46320999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.879928851 meters 0.09596546965358647 Centerline is valid? [True, True] Translation: X:116.92, Y:-11.57, Z:-3.46 [[ 9.99949319e-01 9.37966446e-03 -3.65800003e-03 1.16915912e+02] [-9.37838665e-03 9.99955955e-01 3.66317914e-04 -1.15674548e+01] [ 3.66127486e-03 -3.31993210e-04 9.99993242e-01 -3.46481488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.939928851 meters 0.09586333466415216 Centerline is valid? [True, True] Translation: X:116.98, Y:-11.57, Z:-3.47 [[ 9.99956547e-01 8.36849652e-03 -4.10752585e-03 1.16975553e+02] [-8.36687319e-03 9.99964912e-01 4.12235455e-04 -1.15692407e+01] [ 4.11083152e-03 -3.77850394e-04 9.99991479e-01 -3.46616247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.999928851 meters 0.0967703357544404 Centerline is valid? [True, True] Translation: X:117.03, Y:-11.57, Z:-3.47 [[ 9.99960732e-01 7.80087648e-03 -4.20483146e-03 1.17034095e+02] [-7.79917497e-03 9.99969497e-01 4.20902044e-04 -1.15744926e+01] [ 4.20798661e-03 -3.88091300e-04 9.99991071e-01 -3.46842121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.059928851 meters 0.09938471936778359 Centerline is valid? [True, True] Translation: X:117.09, Y:-11.58, Z:-3.47 [[ 9.99966945e-01 7.07070589e-03 -4.01429792e-03 1.17091278e+02] [-7.06915251e-03 9.99974933e-01 4.01018324e-04 -1.15808867e+01] [ 4.01703278e-03 -3.72627384e-04 9.99991862e-01 -3.47149388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.119928851 meters 0.09815680124683943 Centerline is valid? [True, True] Translation: X:117.15, Y:-11.58, Z:-3.47 [[ 9.99969331e-01 6.26626093e-03 -4.69806006e-03 1.17150848e+02] [-6.26411787e-03 9.99980269e-01 4.70734241e-04 -1.15819138e+01] [ 4.70091711e-03 -4.41290601e-04 9.99988853e-01 -3.47218230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.179928851 meters 0.1023422761205026 Centerline is valid? [True, False] Translation: X:117.15, Y:-11.58, Z:-3.47 [[ 9.99975242e-01 5.29892247e-03 -4.62991670e-03 1.17150209e+02] [-5.30392437e-03 9.99985363e-01 -1.06873278e-03 -1.15776292e+01] [ 4.62418580e-03 1.09326305e-03 9.99988711e-01 -3.47149792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.239928851 meters 0.09864241613217191 Centerline is valid? [False, True] Translation: X:117.15, Y:-11.58, Z:-3.47 [[ 9.99977908e-01 4.78145750e-03 -4.61752051e-03 1.17149963e+02] [-4.79028643e-03 9.99986716e-01 -1.90288589e-03 -1.15751109e+01] [ 4.60836060e-03 1.92496309e-03 9.99987529e-01 -3.47119154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.299928851 meters 0.10431344389370552 Centerline is valid? [True, False] Translation: X:117.15, Y:-11.57, Z:-3.47 [[ 9.99979806e-01 4.37641904e-03 -4.60815805e-03 1.17149916e+02] [-4.38840078e-03 9.99987008e-01 -2.59322190e-03 -1.15728349e+01] [ 4.59674916e-03 2.61339198e-03 9.99986020e-01 -3.47114933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.359928851 meters 0.10023073582100463 Centerline is valid? [False, False] Translation: X:117.15, Y:-11.57, Z:-3.47 [[ 9.99982915e-01 3.78603112e-03 -4.45382711e-03 1.17149168e+02] [-3.80099394e-03 9.99987145e-01 -3.35588826e-03 -1.15709515e+01] [ 4.44106436e-03 3.37275990e-03 9.99984451e-01 -3.47058693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.419928851 meters 0.10344706164243134 Centerline is valid? [False, False] Translation: X:117.15, Y:-11.57, Z:-3.47 [[ 9.99983220e-01 3.73535818e-03 -4.42798305e-03 1.17149557e+02] [-3.75067734e-03 9.99986993e-01 -3.45638385e-03 -1.15699788e+01] [ 4.41501462e-03 3.47293379e-03 9.99984223e-01 -3.47123841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.479928851 meters 0.09996239822621183 Centerline is valid? [False, True] Translation: X:117.15, Y:-11.57, Z:-3.47 [[ 9.99981491e-01 3.97474741e-03 -4.60648276e-03 1.17150525e+02] [-3.98972958e-03 9.99986767e-01 -3.24779833e-03 -1.15695736e+01] [ 4.59351262e-03 3.26611683e-03 9.99984116e-01 -3.47208413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.53992885099998 meters 0.0969687790388668 Centerline is valid? [True, True] Translation: X:117.21, Y:-11.57, Z:-3.47 [[ 9.99973759e-01 5.86405496e-03 -4.25381231e-03 1.17210597e+02] [-5.86232480e-03 9.99982729e-01 4.19085460e-04 -1.15695687e+01] [ 4.25619638e-03 -3.94137233e-04 9.99990865e-01 -3.47338000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.599928851 meters 0.0992601942185822 Centerline is valid? [True, True] Translation: X:117.27, Y:-11.58, Z:-3.48 [[ 9.99971977e-01 6.20694489e-03 -4.18546751e-03 1.17267534e+02] [-6.20528140e-03 9.99980663e-01 4.10313103e-04 -1.15790691e+01] [ 4.18793336e-03 -3.84329601e-04 9.99991157e-01 -3.47543557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.659928851 meters 0.09981202497048809 Centerline is valid? [True, True] Translation: X:117.33, Y:-11.59, Z:-3.48 [[ 9.99965992e-01 7.65039601e-03 -3.07999661e-03 1.17325986e+02] [-7.64950006e-03 9.99970696e-01 3.02566650e-04 -1.15860234e+01] [ 3.08222111e-03 -2.78995926e-04 9.99995211e-01 -3.47662400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.719928851 meters 0.09815289488834099 Centerline is valid? [True, True] Translation: X:117.39, Y:-11.59, Z:-3.48 [[ 9.99961186e-01 8.57468057e-03 -2.02506209e-03 1.17385502e+02] [-8.57429584e-03 9.99963220e-01 1.98589732e-04 -1.15889622e+01] [ 2.02669045e-03 -1.81218542e-04 9.99997930e-01 -3.47560330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.779928851 meters 0.0940641494463707 Centerline is valid? [True, True] Translation: X:117.44, Y:-11.59, Z:-3.47 [[ 9.99962487e-01 8.62989729e-03 -7.41854552e-04 1.17444996e+02] [-8.62984675e-03 9.99962760e-01 7.13030313e-05 -1.15867994e+01] [ 7.42442263e-04 -6.48982654e-05 9.99999722e-01 -3.47373247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.839928851 meters 0.09851076404936843 Centerline is valid? [True, True] Translation: X:117.50, Y:-11.60, Z:-3.48 [[ 9.99974816e-01 7.03696068e-03 -9.20900514e-04 1.17502117e+02] [-7.03688138e-03 9.99975237e-01 8.93168561e-05 -1.16037046e+01] [ 9.21506228e-04 -8.28343391e-05 9.99999572e-01 -3.47778710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.899928851 meters 0.10173751247881874 Centerline is valid? [True, False] Translation: X:117.50, Y:-11.60, Z:-3.48 [[ 9.99995222e-01 2.80059420e-03 -1.30874035e-03 1.17502600e+02] [-2.80629846e-03 9.99986482e-01 -4.37727137e-03 -1.16035677e+01] [ 1.29646370e-03 4.38092317e-03 9.99989563e-01 -3.47728263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.959928851 meters 0.09764391043368234 Centerline is valid? [False, True] Translation: X:117.50, Y:-11.61, Z:-3.48 [[ 9.99994480e-01 3.14516188e-03 -1.07185569e-03 1.17502623e+02] [-3.14877457e-03 9.99989311e-01 -3.38564392e-03 -1.16058828e+01] [ 1.06119584e-03 3.38900026e-03 9.99993694e-01 -3.47818120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.019928851 meters 0.10140982995952935 Centerline is valid? [True, False] Translation: X:117.50, Y:-11.61, Z:-3.48 [[ 9.99995067e-01 3.07149558e-03 -6.56595729e-04 1.17501491e+02] [-3.07343410e-03 9.99990860e-01 -2.97205938e-03 -1.16080337e+01] [ 6.47461061e-04 2.97406272e-03 9.99995368e-01 -3.47787652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.079928851 meters 0.10605148540176226 Centerline is valid? [False, False] Translation: X:117.50, Y:-11.61, Z:-3.48 [[ 9.99995204e-01 3.08925690e-03 -2.17998353e-04 1.17500433e+02] [-3.08975786e-03 9.99992497e-01 -2.33636094e-03 -1.16104777e+01] [ 2.10779098e-04 2.33702330e-03 9.99997247e-01 -3.47769629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.139928851 meters 0.10655784898038442 Centerline is valid? [False, False] Translation: X:117.50, Y:-11.61, Z:-3.48 [[ 9.99996711e-01 2.48838657e-03 6.21888797e-04 1.17497830e+02] [-2.48707857e-03 9.99994712e-01 -2.09527303e-03 -1.16132510e+01] [-6.27099358e-04 2.09371945e-03 9.99997612e-01 -3.47645847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.199928851 meters 0.10692845508940436 Centerline is valid? [False, False] Translation: X:117.50, Y:-11.62, Z:-3.48 [[ 9.99996013e-01 2.63571358e-03 1.01315402e-03 1.17497002e+02] [-2.63444326e-03 9.99995745e-01 -1.25313002e-03 -1.16163197e+01] [-1.01645260e-03 1.25045593e-03 9.99998702e-01 -3.47640898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.25992885099998 meters 0.10833233219301037 Centerline is valid? [False, False] Translation: X:117.50, Y:-11.62, Z:-3.48 [[ 9.99998710e-01 -1.14151727e-03 1.12964513e-03 1.17496497e+02] [ 1.14653509e-03 9.99989436e-01 -4.45131074e-03 -1.16205474e+01] [-1.12455195e-03 4.45260018e-03 9.99989455e-01 -3.47598686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.319928851 meters 0.10824858319024158 Centerline is valid? [False, False] Translation: X:117.50, Y:-11.62, Z:-3.48 [[ 9.99998869e-01 -6.52773280e-04 1.35476543e-03 1.17496266e+02] [ 6.57182812e-04 9.99994480e-01 -3.25694171e-03 -1.16241215e+01] [-1.35263191e-03 3.25782836e-03 9.99993778e-01 -3.47635139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.379928851 meters 0.1083568391809875 Centerline is valid? [False, False] Translation: X:117.50, Y:-11.63, Z:-3.48 [[ 9.99998663e-01 2.38235696e-05 1.63502782e-03 1.17495795e+02] [-2.11089862e-05 9.99998622e-01 -1.66026460e-03 -1.16295597e+01] [-1.63506512e-03 1.66022787e-03 9.99997285e-01 -3.47645093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.439928851 meters 0.10837994598087897 Centerline is valid? [False, False] Translation: X:117.50, Y:-11.63, Z:-3.48 [[ 9.99994098e-01 -3.18938159e-03 1.27755726e-03 1.17496463e+02] [ 3.19500435e-03 9.99985112e-01 -4.42358682e-03 -1.16346447e+01] [-1.26342973e-03 4.42764252e-03 9.99989400e-01 -3.47620954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.499928851 meters 0.11103337567692945 Centerline is valid? [False, False] Translation: X:117.50, Y:-11.64, Z:-3.48 [[ 9.99996428e-01 -2.40831054e-03 1.15922428e-03 1.17496893e+02] [ 2.41199359e-03 9.99992015e-01 -3.18632534e-03 -1.16383674e+01] [-1.15154137e-03 3.18911000e-03 9.99994252e-01 -3.47640512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.559928851 meters 0.1099379109825794 Centerline is valid? [False, False] Translation: X:117.50, Y:-11.64, Z:-3.48 [[ 9.99998736e-01 -1.29657711e-03 9.19868089e-04 1.17497917e+02] [ 1.29801745e-03 9.99997930e-01 -1.56695133e-03 -1.16428750e+01] [-9.17834512e-04 1.56814336e-03 9.99998349e-01 -3.47706172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.619928851 meters 0.1108036149535471 Centerline is valid? [False, False] Translation: X:117.50, Y:-11.65, Z:-3.48 [[ 9.99999560e-01 -5.94116647e-04 7.26173873e-04 1.17498521e+02] [ 5.94563612e-04 9.99999634e-01 -6.15446013e-04 -1.16457255e+01] [-7.25807960e-04 6.15877499e-04 9.99999547e-01 -3.47724657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.679928851 meters 0.10508092151990829 Centerline is valid? [False, False] Translation: X:117.50, Y:-11.65, Z:-3.48 [[ 9.99999808e-01 -3.11969292e-04 5.35193289e-04 1.17498707e+02] [ 3.12129130e-04 9.99999907e-01 -2.98597539e-04 -1.16471022e+01] [-5.35100086e-04 2.98764531e-04 9.99999812e-01 -3.47685938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.739928851 meters 0.10355102704939786 Centerline is valid? [False, False] Translation: X:117.50, Y:-11.65, Z:-3.48 [[ 9.99999937e-01 3.39328381e-04 1.08059088e-04 1.17499455e+02] [-3.39366100e-04 9.99999881e-01 3.49230096e-04 -1.16493885e+01] [-1.07940572e-04 -3.49266746e-04 9.99999933e-01 -3.47649803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.799928851 meters 0.1036906288003438 Centerline is valid? [False, False] Translation: X:117.50, Y:-11.65, Z:-3.48 [[ 9.99999728e-01 7.31852406e-04 -9.39946243e-05 1.17499684e+02] [-7.31777427e-04 9.99999416e-01 7.95260903e-04 -1.16511954e+01] [ 9.45765830e-05 -7.95191904e-04 9.99999679e-01 -3.47613201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.859928851 meters 0.10121099255333255 Centerline is valid? [False, False] Translation: X:117.50, Y:-11.65, Z:-3.48 [[ 9.99998989e-01 1.37557077e-03 -3.59715395e-04 1.17499984e+02] [-1.37497727e-03 9.99997702e-01 1.64499039e-03 -1.16541943e+01] [ 3.61977369e-04 -1.64449413e-03 9.99998582e-01 -3.47563462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.919928851 meters 0.09981402304975324 Centerline is valid? [False, True] Translation: X:117.50, Y:-11.66, Z:-3.48 [[ 9.99998419e-01 1.73230012e-03 -4.02419340e-04 1.17499927e+02] [-1.73139100e-03 9.99995973e-01 2.24860649e-03 -1.16564113e+01] [ 4.06312981e-04 -2.24790619e-03 9.99997391e-01 -3.47535626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.979928851 meters 0.1028687389348656 Centerline is valid? [True, False] Translation: X:117.50, Y:-11.66, Z:-3.48 [[ 9.99998297e-01 -1.28178310e-03 -1.32765044e-03 1.17502115e+02] [ 1.28072438e-03 9.99998861e-01 -7.97980803e-04 -1.16593997e+01] [ 1.32867177e-03 7.96279090e-04 9.99998800e-01 -3.47561394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.03992885099998 meters 0.100915732607742 Centerline is valid? [False, False] Translation: X:117.50, Y:-11.66, Z:-3.48 [[ 9.99998871e-01 -6.45823527e-04 -1.35705471e-03 1.17502638e+02] [ 6.46093773e-04 9.99999772e-01 1.98712493e-04 -1.16620508e+01] [ 1.35692606e-03 -1.99589053e-04 9.99999059e-01 -3.47622525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.099928851 meters 0.10243234350557423 Centerline is valid? [False, False] Translation: X:117.50, Y:-11.66, Z:-3.48 [[ 9.99998862e-01 -2.63651172e-04 -1.48511838e-03 1.17502978e+02] [ 2.64760564e-04 9.99999686e-01 7.46858862e-04 -1.16636819e+01] [ 1.48492100e-03 -7.47251213e-04 9.99998618e-01 -3.47629400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.159928851 meters 0.09963891879005583 Centerline is valid? [False, True] Translation: X:117.50, Y:-11.67, Z:-3.48 [[ 9.99998977e-01 1.53076071e-04 -1.42246716e-03 1.17502785e+02] [-1.50911618e-04 9.99998831e-01 1.52160170e-03 -1.16664709e+01] [ 1.42269842e-03 -1.52138547e-03 9.99997831e-01 -3.47614616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.219928851 meters 0.10521669342123377 Centerline is valid? [True, False] Translation: X:117.50, Y:-11.67, Z:-3.48 [[ 9.99999051e-01 4.08005564e-04 -1.31605251e-03 1.17502229e+02] [-4.05250542e-04 9.99997728e-01 2.09298640e-03 -1.16690323e+01] [ 1.31690347e-03 -2.09245108e-03 9.99996944e-01 -3.47558673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.279928851 meters 0.10311501799190112 Centerline is valid? [False, False] Translation: X:117.50, Y:-11.67, Z:-3.48 [[ 9.99993367e-01 -2.96074669e-03 -2.12141260e-03 1.17504220e+02] [ 2.95765867e-03 9.99994564e-01 -1.45730169e-03 -1.16698049e+01] [ 2.12571577e-03 1.45101761e-03 9.99996688e-01 -3.47605298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.339928851 meters 0.0998618548861281 Centerline is valid? [False, True] Translation: X:117.50, Y:-11.67, Z:-3.48 [[ 9.99994262e-01 -2.94427937e-03 -1.67543119e-03 1.17502786e+02] [ 2.94290727e-03 9.99995333e-01 -8.20835469e-04 -1.16732077e+01] [ 1.67784014e-03 8.15900120e-04 9.99998260e-01 -3.47519519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.399928851 meters 0.10163039914277236 Centerline is valid? [True, False] Translation: X:117.50, Y:-11.68, Z:-3.48 [[ 9.99995519e-01 -2.66671737e-03 -1.36071846e-03 1.17502169e+02] [ 2.66678612e-03 9.99996443e-01 4.87098999e-05 -1.16763943e+01] [ 1.36058372e-03 -5.23384267e-05 9.99999073e-01 -3.47515878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.459928851 meters 0.1025684964347805 Centerline is valid? [False, False] Translation: X:117.50, Y:-11.68, Z:-3.47 [[ 9.99996350e-01 -2.54167909e-03 -9.16526442e-04 1.17501163e+02] [ 2.54244661e-03 9.99996417e-01 8.37230828e-04 -1.16796675e+01] [ 9.14395186e-04 -8.39557992e-04 9.99999230e-01 -3.47493907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.519928851 meters 0.10145186709546619 Centerline is valid? [False, False] Translation: X:117.50, Y:-11.68, Z:-3.48 [[ 9.99997520e-01 -2.02261636e-03 -9.32296364e-04 1.17501538e+02] [ 2.02419671e-03 9.99996511e-01 1.69730238e-03 -1.16818470e+01] [ 9.28860120e-04 -1.69918532e-03 9.99998125e-01 -3.47540722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.579928851 meters 0.10300066174148961 Centerline is valid? [False, False] Translation: X:117.50, Y:-11.69, Z:-3.48 [[ 9.99985706e-01 -5.22417239e-03 -1.13795274e-03 1.17502370e+02] [ 5.22317878e-03 9.99985977e-01 -8.74386101e-04 -1.16865435e+01] [ 1.14250473e-03 8.68429873e-04 9.99998970e-01 -3.47589966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.639928851 meters 0.1032913797038558 Centerline is valid? [False, False] Translation: X:117.50, Y:-11.69, Z:-3.48 [[ 9.99989072e-01 -4.58649523e-03 -9.05331780e-04 1.17502061e+02] [ 4.58702075e-03 9.99989312e-01 5.79257847e-04 -1.16908900e+01] [ 9.02665340e-04 -5.83404293e-04 9.99999422e-01 -3.47605788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.699928851 meters 0.10155164061365334 Centerline is valid? [False, False] Translation: X:117.49, Y:-11.70, Z:-3.48 [[ 9.99979992e-01 -1.14157572e-03 6.22197944e-03 1.17490894e+02] [ 1.15522732e-03 9.99996933e-01 -2.19094039e-03 -1.16982556e+01] [-6.21945923e-03 2.19808436e-03 9.99978243e-01 -3.47809343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.75992885099998 meters 0.10340593833539795 Centerline is valid? [False, False] Translation: X:117.49, Y:-11.70, Z:-3.48 [[ 9.99973723e-01 -4.12732586e-03 5.95973272e-03 1.17491575e+02] [ 4.15378415e-03 9.99981543e-01 -4.43397751e-03 -1.17037487e+01] [-5.94132225e-03 4.45861644e-03 9.99972410e-01 -3.47828663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.819928851 meters 0.10425539616421071 Centerline is valid? [False, False] Translation: X:117.49, Y:-11.71, Z:-3.48 [[ 9.99973120e-01 -3.71376139e-03 6.32190910e-03 1.17490643e+02] [ 3.73403773e-03 9.99987913e-01 -3.19853789e-03 -1.17082757e+01] [-6.30995408e-03 3.22205816e-03 9.99974901e-01 -3.47794839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.879928851 meters 0.10063504622876077 Centerline is valid? [False, False] Translation: X:117.49, Y:-11.71, Z:-3.48 [[ 9.99974714e-01 -2.91333931e-03 6.48718376e-03 1.17490373e+02] [ 2.92369320e-03 9.99994466e-01 -1.58714252e-03 -1.17131985e+01] [-6.48252398e-03 1.60606892e-03 9.99977698e-01 -3.47803693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.939928851 meters 0.10227560483442115 Centerline is valid? [False, False] Translation: X:117.49, Y:-11.72, Z:-3.48 [[ 9.99977375e-01 -2.07966872e-03 6.39727987e-03 1.17490970e+02] [ 2.08144983e-03 9.99997797e-01 -2.71771221e-04 -1.17163963e+01] [-6.39670058e-03 2.85080689e-04 9.99979500e-01 -3.47864924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.999928851 meters 0.09915337745180183 Centerline is valid? [False, True] Translation: X:117.49, Y:-11.72, Z:-3.48 [[ 9.99979191e-01 -1.36020480e-03 6.30613908e-03 1.17491259e+02] [ 1.35469890e-03 9.99998698e-01 8.77289922e-04 -1.17196914e+01] [-6.30732416e-03 -8.68728747e-04 9.99979731e-01 -3.47882530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.059928851 meters 0.10213463257543925 Centerline is valid? [True, False] Translation: X:117.49, Y:-11.72, Z:-3.48 [[ 9.99979944e-01 -1.01295402e-03 6.25185205e-03 1.17491307e+02] [ 1.00384429e-03 9.99998430e-01 1.46009084e-03 -1.17215268e+01] [-6.25332124e-03 -1.45378567e-03 9.99979391e-01 -3.47876501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.119928851 meters 0.10184113157742473 Centerline is valid? [False, False] Translation: X:117.49, Y:-11.72, Z:-3.48 [[ 9.99981361e-01 -3.44318427e-04 6.09588455e-03 1.17491573e+02] [ 3.28726001e-04 9.99996673e-01 2.55867840e-03 -1.17245944e+01] [-6.09674527e-03 -2.55662683e-03 9.99978146e-01 -3.47870584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.179928851 meters 0.09665009036558025 Centerline is valid? [False, True] Translation: X:117.49, Y:-11.73, Z:-3.48 [[ 9.99981539e-01 8.85930685e-05 6.07571660e-03 1.17491492e+02] [-1.08785653e-04 9.99994472e-01 3.32324026e-03 -1.17270914e+01] [-6.07538860e-03 -3.32383986e-03 9.99976021e-01 -3.47853557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.239928851 meters 0.09963232999241162 Centerline is valid? [True, True] Translation: X:117.55, Y:-11.74, Z:-3.48 [[ 9.99974683e-01 1.13645264e-03 7.02430965e-03 1.17550439e+02] [-1.13087966e-03 9.99999043e-01 -7.97305264e-04 -1.17416170e+01] [-7.02520903e-03 7.89341430e-04 9.99975011e-01 -3.48109796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.299928851 meters 0.09739176595362632 Centerline is valid? [True, True] Translation: X:117.61, Y:-11.75, Z:-3.48 [[ 9.99980246e-01 1.36199278e-03 6.13613537e-03 1.17612595e+02] [-1.35778864e-03 9.99998841e-01 -6.89257263e-04 -1.17474687e+01] [-6.13706702e-03 6.80912073e-04 9.99980936e-01 -3.48263506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.359928851 meters 0.09872833399888493 Centerline is valid? [True, True] Translation: X:117.67, Y:-11.76, Z:-3.49 [[ 9.99981760e-01 1.23292952e-03 5.91259011e-03 1.17673410e+02] [-1.22901696e-03 9.99999023e-01 -6.65321197e-04 -1.17622665e+01] [-5.91340463e-03 6.58042388e-04 9.99982299e-01 -3.48620491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.419928851 meters 0.09778027192292846 Centerline is valid? [True, True] Translation: X:117.73, Y:-11.77, Z:-3.49 [[ 9.99988528e-01 1.80829845e-04 4.78653825e-03 1.17733489e+02] [-1.78220885e-04 9.99999835e-01 -5.45483027e-04 -1.17707585e+01] [-4.78663611e-03 5.44623708e-04 9.99988396e-01 -3.48774050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.479928851 meters 0.10178917419326176 Centerline is valid? [True, False] Translation: X:117.73, Y:-11.77, Z:-3.49 [[ 9.99987172e-01 5.12829502e-04 5.03919449e-03 1.17732909e+02] [-5.14947330e-04 9.99999780e-01 4.18982706e-04 -1.17739385e+01] [-5.03897851e-03 -4.21572251e-04 9.99987215e-01 -3.48759922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.53992885099998 meters 0.10332232492824471 Centerline is valid? [False, False] Translation: X:117.73, Y:-11.77, Z:-3.49 [[ 9.99986970e-01 5.35931692e-04 5.07665442e-03 1.17732522e+02] [-5.38864894e-04 9.99999689e-01 5.76432366e-04 -1.17748200e+01] [-5.07634391e-03 -5.79160486e-04 9.99986948e-01 -3.48717347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.599928851 meters 0.098130158342656 Centerline is valid? [False, True] Translation: X:117.73, Y:-11.78, Z:-3.49 [[ 9.99986774e-01 7.26127424e-04 5.09162607e-03 1.17732661e+02] [-7.30673523e-04 9.99999336e-01 8.91054726e-04 -1.17754712e+01] [-5.09097567e-03 -8.94763258e-04 9.99986641e-01 -3.48740898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.659928851 meters 0.09876935356218439 Centerline is valid? [True, True] Translation: X:117.79, Y:-11.78, Z:-3.49 [[ 9.99979099e-01 1.56460989e-03 6.27318835e-03 1.17793585e+02] [-1.56006183e-03 9.99998517e-01 -7.29827485e-04 -1.17827134e+01] [-6.27432094e-03 7.20025670e-04 9.99980057e-01 -3.48926438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.719928851 meters 0.09737692326294621 Centerline is valid? [True, True] Translation: X:117.85, Y:-11.79, Z:-3.49 [[ 9.99974458e-01 3.51620395e-03 6.22245250e-03 1.17854726e+02] [-3.51176147e-03 9.99993571e-01 -7.24726087e-04 -1.17864931e+01] [-6.22496078e-03 7.02855807e-04 9.99980378e-01 -3.49081382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.779928851 meters 0.09819633927837242 Centerline is valid? [True, True] Translation: X:117.92, Y:-11.79, Z:-3.49 [[ 9.99972339e-01 4.19791175e-03 6.13987966e-03 1.17916068e+02] [-4.19360575e-03 9.99990952e-01 -7.14023004e-04 -1.17940265e+01] [-6.14282151e-03 6.88255019e-04 9.99980896e-01 -3.49368212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.839928851 meters 0.09181003808084631 Centerline is valid? [True, True] Translation: X:117.98, Y:-11.79, Z:-3.49 [[ 9.99975492e-01 3.74603292e-03 5.91457197e-03 1.17978919e+02] [-3.74202487e-03 9.99992762e-01 -6.88578484e-04 -1.17886792e+01] [-5.91710860e-03 6.66429133e-04 9.99982272e-01 -3.49176298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.899928851 meters 0.0989910799569221 Centerline is valid? [True, True] Translation: X:118.04, Y:-11.81, Z:-3.50 [[ 9.99978755e-01 2.52514804e-03 6.00943836e-03 1.18037196e+02] [-2.52099052e-03 9.99996578e-01 -6.99306461e-04 -1.18103309e+01] [-6.01118365e-03 6.84141867e-04 9.99981699e-01 -3.49804874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.959928851 meters 0.09960557394235876 Centerline is valid? [True, True] Translation: X:118.10, Y:-11.82, Z:-3.50 [[ 9.99971047e-01 1.01337150e-03 7.54170577e-03 1.18097553e+02] [-1.00676517e-03 9.99999106e-01 -8.79717031e-04 -1.18183406e+01] [-7.54259051e-03 8.72098834e-04 9.99971174e-01 -3.50020264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.019928851 meters 0.09917520183281126 Centerline is valid? [True, True] Translation: X:118.16, Y:-11.82, Z:-3.50 [[ 9.99972579e-01 -5.37358250e-05 7.40534685e-03 1.18158382e+02] [ 6.01350832e-05 9.99999625e-01 -8.63920276e-04 -1.18236018e+01] [-7.40529765e-03 8.64341907e-04 9.99972207e-01 -3.50190120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.079928851 meters 0.09683731006040897 Centerline is valid? [True, True] Translation: X:118.22, Y:-11.83, Z:-3.50 [[ 9.99977101e-01 -1.17978862e-03 6.66373854e-03 1.18219647e+02] [ 1.18499518e-03 9.99998996e-01 -7.77433895e-04 -1.18255600e+01] [-6.66281464e-03 7.85312591e-04 9.99977495e-01 -3.50346931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.139928851 meters 0.09638232755463724 Centerline is valid? [True, True] Translation: X:118.28, Y:-11.83, Z:-3.51 [[ 9.99975470e-01 -1.66124870e-03 6.80444728e-03 1.18281473e+02] [ 1.66667711e-03 9.99998297e-01 -7.92181254e-04 -1.18294312e+01] [-6.80311968e-03 8.03502639e-04 9.99976536e-01 -3.50537707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.199928851 meters 0.09718543805872885 Centerline is valid? [True, True] Translation: X:118.34, Y:-11.83, Z:-3.51 [[ 9.99979349e-01 2.15697228e-04 6.42293174e-03 1.18342535e+02] [-2.10885050e-04 9.99999697e-01 -7.49886049e-04 -1.18344916e+01] [-6.42309154e-03 7.48516064e-04 9.99979092e-01 -3.50818593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.25992885099998 meters 0.09630139362984125 Centerline is valid? [True, True] Translation: X:118.40, Y:-11.83, Z:-3.51 [[ 9.99963134e-01 4.76947670e-03 7.14019287e-03 1.18403477e+02] [-4.76363896e-03 9.99988306e-01 -8.34373113e-04 -1.18339150e+01] [-7.14408890e-03 8.00329052e-04 9.99974160e-01 -3.51060991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.319928851 meters 0.09475232142276482 Centerline is valid? [True, True] Translation: X:118.46, Y:-11.83, Z:-3.51 [[ 9.99910413e-01 1.08306472e-02 7.86528868e-03 1.18464748e+02] [-1.08237518e-02 9.99940999e-01 -9.18735556e-04 -1.18316572e+01] [-7.87477512e-03 8.33521317e-04 9.99968646e-01 -3.51280559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.379928851 meters 0.09215098564794627 Centerline is valid? [True, True] Translation: X:118.53, Y:-11.83, Z:-3.51 [[ 9.99883474e-01 1.30503188e-02 7.92004798e-03 1.18526171e+02] [-1.30433926e-02 9.99914503e-01 -9.25542513e-04 -1.18310795e+01] [-7.93144946e-03 8.22130368e-04 9.99968208e-01 -3.51438819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.439928851 meters 0.0914822868849315 Centerline is valid? [True, True] Translation: X:118.59, Y:-11.83, Z:-3.52 [[ 9.99823560e-01 1.65838055e-02 8.82187622e-03 1.18586621e+02] [-1.65753435e-02 9.99862088e-01 -1.03146398e-03 -1.18321004e+01] [-8.83776517e-03 8.85056362e-04 9.99960555e-01 -3.51611627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.499928851 meters 0.08845358571916187 Centerline is valid? [True, True] Translation: X:118.65, Y:-11.83, Z:-3.52 [[ 9.99763141e-01 1.96451517e-02 9.36643161e-03 1.18648522e+02] [-1.96357548e-02 9.99806601e-01 -1.09416991e-03 -1.18276006e+01] [-9.38611529e-03 9.09993795e-04 9.99955535e-01 -3.51544423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.559928851 meters 0.09125627639212695 Centerline is valid? [True, True] Translation: X:118.71, Y:-11.84, Z:-3.52 [[ 9.99757291e-01 1.91490427e-02 1.08937216e-02 1.18705651e+02] [-1.91362662e-02 9.99816071e-01 -1.27587730e-03 -1.18391401e+01] [-1.09161498e-02 1.06710248e-03 9.99939848e-01 -3.51909687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.619928851 meters 0.09426360818086349 Centerline is valid? [True, True] Translation: X:118.76, Y:-11.85, Z:-3.52 [[ 9.99827412e-01 1.56619991e-02 9.99244102e-03 1.18763418e+02] [-1.56510996e-02 9.99876832e-01 -1.16804165e-03 -1.18521325e+01] [-1.00095041e-02 1.01144737e-03 9.99949392e-01 -3.52286881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.679928851 meters 0.09396806713348653 Centerline is valid? [True, True] Translation: X:118.82, Y:-11.86, Z:-3.53 [[ 9.99880986e-01 1.16792209e-02 1.00801795e-02 1.18823638e+02] [-1.16679425e-02 9.99931235e-01 -1.17695507e-03 -1.18594365e+01] [-1.00932322e-02 1.05920005e-03 9.99948501e-01 -3.52536808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.739928851 meters 0.09560516750643169 Centerline is valid? [True, True] Translation: X:118.88, Y:-11.87, Z:-3.53 [[ 9.99917280e-01 8.92346033e-03 9.26306311e-03 1.18883350e+02] [-8.91381969e-03 9.99959686e-01 -1.08152640e-03 -1.18709495e+01] [-9.27234064e-03 9.98867660e-04 9.99956512e-01 -3.52860858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.799928851 meters 0.09760664460153547 Centerline is valid? [True, True] Translation: X:118.94, Y:-11.88, Z:-3.53 [[ 9.99938683e-01 6.62904005e-03 8.87052865e-03 1.18942523e+02] [-6.62010984e-03 9.99977550e-01 -1.03571293e-03 -1.18826935e+01] [-8.87719529e-03 9.76925545e-04 9.99960120e-01 -3.53196115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.859928851 meters 0.10087297121291161 Centerline is valid? [True, False] Translation: X:118.94, Y:-11.88, Z:-3.53 [[ 9.99939938e-01 6.44463786e-03 8.86497166e-03 1.18942434e+02] [-6.43321888e-03 9.99978441e-01 -1.31601469e-03 -1.18821263e+01] [-8.87326177e-03 1.25890534e-03 9.99959839e-01 -3.53181336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.919928851 meters 0.09927738383042943 Centerline is valid? [False, True] Translation: X:118.94, Y:-11.88, Z:-3.53 [[ 9.99939942e-01 6.48576593e-03 8.83442047e-03 1.18942680e+02] [-6.47453775e-03 9.99978196e-01 -1.29896619e-03 -1.18820152e+01] [-8.84265264e-03 1.24168939e-03 9.99960132e-01 -3.53205180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.97992885099998 meters 0.09271219332705005 Centerline is valid? [True, True] Translation: X:119.01, Y:-11.88, Z:-3.53 [[ 9.99928420e-01 6.14581928e-03 1.02656223e-02 1.19005529e+02] [-6.13372719e-03 9.99980458e-01 -1.20898931e-03 -1.18779123e+01] [-1.02728519e-02 1.14593624e-03 9.99946576e-01 -3.52943394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.03992885099998 meters 0.09543953653925821 Centerline is valid? [True, True] Translation: X:119.07, Y:-11.89, Z:-3.53 [[ 9.99916502e-01 5.67708817e-03 1.16085629e-02 1.19066080e+02] [-5.66154702e-03 9.99983033e-01 -1.37119095e-03 -1.18903468e+01] [-1.16161503e-02 1.30535404e-03 9.99931678e-01 -3.53216044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.099928851 meters 0.09756700455706518 Centerline is valid? [True, True] Translation: X:119.13, Y:-11.90, Z:-3.53 [[ 9.99910096e-01 5.65457501e-03 1.21583378e-02 1.19127555e+02] [-5.63746669e-03 9.99983071e-01 -1.44093888e-03 -1.19023488e+01] [-1.21662798e-02 1.37226711e-03 9.99925046e-01 -3.53499590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.159928851 meters 0.09737775475508927 Centerline is valid? [True, True] Translation: X:119.19, Y:-11.91, Z:-3.54 [[ 9.99913523e-01 6.71781613e-03 1.13056419e-02 1.19188984e+02] [-6.70309673e-03 9.99976637e-01 -1.33934140e-03 -1.19096955e+01] [-1.13143752e-02 1.26344276e-03 9.99935192e-01 -3.53751174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.219928851 meters 0.09730802022843428 Centerline is valid? [True, True] Translation: X:119.25, Y:-11.92, Z:-3.54 [[ 9.99899729e-01 7.75475319e-03 1.18488325e-02 1.19250256e+02] [-7.73855234e-03 9.99969059e-01 -1.41253278e-03 -1.19187134e+01] [-1.18594197e-02 1.32069833e-03 9.99928802e-01 -3.54110997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.279928851 meters 0.0929223259398407 Centerline is valid? [True, True] Translation: X:119.31, Y:-11.92, Z:-3.54 [[ 9.99894269e-01 9.00056744e-03 1.14210850e-02 1.19312490e+02] [-8.98559037e-03 9.99958701e-01 -1.36199109e-03 -1.19206107e+01] [-1.14328721e-02 1.25922190e-03 9.99933850e-01 -3.54238965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.339928851 meters 0.09379136730631268 Centerline is valid? [True, True] Translation: X:119.37, Y:-11.93, Z:-3.54 [[ 9.99888676e-01 9.29438145e-03 1.16725969e-02 1.19374029e+02] [-9.27881571e-03 9.99955989e-01 -1.38697797e-03 -1.19317832e+01] [-1.16849742e-02 1.27851569e-03 9.99930911e-01 -3.54469823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.399928851 meters 0.09426499145166797 Centerline is valid? [True, True] Translation: X:119.44, Y:-11.94, Z:-3.55 [[ 9.99896930e-01 9.48184180e-03 1.07807354e-02 1.19435452e+02] [-9.46855441e-03 9.99954349e-01 -1.28288685e-03 -1.19429886e+01] [-1.07924074e-02 1.18067665e-03 9.99941063e-01 -3.54870788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.459928851 meters 0.09557645325214861 Centerline is valid? [True, True] Translation: X:119.50, Y:-11.95, Z:-3.55 [[ 9.99887578e-01 1.00740621e-02 1.11060902e-02 1.19497017e+02] [-1.00599624e-02 9.99948520e-01 -1.32468115e-03 -1.19543262e+01] [-1.11188633e-02 1.21280538e-03 9.99937448e-01 -3.55156799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.519928851 meters 0.09465273297008485 Centerline is valid? [True, True] Translation: X:119.56, Y:-11.96, Z:-3.55 [[ 9.99871712e-01 1.10886248e-02 1.15586715e-02 1.19557926e+02] [-1.10733122e-02 9.99937726e-01 -1.38793130e-03 -1.19604382e+01] [-1.15733419e-02 1.25976046e-03 9.99932233e-01 -3.55360929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.579928851 meters 0.09543519751557525 Centerline is valid? [True, True] Translation: X:119.62, Y:-11.97, Z:-3.56 [[ 9.99844165e-01 1.24003492e-02 1.25649358e-02 1.19618176e+02] [-1.23823431e-02 9.99922196e-01 -1.50982337e-03 -1.19693537e+01] [-1.25826805e-02 1.35400474e-03 9.99919918e-01 -3.55611211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.639928851 meters 0.0940835904744816 Centerline is valid? [True, True] Translation: X:119.68, Y:-11.97, Z:-3.56 [[ 9.99806907e-01 1.49507029e-02 1.27524713e-02 1.19678857e+02] [-1.49323518e-02 9.99887331e-01 -1.53303700e-03 -1.19743163e+01] [-1.27739544e-02 1.34231660e-03 9.99917509e-01 -3.55904986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.699928851 meters 0.09242438767139355 Centerline is valid? [True, True] Translation: X:119.74, Y:-11.98, Z:-3.56 [[ 9.99809661e-01 1.45415470e-02 1.30071257e-02 1.19740363e+02] [-1.45224335e-02 9.99893323e-01 -1.56271477e-03 -1.19793213e+01] [-1.30284624e-02 1.37352221e-03 9.99914183e-01 -3.56038425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.75992885099998 meters 0.0948204122163974 Centerline is valid? [True, True] Translation: X:119.80, Y:-11.99, Z:-3.56 [[ 9.99836978e-01 1.21160447e-02 1.33872678e-02 1.19799485e+02] [-1.20955652e-02 9.99925550e-01 -1.60968711e-03 -1.19921488e+01] [-1.34057742e-02 1.44749813e-03 9.99909091e-01 -3.56372868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.819928851 meters 0.0957744737572132 Centerline is valid? [True, True] Translation: X:119.86, Y:-12.00, Z:-3.57 [[ 9.99859218e-01 9.81989056e-03 1.36056385e-02 1.19859552e+02] [-9.79852521e-03 9.99950655e-01 -1.63610375e-03 -1.20031394e+01] [-1.36210335e-02 1.50255822e-03 9.99906100e-01 -3.56548182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.879928851 meters 0.09607961467183826 Centerline is valid? [True, True] Translation: X:119.92, Y:-12.01, Z:-3.57 [[ 9.99888225e-01 5.49341467e-03 1.39053825e-02 1.19919230e+02] [-5.47068272e-03 9.99983637e-01 -1.67226978e-03 -1.20147128e+01] [-1.39143414e-02 1.59601093e-03 9.99901917e-01 -3.56813521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.939928851 meters 0.09835891462586906 Centerline is valid? [True, True] Translation: X:119.98, Y:-12.03, Z:-3.57 [[ 9.99918539e-01 2.69671321e-03 1.24756775e-02 1.19979040e+02] [-2.67821043e-03 9.99995289e-01 -1.49957743e-03 -1.20294956e+01] [-1.24796626e-02 1.46604279e-03 9.99921051e-01 -3.57223999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.999928851 meters 0.10009824220897867 Centerline is valid? [True, False] Translation: X:119.98, Y:-12.03, Z:-3.57 [[ 9.99923159e-01 -6.23287976e-04 1.23809315e-02 1.19979827e+02] [ 6.75355366e-04 9.99990945e-01 -4.20171446e-03 -1.20329109e+01] [-1.23782005e-02 4.20975312e-03 9.99914525e-01 -3.57319278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.059928851 meters 0.10400296108010537 Centerline is valid? [False, False] Translation: X:119.98, Y:-12.04, Z:-3.57 [[ 9.99922711e-01 -5.31910558e-05 1.24325818e-02 1.19980067e+02] [ 9.21553138e-05 9.99995086e-01 -3.13349210e-03 -1.20354145e+01] [-1.24323540e-02 3.13439564e-03 9.99917803e-01 -3.57370625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.119928851 meters 0.10143662340274381 Centerline is valid? [False, False] Translation: X:119.98, Y:-12.04, Z:-3.57 [[ 9.99924105e-01 4.34733051e-04 1.23123928e-02 1.19980435e+02] [-4.05993615e-04 9.99997188e-01 -2.33659101e-03 -1.20374542e+01] [-1.23133740e-02 2.33141492e-03 9.99921470e-01 -3.57394765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.179928851 meters 0.10006437939235543 Centerline is valid? [False, False] Translation: X:119.98, Y:-12.04, Z:-3.57 [[ 9.99929674e-01 7.51567937e-04 1.18356063e-02 1.19981283e+02] [-7.25759346e-04 9.99997350e-01 -2.18473298e-03 -1.20375058e+01] [-1.18372169e-02 2.17598954e-03 9.99927570e-01 -3.57388844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.239928851 meters 0.09888305072990868 Centerline is valid? [False, True] Translation: X:119.98, Y:-12.04, Z:-3.57 [[ 9.99938161e-01 1.22199506e-03 1.10535323e-02 1.19982600e+02] [-1.19551371e-03 9.99996400e-01 -2.40202722e-03 -1.20361184e+01] [-1.10564278e-02 2.38866403e-03 9.99936023e-01 -3.57370962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.299928851 meters 0.09183338062828811 Centerline is valid? [True, True] Translation: X:120.04, Y:-12.03, Z:-3.58 [[ 9.99890265e-01 1.03817359e-02 1.05677479e-02 1.20044098e+02] [-1.03696184e-02 9.99945513e-01 -1.20080208e-03 -1.20285275e+01] [-1.05796385e-02 1.09108680e-03 9.99943439e-01 -3.57580386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.359928851 meters 0.08877040254464229 Centerline is valid? [True, True] Translation: X:120.10, Y:-12.03, Z:-3.58 [[ 9.99850331e-01 1.31972065e-02 1.11869733e-02 1.20104816e+02] [-1.31838034e-02 9.99912282e-01 -1.27100180e-03 -1.20286942e+01] [-1.12027657e-02 1.12332471e-03 9.99936616e-01 -3.57701417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.419928851 meters 0.08740013808014413 Centerline is valid? [True, True] Translation: X:120.17, Y:-12.03, Z:-3.58 [[ 9.99704087e-01 2.05268705e-02 1.30531906e-02 1.20165741e+02] [-2.05092438e-02 9.99788564e-01 -1.48281874e-03 -1.20320562e+01] [-1.30808683e-02 1.21466888e-03 9.99913704e-01 -3.57984649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.47992885099998 meters 0.08771086830739908 Centerline is valid? [True, True] Translation: X:120.23, Y:-12.04, Z:-3.58 [[ 9.99683606e-01 2.19861419e-02 1.22187470e-02 1.20225577e+02] [-2.19707953e-02 9.99757648e-01 -1.38881380e-03 -1.20385204e+01] [-1.22463204e-02 1.11991879e-03 9.99924384e-01 -3.58246560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.53992885099998 meters 0.08964725805077899 Centerline is valid? [True, True] Translation: X:120.28, Y:-12.05, Z:-3.59 [[ 9.99677712e-01 2.20303484e-02 1.26148824e-02 1.20282672e+02] [-2.20139917e-02 9.99756634e-01 -1.43402740e-03 -1.20508925e+01] [-1.26434045e-02 1.15586132e-03 9.99919401e-01 -3.58665493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.599928851 meters 0.08909948483743642 Centerline is valid? [True, True] Translation: X:120.34, Y:-12.06, Z:-3.59 [[ 9.99719862e-01 2.01893862e-02 1.23526077e-02 1.20342013e+02] [-2.01735735e-02 9.99795508e-01 -1.40339365e-03 -1.20576567e+01] [-1.23784154e-02 1.15380427e-03 9.99922719e-01 -3.58857262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.659928851 meters 0.09047102637570946 Centerline is valid? [True, True] Translation: X:120.40, Y:-12.07, Z:-3.59 [[ 9.99819026e-01 1.53844245e-02 1.11908744e-02 1.20401357e+02] [-1.53711546e-02 9.99881049e-01 -1.27082575e-03 -1.20689675e+01] [-1.12090941e-02 1.09857910e-03 9.99936573e-01 -3.59121257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.719928851 meters 0.09255223650976464 Centerline is valid? [True, True] Translation: X:120.46, Y:-12.08, Z:-3.59 [[ 9.99874430e-01 1.09431594e-02 1.14617137e-02 1.20460113e+02] [-1.09289489e-02 9.99939430e-01 -1.30172349e-03 -1.20829083e+01] [-1.14752644e-02 1.17629555e-03 9.99933465e-01 -3.59473940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.779928851 meters 0.09617310925583825 Centerline is valid? [True, True] Translation: X:120.52, Y:-12.10, Z:-3.60 [[ 9.99926734e-01 4.15806609e-03 1.13682504e-02 1.20519153e+02] [-4.14365823e-03 9.99990582e-01 -1.29063715e-03 -1.20988966e+01] [-1.13735098e-02 1.24343644e-03 9.99934546e-01 -3.59843704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.839928851 meters 0.09689850253401837 Centerline is valid? [True, True] Translation: X:120.58, Y:-12.11, Z:-3.60 [[ 9.99963393e-01 1.73024434e-03 8.37968438e-03 1.20579858e+02] [-1.72233742e-03 9.99998065e-01 -9.50706356e-04 -1.21069273e+01] [-8.38131312e-03 9.36238909e-04 9.99964438e-01 -3.60239086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.899928851 meters 0.09583446305030549 Centerline is valid? [True, True] Translation: X:120.64, Y:-12.11, Z:-3.61 [[ 9.99948090e-01 6.36875002e-03 7.95344073e-03 1.20640383e+02] [-6.36176595e-03 9.99979356e-01 -9.03110756e-04 -1.21087624e+01] [-7.95902823e-03 8.52465947e-04 9.99967963e-01 -3.60551872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.959928851 meters 0.09445506194846129 Centerline is valid? [True, True] Translation: X:120.70, Y:-12.11, Z:-3.61 [[ 9.99889665e-01 1.21703767e-02 8.51698608e-03 1.20701646e+02] [-1.21625770e-02 9.99925566e-01 -9.66986555e-04 -1.21098702e+01] [-8.52812071e-03 8.63291364e-04 9.99963262e-01 -3.60773277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.019928851 meters 0.08956397332128908 Centerline is valid? [True, True] Translation: X:120.76, Y:-12.10, Z:-3.61 [[ 9.99761450e-01 1.98011411e-02 9.21730759e-03 1.20763640e+02] [-1.97923205e-02 9.99803564e-01 -1.04720573e-03 -1.21026213e+01] [-9.23623285e-03 8.64524012e-04 9.99956971e-01 -3.60827689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.079928851 meters 0.08721222147926198 Centerline is valid? [True, True] Translation: X:120.82, Y:-12.10, Z:-3.61 [[ 9.99439907e-01 3.21475396e-02 9.29557693e-03 1.20824572e+02] [-3.21390982e-02 9.99482848e-01 -1.05610437e-03 -1.20967740e+01] [-9.32472086e-03 7.56761399e-04 9.99956237e-01 -3.61079701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.139928851 meters 0.0843800000360902 Centerline is valid? [True, True] Translation: X:120.89, Y:-12.09, Z:-3.61 [[ 9.99177719e-01 3.91945426e-02 1.03765479e-02 1.20885980e+02] [-3.91844025e-02 9.99231301e-01 -1.17880526e-03 -1.20926416e+01] [-1.04147742e-02 7.71237122e-04 9.99945467e-01 -3.61205531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.199928851 meters 0.0814940780138021 Centerline is valid? [True, True] Translation: X:120.95, Y:-12.09, Z:-3.61 [[ 9.98892205e-01 4.61996460e-02 8.94175782e-03 1.20947169e+02] [-4.61923930e-02 9.98932045e-01 -1.01608525e-03 -1.20861168e+01] [-8.97915120e-03 6.01918445e-04 9.99959505e-01 -3.61424877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.25992885099998 meters 0.0814371044160301 Centerline is valid? [True, True] Translation: X:121.01, Y:-12.09, Z:-3.62 [[ 9.98832293e-01 4.77663975e-02 7.24034924e-03 1.21006396e+02] [-4.77616733e-02 9.98858420e-01 -8.24089433e-04 -1.20886711e+01] [-7.27144759e-03 4.77315943e-04 9.99973449e-01 -3.61686277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.319928851 meters 0.08186183740385806 Centerline is valid? [True, True] Translation: X:121.07, Y:-12.09, Z:-3.62 [[ 9.98965352e-01 4.50719611e-02 6.06174322e-03 1.21066253e+02] [-4.50686072e-02 9.98983657e-01 -6.88823263e-04 -1.20928040e+01] [-6.08662902e-03 4.14916248e-04 9.99981390e-01 -3.61875173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.379928851 meters 0.08327487861570444 Centerline is valid? [True, True] Translation: X:121.13, Y:-12.10, Z:-3.62 [[ 9.99144837e-01 4.08525565e-02 6.37679391e-03 1.21126060e+02] [-4.08487638e-02 9.99165079e-01 -7.23935110e-04 -1.21018465e+01] [-6.40104438e-03 4.62831879e-04 9.99979406e-01 -3.62217456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.439928851 meters 0.08709987116352814 Centerline is valid? [True, True] Translation: X:121.18, Y:-12.12, Z:-3.63 [[ 9.99360927e-01 3.52879610e-02 5.70063657e-03 1.21184045e+02] [-3.52848372e-02 9.99377086e-01 -6.47655511e-04 -1.21167467e+01] [-5.71994001e-03 4.46095579e-04 9.99983542e-01 -3.62793496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.499928851 meters 0.08923328813689538 Centerline is valid? [True, True] Translation: X:121.24, Y:-12.13, Z:-3.63 [[ 9.99592175e-01 2.81934200e-02 4.54026084e-03 1.21243778e+02] [-2.81913667e-02 9.99602411e-01 -5.15618556e-04 -1.21255835e+01] [-4.55299273e-03 3.87412116e-04 9.99989560e-01 -3.63017738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.559928851 meters 0.08856292107966787 Centerline is valid? [True, True] Translation: X:121.30, Y:-12.13, Z:-3.63 [[ 9.99733694e-01 2.27731627e-02 3.73145525e-03 1.21304342e+02] [-2.27717386e-02 9.99740601e-01 -4.23690782e-04 -1.21282513e+01] [-3.74013610e-03 3.38606227e-04 9.99992948e-01 -3.63120887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.619928851 meters 0.0887136814137851 Centerline is valid? [True, True] Translation: X:121.36, Y:-12.13, Z:-3.63 [[ 9.99799396e-01 1.98302928e-02 2.81540165e-03 1.21364724e+02] [-1.98294709e-02 9.99803326e-01 -3.19541943e-04 -1.21332777e+01] [-2.82118454e-03 2.63649917e-04 9.99995986e-01 -3.63303265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.679928851 meters 0.09059116099435063 Centerline is valid? [True, True] Translation: X:121.42, Y:-12.14, Z:-3.64 [[ 9.99852924e-01 1.69609686e-02 2.54100281e-03 1.21424274e+02] [-1.69602899e-02 9.99856122e-01 -2.88412858e-04 -1.21420830e+01] [-2.54552897e-03 2.45274295e-04 9.99996730e-01 -3.63595627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.739928851 meters 0.09060160507082739 Centerline is valid? [True, True] Translation: X:121.48, Y:-12.15, Z:-3.64 [[ 9.99852939e-01 1.69449677e-02 2.63976170e-03 1.21482635e+02] [-1.69442285e-02 9.99856391e-01 -3.02115481e-04 -1.21467689e+01] [-2.64450194e-03 2.57342326e-04 9.99996470e-01 -3.63761864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.799928851 meters 0.0896476883936466 Centerline is valid? [True, True] Translation: X:121.54, Y:-12.15, Z:-3.64 [[ 9.99775697e-01 2.10041546e-02 2.71667988e-03 1.21543049e+02] [-2.10033930e-02 9.99779357e-01 -3.08570449e-04 -1.21475129e+01] [-2.72256173e-03 2.51441740e-04 9.99996262e-01 -3.63943795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.859928851 meters 0.08714810803260202 Centerline is valid? [True, True] Translation: X:121.60, Y:-12.15, Z:-3.64 [[ 9.99652347e-01 2.61396262e-02 3.45044722e-03 1.21603961e+02] [-2.61384297e-02 9.99658256e-01 -3.91400407e-04 -1.21454062e+01] [-3.45949911e-03 3.01075063e-04 9.99993971e-01 -3.64008761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.919928851 meters 0.08409377103393618 Centerline is valid? [True, True] Translation: X:121.67, Y:-12.14, Z:-3.64 [[ 9.99339043e-01 3.60310739e-02 4.82061409e-03 1.21665236e+02] [-3.60288524e-02 9.99350600e-01 -5.46904098e-04 -1.21389066e+01] [-4.83718913e-03 3.72861424e-04 9.99988231e-01 -3.64030601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.97992885099998 meters 0.0830504719991775 Centerline is valid? [True, True] Translation: X:121.73, Y:-12.14, Z:-3.64 [[ 9.99045100e-01 4.30807432e-02 7.27579137e-03 1.21725319e+02] [-4.30758710e-02 9.99071463e-01 -8.25106158e-04 -1.21392872e+01] [-7.30458172e-03 5.10907213e-04 9.99973191e-01 -3.64321053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.03992885099998 meters 0.08017612275716332 Centerline is valid? [True, True] Translation: X:121.79, Y:-12.13, Z:-3.64 [[ 9.98598537e-01 5.21708115e-02 8.89762862e-03 1.21786996e+02] [-5.21638853e-02 9.98638028e-01 -1.00889912e-03 -1.21333818e+01] [-8.93814538e-03 5.43350307e-04 9.99959906e-01 -3.64406332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.099928851 meters 0.07963852596857862 Centerline is valid? [True, True] Translation: X:121.85, Y:-12.14, Z:-3.65 [[ 9.98378850e-01 5.64201869e-02 7.51222565e-03 1.21847163e+02] [-5.64153643e-02 9.98407021e-01 -8.52503257e-04 -1.21356370e+01] [-7.54835723e-03 4.27316275e-04 9.99971419e-01 -3.64712957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.159928851 meters 0.0788697423570995 Centerline is valid? [True, True] Translation: X:121.91, Y:-12.14, Z:-3.65 [[ 9.98124402e-01 6.09428532e-02 5.80050699e-03 1.21906959e+02] [-6.09400505e-02 9.98141211e-01 -6.58878413e-04 -1.21353348e+01] [-5.82987900e-03 3.04159433e-04 9.99982960e-01 -3.65071152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.219928851 meters 0.07824054908869413 Centerline is valid? [True, True] Translation: X:121.97, Y:-12.14, Z:-3.65 [[ 9.98014193e-01 6.27108695e-02 5.91760422e-03 1.21965981e+02] [-6.27079779e-02 9.98031691e-01 -6.73108979e-04 -1.21381860e+01] [-5.94816779e-03 3.00691320e-04 9.99982264e-01 -3.65182829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.279928851 meters 0.07865755908091233 Centerline is valid? [True, True] Translation: X:122.02, Y:-12.15, Z:-3.65 [[ 9.97980222e-01 6.30434688e-02 7.81008274e-03 1.22023196e+02] [-6.30384491e-02 9.98010705e-01 -8.87478039e-04 -1.21450722e+01] [-7.85049588e-03 3.93350026e-04 9.99969107e-01 -3.65477932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.339928851 meters 0.07762735524937436 Centerline is valid? [True, True] Translation: X:122.08, Y:-12.15, Z:-3.65 [[ 9.97941589e-01 6.36101269e-02 8.14474770e-03 1.22081895e+02] [-6.36046531e-02 9.97974741e-01 -9.29599315e-04 -1.21469567e+01] [-8.18738440e-03 4.09641965e-04 9.99966399e-01 -3.65440420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.399928851 meters 0.07820311176842569 Centerline is valid? [True, True] Translation: X:122.14, Y:-12.15, Z:-3.66 [[ 9.97926700e-01 6.36464861e-02 9.56169173e-03 1.22139181e+02] [-6.36390263e-02 9.97972395e-01 -1.08272261e-03 -1.21546747e+01] [-9.61121589e-03 4.71981049e-04 9.99953700e-01 -3.65772815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.459928851 meters 0.07843334012656501 Centerline is valid? [True, True] Translation: X:122.20, Y:-12.16, Z:-3.66 [[ 9.97987200e-01 6.26105620e-02 1.00730674e-02 1.22197011e+02] [-6.26021963e-02 9.98037903e-01 -1.14398731e-03 -1.21627211e+01] [-1.01249287e-02 5.11088557e-04 9.99948611e-01 -3.65896561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.519928851 meters 0.0795288675024016 Centerline is valid? [True, True] Translation: X:122.26, Y:-12.17, Z:-3.66 [[ 9.98157588e-01 5.98766101e-02 9.80919510e-03 1.22255555e+02] [-5.98686244e-02 9.98205652e-01 -1.10599323e-03 -1.21741645e+01] [-9.85781712e-03 5.16692515e-04 9.99951277e-01 -3.66319837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.579928851 meters 0.08092776766731155 Centerline is valid? [True, True] Translation: X:122.31, Y:-12.19, Z:-3.67 [[ 9.98497666e-01 5.39945596e-02 9.32724698e-03 1.22314499e+02] [-5.39870928e-02 9.98541081e-01 -1.05066037e-03 -1.21871208e+01] [-9.37036922e-03 5.45530976e-04 9.99955948e-01 -3.66615128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.639928851 meters 0.08072348040708881 Centerline is valid? [True, True] Translation: X:122.37, Y:-12.19, Z:-3.67 [[ 9.98669838e-01 5.07861296e-02 8.90640293e-03 1.22374496e+02] [-5.07791965e-02 9.98709401e-01 -1.00300070e-03 -1.21947320e+01] [-8.94584686e-03 5.49406562e-04 9.99959834e-01 -3.66799386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.699928851 meters 0.0841589004419856 Centerline is valid? [True, True] Translation: X:122.43, Y:-12.21, Z:-3.68 [[ 9.98855406e-01 4.71056047e-02 8.30297798e-03 1.22432421e+02] [-4.70994473e-02 9.98889767e-01 -9.35679511e-04 -1.22123486e+01] [-8.33783549e-03 5.43542864e-04 9.99965092e-01 -3.67523296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.75992885099998 meters 0.08241656062481163 Centerline is valid? [True, True] Translation: X:122.49, Y:-12.22, Z:-3.67 [[ 9.98930917e-01 4.54662595e-02 8.35722921e-03 1.22491875e+02] [-4.54599523e-02 9.98965717e-01 -9.43211637e-04 -1.22151286e+01] [-8.39146978e-03 5.62284024e-04 9.99964633e-01 -3.67456256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.819928851 meters 0.08290776470011099 Centerline is valid? [True, True] Translation: X:122.55, Y:-12.22, Z:-3.68 [[ 9.99029475e-01 4.32392270e-02 8.39502872e-03 1.22550736e+02] [-4.32327891e-02 9.99064577e-01 -9.46920612e-04 -1.22232468e+01] [-8.42811994e-03 5.83061096e-04 9.99964313e-01 -3.67685344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.879928851 meters 0.08333008656503364 Centerline is valid? [True, True] Translation: X:122.61, Y:-12.23, Z:-3.68 [[ 9.99147546e-01 4.01620458e-02 9.54939487e-03 1.22610245e+02] [-4.01536012e-02 9.99192941e-01 -1.07448090e-03 -1.22328486e+01] [-9.58484130e-03 6.90122362e-04 9.99953826e-01 -3.67835553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.939928851 meters 0.08342977576690823 Centerline is valid? [True, True] Translation: X:122.67, Y:-12.24, Z:-3.68 [[ 9.99239989e-01 3.76685578e-02 1.00261806e-02 1.22670117e+02] [-3.76591277e-02 9.99290007e-01 -1.12774897e-03 -1.22403461e+01] [-1.00615427e-02 7.49314650e-04 9.99949101e-01 -3.67947724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.999928851 meters 0.08424400845705371 Centerline is valid? [True, True] Translation: X:122.73, Y:-12.25, Z:-3.68 [[ 9.99327226e-01 3.50514321e-02 1.07932094e-02 1.22730018e+02] [-3.50403600e-02 9.99385162e-01 -1.21329644e-03 -1.22502009e+01] [-1.08291011e-02 8.34282219e-04 9.99941016e-01 -3.68208446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.059928851 meters 0.08691784891247681 Centerline is valid? [True, True] Translation: X:122.79, Y:-12.26, Z:-3.69 [[ 9.99462559e-01 3.13617433e-02 9.54114032e-03 1.22788461e+02] [-3.13529227e-02 9.99507801e-01 -1.07270050e-03 -1.22635857e+01] [-9.57008593e-03 7.72981349e-04 9.99953907e-01 -3.68726386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.119928851 meters 0.09064960944139963 Centerline is valid? [True, True] Translation: X:122.85, Y:-12.28, Z:-3.69 [[ 9.99565845e-01 2.79818677e-02 9.22694301e-03 1.22846452e+02] [-2.79734725e-02 9.99608127e-01 -1.03769304e-03 -1.22775564e+01] [-9.25236381e-03 7.79132885e-04 9.99956892e-01 -3.69177079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.179928851 meters 0.09124918499545731 Centerline is valid? [True, True] Translation: X:122.91, Y:-12.28, Z:-3.69 [[ 9.99680480e-01 2.33845074e-02 9.59701178e-03 1.22906595e+02] [-2.33752188e-02 9.99726180e-01 -1.07890945e-03 -1.22838457e+01] [-9.61961369e-03 8.54232467e-04 9.99953366e-01 -3.69361763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.239928851 meters 0.08897677136266773 Centerline is valid? [True, True] Translation: X:122.97, Y:-12.29, Z:-3.69 [[ 9.99719944e-01 2.13381071e-02 1.02331802e-02 1.22967506e+02] [-2.13274441e-02 9.99771883e-01 -1.15001798e-03 -1.22851661e+01] [-1.02553850e-02 9.31448329e-04 9.99946978e-01 -3.69386196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.299928851 meters 0.09133409383232255 Centerline is valid? [True, True] Translation: X:123.02, Y:-12.29, Z:-3.70 [[ 9.99695132e-01 2.12632742e-02 1.25505398e-02 1.23024731e+02] [-2.12472014e-02 9.99773255e-01 -1.41261683e-03 -1.22941187e+01] [-1.25777309e-02 1.14552232e-03 9.99920241e-01 -3.69671576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.359928851 meters 0.09077042650618483 Centerline is valid? [True, True] Translation: X:123.08, Y:-12.30, Z:-3.70 [[ 9.99664446e-01 2.20346813e-02 1.36186985e-02 1.23084045e+02] [-2.20158620e-02 9.99756450e-01 -1.53027172e-03 -1.22979383e+01] [-1.36491008e-02 1.22993085e-03 9.99906090e-01 -3.69752451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.419928851 meters 0.08903728082002882 Centerline is valid? [True, True] Translation: X:123.14, Y:-12.30, Z:-3.70 [[ 9.99638635e-01 2.29747359e-02 1.39556447e-02 1.23143593e+02] [-2.29550660e-02 9.99735268e-01 -1.56802920e-03 -1.22981465e+01] [-1.39879753e-02 1.24710982e-03 9.99901386e-01 -3.69962615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.47992885099998 meters 0.08941836486510947 Centerline is valid? [True, True] Translation: X:123.20, Y:-12.30, Z:-3.70 [[ 9.99651179e-01 2.24653570e-02 1.38862350e-02 1.23202457e+02] [-2.24458422e-02 9.99746844e-01 -1.55961200e-03 -1.23028474e+01] [-1.39177568e-02 1.24737974e-03 9.99902365e-01 -3.70261124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.53992885099998 meters 0.08993768184883907 Centerline is valid? [True, True] Translation: X:123.26, Y:-12.31, Z:-3.71 [[ 9.99679783e-01 2.15982439e-02 1.31850972e-02 1.23261404e+02] [-2.15805830e-02 9.99766016e-01 -1.48028919e-03 -1.23087654e+01] [-1.32139838e-02 1.19527309e-03 9.99911977e-01 -3.70542630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.599928851 meters 0.09048258099369091 Centerline is valid? [True, True] Translation: X:123.32, Y:-12.31, Z:-3.71 [[ 9.99738717e-01 1.93141222e-02 1.22254775e-02 1.23321385e+02] [-1.92987880e-02 9.99812821e-01 -1.37102527e-03 -1.23124674e+01] [-1.22496693e-02 1.13473014e-03 9.99924326e-01 -3.70772738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.659928851 meters 0.08999771504002964 Centerline is valid? [True, True] Translation: X:123.38, Y:-12.32, Z:-3.71 [[ 9.99775409e-01 1.74868141e-02 1.19726187e-02 1.23381354e+02] [-1.74719783e-02 9.99846452e-01 -1.34263138e-03 -1.23162251e+01] [-1.19942587e-02 1.13314450e-03 9.99927424e-01 -3.70934748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.719928851 meters 0.09525124520959903 Centerline is valid? [True, True] Translation: X:123.44, Y:-12.33, Z:-3.71 [[ 9.99841855e-01 1.21951100e-02 1.29438754e-02 1.23439607e+02] [-1.21773364e-02 9.99924801e-01 -1.45105656e-03 -1.23321024e+01] [-1.29605978e-02 1.29320515e-03 9.99915172e-01 -3.71379194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.779928851 meters 0.09837854165810608 Centerline is valid? [True, True] Translation: X:123.50, Y:-12.34, Z:-3.72 [[ 9.99885584e-01 8.67267059e-03 1.23936864e-02 1.23498628e+02] [-8.65613821e-03 9.99961573e-01 -1.38695725e-03 -1.23434880e+01] [-1.24052388e-02 1.27951710e-03 9.99922233e-01 -3.71684173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.839928851 meters 0.09994053089478525 Centerline is valid? [True, True] Translation: X:123.56, Y:-12.35, Z:-3.72 [[ 9.99920099e-01 3.80708853e-03 1.20541114e-02 1.23558224e+02] [-3.79106679e-03 9.99991900e-01 -1.35172178e-03 -1.23510410e+01] [-1.20591599e-02 1.30591583e-03 9.99926433e-01 -3.71907943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.899928851 meters 0.09787761482106976 Centerline is valid? [True, True] Translation: X:123.62, Y:-12.35, Z:-3.72 [[ 9.99927310e-01 1.99350078e-03 1.18912338e-02 1.23619602e+02] [-1.97778588e-03 9.99997156e-01 -1.33316677e-03 -1.23525407e+01] [-1.18938577e-02 1.30955155e-03 9.99928408e-01 -3.72061091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.959928851 meters 0.10145608209132981 Centerline is valid? [True, False] Translation: X:123.62, Y:-12.35, Z:-3.72 [[ 9.99930213e-01 1.55664812e-03 1.17108976e-02 1.23619764e+02] [-1.52987463e-03 9.99996197e-01 -2.29481481e-03 -1.23496383e+01] [-1.17144253e-02 2.27673846e-03 9.99928792e-01 -3.72030215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.019928851 meters 0.09867211752366714 Centerline is valid? [False, True] Translation: X:123.62, Y:-12.35, Z:-3.72 [[ 9.99935482e-01 1.56188932e-03 1.12513546e-02 1.23620758e+02] [-1.52883473e-03 9.99994492e-01 -2.94583422e-03 -1.23471721e+01] [-1.12558937e-02 2.92844270e-03 9.99932362e-01 -3.72032911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.079928851 meters 0.09927380181574717 Centerline is valid? [True, True] Translation: X:123.68, Y:-12.35, Z:-3.72 [[ 9.99903899e-01 6.30364478e-03 1.23473607e-02 1.23680208e+02] [-6.28757456e-03 9.99979335e-01 -1.33989701e-03 -1.23511949e+01] [-1.23555518e-02 1.26213329e-03 9.99922871e-01 -3.72367761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.139928851 meters 0.09880819541840269 Centerline is valid? [True, True] Translation: X:123.74, Y:-12.36, Z:-3.73 [[ 9.99888693e-01 7.95948925e-03 1.26193518e-02 1.23740339e+02] [-7.94284078e-03 9.99967518e-01 -1.36885266e-03 -1.23556937e+01] [-1.26298373e-02 1.26846680e-03 9.99919436e-01 -3.72600878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.199928851 meters 0.09543793816880006 Centerline is valid? [True, True] Translation: X:123.80, Y:-12.35, Z:-3.73 [[ 9.99867141e-01 1.01479562e-02 1.27561244e-02 1.23801785e+02] [-1.01311266e-02 9.99947722e-01 -1.38326834e-03 -1.23535311e+01] [-1.27694949e-02 1.25385065e-03 9.99917681e-01 -3.72714849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.25992885099998 meters 0.09420447960389014 Centerline is valid? [True, True] Translation: X:123.86, Y:-12.35, Z:-3.73 [[ 9.99854165e-01 1.23432659e-02 1.18022127e-02 1.23863210e+02] [-1.23290090e-02 9.99923176e-01 -1.27998305e-03 -1.23547589e+01] [-1.18171052e-02 1.13428680e-03 9.99929532e-01 -3.72942151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.319928851 meters 0.09472095802351467 Centerline is valid? [True, True] Translation: X:123.92, Y:-12.36, Z:-3.73 [[ 9.99867992e-01 1.10552573e-02 1.19071745e-02 1.23923154e+02] [-1.10406475e-02 9.99938215e-01 -1.29201441e-03 -1.23605427e+01] [-1.19207224e-02 1.16038094e-03 9.99928272e-01 -3.73329002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.379928851 meters 0.09768236919477126 Centerline is valid? [True, True] Translation: X:123.98, Y:-12.37, Z:-3.74 [[ 9.99890805e-01 9.14095922e-03 1.16112697e-02 1.23982425e+02] [-9.12693873e-03 9.99957555e-01 -1.25990660e-03 -1.23717390e+01] [-1.16222936e-02 1.15379368e-03 9.99931793e-01 -3.73640355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.439928851 meters 0.1022078131284073 Centerline is valid? [True, False] Translation: X:123.99, Y:-12.37, Z:-3.73 [[ 9.99990617e-01 2.16710691e-03 3.75084916e-03 1.23992127e+02] [-2.16810446e-03 9.99997615e-01 2.61906238e-04 -1.23699429e+01] [-3.75027264e-03 -2.70036013e-04 9.99992931e-01 -3.73089976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.499928851 meters 0.10211526658744174 Centerline is valid? [False, False] Translation: X:123.99, Y:-12.37, Z:-3.73 [[ 9.99989322e-01 1.66737237e-03 4.31005986e-03 1.23990577e+02] [-1.66798710e-03 9.99998599e-01 1.39035253e-04 -1.23704547e+01] [-4.30982200e-03 -1.46222893e-04 9.99990702e-01 -3.73038119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.559928851 meters 0.10237433866861047 Centerline is valid? [False, False] Translation: X:123.99, Y:-12.37, Z:-3.73 [[ 9.99988203e-01 1.66069153e-03 4.56470847e-03 1.23990168e+02] [-1.66264337e-03 9.99998528e-01 4.23833192e-04 -1.23714098e+01] [-4.56399789e-03 -4.31417674e-04 9.99989492e-01 -3.73055995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.619928851 meters 0.10458661611451946 Centerline is valid? [False, False] Translation: X:123.99, Y:-12.37, Z:-3.73 [[ 9.99987870e-01 1.66301439e-03 4.63617502e-03 1.23990148e+02] [-1.66539574e-03 9.99998483e-01 5.09831387e-04 -1.23714942e+01] [-4.63532013e-03 -5.17546269e-04 9.99989123e-01 -3.73075790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.679928851 meters 0.10397108440974812 Centerline is valid? [False, False] Translation: X:123.99, Y:-12.37, Z:-3.73 [[ 9.99988617e-01 1.49281335e-03 4.53184806e-03 1.23990143e+02] [-1.49344832e-03 9.99998875e-01 1.36732486e-04 -1.23706152e+01] [-4.53163884e-03 -1.43499010e-04 9.99989722e-01 -3.73039913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.739928851 meters 0.10104747955613404 Centerline is valid? [False, False] Translation: X:123.99, Y:-12.37, Z:-3.73 [[ 9.99989267e-01 1.72239067e-03 4.30111621e-03 1.23990777e+02] [-1.72333451e-03 9.99998492e-01 2.15745812e-04 -1.23705293e+01] [-4.30073813e-03 -2.23155758e-04 9.99990727e-01 -3.73055951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.799928851 meters 0.09989751986607061 Centerline is valid? [False, True] Translation: X:123.99, Y:-12.37, Z:-3.73 [[ 9.99991215e-01 1.81570733e-03 3.77793520e-03 1.23991659e+02] [-1.81477704e-03 9.99998322e-01 -2.49654592e-04 -1.23690012e+01] [-3.77838216e-03 2.42796289e-04 9.99992832e-01 -3.73019933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.859928851 meters 0.09704109179606092 Centerline is valid? [True, True] Translation: X:124.05, Y:-12.37, Z:-3.73 [[ 9.99982186e-01 4.52061567e-03 3.89767291e-03 1.24053068e+02] [-4.51901313e-03 9.99989701e-01 -4.19861628e-04 -1.23690036e+01] [-3.89953080e-03 4.02240514e-04 9.99992316e-01 -3.73112103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.919928851 meters 0.09632360458196235 Centerline is valid? [True, True] Translation: X:124.11, Y:-12.37, Z:-3.73 [[ 9.99948732e-01 8.27362671e-03 5.83786520e-03 1.24113857e+02] [-8.27009248e-03 9.99965604e-01 -6.29278059e-04 -1.23738460e+01] [-5.84287082e-03 5.80966112e-04 9.99982762e-01 -3.73425844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.97992885099998 meters 0.10057249502015828 Centerline is valid? [True, False] Translation: X:124.11, Y:-12.37, Z:-3.73 [[ 9.99947318e-01 8.56431859e-03 5.65803853e-03 1.24114515e+02] [-8.56230170e-03 9.99963270e-01 -3.80591212e-04 -1.23741571e+01] [-5.66109022e-03 3.32125329e-04 9.99983921e-01 -3.73461603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.03992885099998 meters 0.10316996862789755 Centerline is valid? [False, False] Translation: X:124.11, Y:-12.38, Z:-3.73 [[ 9.99945470e-01 8.55520297e-03 5.98877748e-03 1.24113740e+02] [-8.55528348e-03 9.99963403e-01 -1.21742766e-05 -1.23756547e+01] [-5.98866246e-03 -3.90620763e-05 9.99982067e-01 -3.73453809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.099928851 meters 0.09678412639897457 Centerline is valid? [False, True] Translation: X:124.11, Y:-12.38, Z:-3.73 [[ 9.99974254e-01 4.61757139e-03 5.49274352e-03 1.24114731e+02] [-4.59492089e-03 9.99980918e-01 -4.12920962e-03 -1.23759147e+01] [-5.51170563e-03 4.10386459e-03 9.99976389e-01 -3.73451859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.159928851 meters 0.1014820478617116 Centerline is valid? [True, False] Translation: X:124.11, Y:-12.38, Z:-3.73 [[ 9.99970784e-01 4.77212873e-03 5.97147975e-03 1.24113932e+02] [-4.75308022e-03 9.99983584e-01 -3.20004998e-03 -1.23790128e+01] [-5.98665277e-03 3.17157357e-03 9.99977050e-01 -3.73475240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.219928851 meters 0.10962609111746828 Centerline is valid? [False, False] Translation: X:124.12, Y:-12.38, Z:-3.73 [[ 9.99996009e-01 -2.19993982e-03 -1.77264984e-03 1.24123655e+02] [ 2.19544967e-03 9.99994387e-01 -2.53098862e-03 -1.23806173e+01] [ 1.77820791e-03 2.52708675e-03 9.99995226e-01 -3.72967396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.279928851 meters 0.10577483983509542 Centerline is valid? [False, False] Translation: X:124.12, Y:-12.39, Z:-3.73 [[ 9.99996637e-01 -2.45737695e-03 -8.28486472e-04 1.24121507e+02] [ 2.45611257e-03 9.99995823e-01 -1.52371173e-03 -1.23852163e+01] [ 8.32227346e-04 1.52167175e-03 9.99998496e-01 -3.72925730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.339928851 meters 0.10671082765537754 Centerline is valid? [False, False] Translation: X:124.12, Y:-12.39, Z:-3.73 [[ 9.99997911e-01 -1.98583032e-03 -4.84084607e-04 1.24121164e+02] [ 1.98570601e-03 9.99997995e-01 -2.57141220e-04 -1.23889947e+01] [ 4.84594275e-04 2.56179434e-04 9.99999850e-01 -3.72977275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.399928851 meters 0.10880871844911563 Centerline is valid? [False, False] Translation: X:124.12, Y:-12.39, Z:-3.73 [[ 9.99998773e-01 -1.53876488e-03 -2.93541604e-04 1.24120602e+02] [ 1.53898315e-03 9.99998538e-01 7.44788216e-04 -1.23927414e+01] [ 2.92395121e-04 -7.45239058e-04 9.99999680e-01 -3.72946902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.459928851 meters 0.10585610691868311 Centerline is valid? [False, False] Translation: X:124.12, Y:-12.39, Z:-3.73 [[ 9.99999338e-01 -9.84350069e-04 -5.95170133e-04 1.24121324e+02] [ 9.85151323e-04 9.99998607e-01 1.34747035e-03 -1.23945067e+01] [ 5.93842922e-04 -1.34805580e-03 9.99998915e-01 -3.72949693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.519928851 meters 0.1023189558045924 Centerline is valid? [False, False] Translation: X:124.12, Y:-12.40, Z:-3.73 [[ 9.99999408e-01 -1.88724931e-04 -1.07129088e-03 1.24122574e+02] [ 1.91024288e-04 9.99997678e-01 2.14664670e-03 -1.23965532e+01] [ 1.07088326e-03 -2.14685007e-03 9.99997122e-01 -3.72979635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.579928851 meters 0.10199607194183523 Centerline is valid? [False, False] Translation: X:124.12, Y:-12.40, Z:-3.73 [[ 9.99999055e-01 2.33465166e-04 -1.35447260e-03 1.24123137e+02] [-2.29959972e-04 9.99996626e-01 2.58744516e-03 -1.23979839e+01] [ 1.35507211e-03 -2.58713125e-03 9.99995735e-01 -3.72970889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.639928851 meters 0.09931265920993805 Centerline is valid? [False, True] Translation: X:124.12, Y:-12.40, Z:-3.73 [[ 9.99998309e-01 7.65865013e-04 -1.67221476e-03 1.24123669e+02] [-7.60621587e-04 9.99994800e-01 3.13400535e-03 -1.23999641e+01] [ 1.67460629e-03 -3.13272813e-03 9.99993691e-01 -3.72943666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.699928851 meters 0.10108769308670278 Centerline is valid? [True, False] Translation: X:124.12, Y:-12.40, Z:-3.73 [[ 9.99997634e-01 1.06478180e-03 -1.89694323e-03 1.24124044e+02] [-1.05827359e-03 9.99993562e-01 3.42859712e-03 -1.24010354e+01] [ 1.90058173e-03 -3.42658152e-03 9.99992323e-01 -3.72925134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.75992885099998 meters 0.10336350503936678 Centerline is valid? [False, False] Translation: X:124.12, Y:-12.40, Z:-3.73 [[ 9.99996337e-01 1.70489713e-03 -2.10227796e-03 1.24124532e+02] [-1.69584585e-03 9.99989318e-01 4.29975529e-03 -1.24036997e+01] [ 2.10958614e-03 -4.29617440e-03 9.99988546e-01 -3.72927329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.819928851 meters 0.0957816188454971 Centerline is valid? [False, True] Translation: X:124.12, Y:-12.41, Z:-3.73 [[ 9.99996031e-01 2.02351070e-03 -1.96058629e-03 1.24124298e+02] [-2.01360288e-03 9.99985260e-01 5.04236159e-03 -1.24060984e+01] [ 1.97076066e-03 -5.03839374e-03 9.99985365e-01 -3.72934526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.879928851 meters 0.09987823115838579 Centerline is valid? [True, True] Translation: X:124.18, Y:-12.42, Z:-3.73 [[ 9.99995075e-01 -5.09400635e-04 -3.09674556e-03 1.24182086e+02] [ 5.10407835e-04 9.99999817e-01 3.24463159e-04 -1.24212085e+01] [ 3.09657971e-03 -3.26042164e-04 9.99995152e-01 -3.72982469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.939928851 meters 0.09996850164204774 Centerline is valid? [True, True] Translation: X:124.24, Y:-12.43, Z:-3.73 [[ 9.99991876e-01 -2.77353610e-03 -2.92485198e-03 1.24241873e+02] [ 2.77444060e-03 9.99996105e-01 3.05232494e-04 -1.24301934e+01] [ 2.92399401e-03 -3.13344842e-04 9.99995676e-01 -3.72975974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.999928851 meters 0.09994170878799452 Centerline is valid? [True, True] Translation: X:124.30, Y:-12.44, Z:-3.73 [[ 9.99985355e-01 -4.20592654e-03 -3.40578057e-03 1.24301783e+02] [ 4.20716237e-03 9.99991087e-01 3.55779232e-04 -1.24377336e+01] [ 3.40425384e-03 -3.70102694e-04 9.99994137e-01 -3.73064420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.059928851 meters 0.10017533617942984 Centerline is valid? [True, False] Translation: X:124.30, Y:-12.44, Z:-3.73 [[ 9.99987802e-01 -4.01242769e-03 -2.88044160e-03 1.24300647e+02] [ 4.01661677e-03 9.99990882e-01 1.45001100e-03 -1.24420397e+01] [ 2.87459727e-03 -1.46156295e-03 9.99994800e-01 -3.73046253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.119928851 meters 0.10255456231829141 Centerline is valid? [False, False] Translation: X:124.30, Y:-12.45, Z:-3.73 [[ 9.99990340e-01 -3.56612514e-03 -2.56952746e-03 1.24300195e+02] [ 3.57287672e-03 9.99990165e-01 2.62777230e-03 -1.24458149e+01] [ 2.56013123e-03 -2.63692753e-03 9.99993246e-01 -3.73066315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.179928851 meters 0.10330515687513436 Centerline is valid? [False, False] Translation: X:124.30, Y:-12.45, Z:-3.73 [[ 9.99991978e-01 -3.46156170e-03 -2.01520801e-03 1.24298694e+02] [ 3.46866223e-03 9.99987751e-01 3.53070637e-03 -1.24499123e+01] [ 2.00296157e-03 -3.53766812e-03 9.99991736e-01 -3.73000768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.239928851 meters 0.10189560645984969 Centerline is valid? [False, False] Translation: X:124.30, Y:-12.45, Z:-3.73 [[ 9.99992921e-01 -3.20189652e-03 -1.97640658e-03 1.24298275e+02] [ 3.20992449e-03 9.99986557e-01 4.07218065e-03 -1.24522201e+01] [ 1.96334131e-03 -4.07849594e-03 9.99989756e-01 -3.72946228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.299928851 meters 0.09945895549093636 Centerline is valid? [False, True] Translation: X:124.30, Y:-12.45, Z:-3.73 [[ 9.99993891e-01 -2.90392332e-03 -1.94577697e-03 1.24297662e+02] [ 2.91299481e-03 9.99984826e-01 4.67564208e-03 -1.24548759e+01] [ 1.93216974e-03 -4.68128156e-03 9.99987176e-01 -3.72862114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.359928851 meters 0.10167501373313845 Centerline is valid? [True, False] Translation: X:124.30, Y:-12.46, Z:-3.73 [[ 9.99995142e-01 -2.48777406e-03 -1.87798228e-03 1.24297505e+02] [ 2.49806466e-03 9.99981770e-01 5.49729628e-03 -1.24575576e+01] [ 1.86427201e-03 -5.50196090e-03 9.99983126e-01 -3.72857793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.419928851 meters 0.10144826377393634 Centerline is valid? [False, False] Translation: X:124.30, Y:-12.46, Z:-3.73 [[ 9.99980662e-01 -5.75389081e-03 -2.35988023e-03 1.24298719e+02] [ 5.75989232e-03 9.99980175e-01 2.54427820e-03 -1.24610198e+01] [ 2.34519395e-03 -2.55782165e-03 9.99993979e-01 -3.72884590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.47992885099998 meters 0.1011878421704038 Centerline is valid? [False, False] Translation: X:124.30, Y:-12.46, Z:-3.73 [[ 9.99982577e-01 -5.46444019e-03 -2.23282081e-03 1.24298414e+02] [ 5.47161474e-03 9.99979847e-01 3.21984632e-03 -1.24632934e+01] [ 2.21518115e-03 -3.23200735e-03 9.99992324e-01 -3.72878004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.53992885099998 meters 0.09921084711673747 Centerline is valid? [False, True] Translation: X:124.30, Y:-12.47, Z:-3.73 [[ 9.99986316e-01 -4.74391108e-03 -2.20515050e-03 1.24298252e+02] [ 4.75390353e-03 9.99978356e-01 4.54847670e-03 -1.24675833e+01] [ 2.18352520e-03 -4.55889754e-03 9.99987224e-01 -3.72856607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.599928851 meters 0.0963369841499796 Centerline is valid? [True, True] Translation: X:124.36, Y:-12.47, Z:-3.73 [[ 9.99979936e-01 -5.33910740e-03 -3.40890337e-03 1.24359345e+02] [ 5.34039935e-03 9.99985672e-01 3.70000703e-04 -1.24693439e+01] [ 3.40687905e-03 -3.88198185e-04 9.99994121e-01 -3.72658470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.659928851 meters 0.09635856325778792 Centerline is valid? [True, True] Translation: X:124.42, Y:-12.48, Z:-3.73 [[ 9.99978825e-01 -4.72904349e-03 -4.47048572e-03 1.24418890e+02] [ 4.73125678e-03 9.99988690e-01 4.84643641e-04 -1.24807047e+01] [ 4.46814326e-03 -5.05784395e-04 9.99989890e-01 -3.72908367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.719928851 meters 0.09893494102983899 Centerline is valid? [True, True] Translation: X:124.48, Y:-12.50, Z:-3.73 [[ 9.99969584e-01 -6.13544123e-03 -4.81538728e-03 1.24476459e+02] [ 6.13802325e-03 9.99981026e-01 5.21607239e-04 -1.24951010e+01] [ 4.81209563e-03 -5.51148333e-04 9.99988270e-01 -3.73154364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.779928851 meters 0.09935562750974582 Centerline is valid? [True, True] Translation: X:124.54, Y:-12.51, Z:-3.73 [[ 9.99950312e-01 -8.56330552e-03 -5.10333426e-03 1.24536134e+02] [ 8.56623863e-03 9.99963156e-01 5.53162852e-04 -1.25088462e+01] [ 5.09840933e-03 -5.96851745e-04 9.99986825e-01 -3.73336436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.839928851 meters 0.09988658357058765 Centerline is valid? [True, True] Translation: X:124.60, Y:-12.52, Z:-3.74 [[ 9.99933489e-01 -9.91659477e-03 -5.88883843e-03 1.24596012e+02] [ 9.92052446e-03 9.99950587e-01 6.38474542e-04 -1.25205653e+01] [ 5.88221595e-03 -6.96852442e-04 9.99982457e-01 -3.73555731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.899928851 meters 0.09936366282917605 Centerline is valid? [True, True] Translation: X:124.66, Y:-12.53, Z:-3.74 [[ 9.99923484e-01 -1.10447500e-02 -5.57128294e-03 1.24655911e+02] [ 1.10482869e-02 9.99938783e-01 6.04459227e-04 -1.25330188e+01] [ 5.56426579e-03 -6.65966109e-04 9.99984298e-01 -3.73614043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.959928851 meters 0.09552338271646865 Centerline is valid? [True, True] Translation: X:124.72, Y:-12.54, Z:-3.74 [[ 9.99936560e-01 -9.78808366e-03 -5.57401997e-03 1.24716264e+02] [ 9.79160231e-03 9.99951879e-01 6.04319568e-04 -1.25367215e+01] [ 5.56783661e-03 -6.58859817e-04 9.99984282e-01 -3.73529294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.019928851 meters 0.09923913292237148 Centerline is valid? [True, True] Translation: X:124.77, Y:-12.56, Z:-3.74 [[ 9.99961391e-01 -7.06032061e-03 -5.23142677e-03 1.24773869e+02] [ 7.06338029e-03 9.99974893e-01 5.66620684e-04 -1.25561058e+01] [ 5.22729490e-03 -6.03550364e-04 9.99986155e-01 -3.73794312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.079928851 meters 0.09811002201177851 Centerline is valid? [True, True] Translation: X:124.83, Y:-12.56, Z:-3.74 [[ 9.99970994e-01 -5.56223177e-03 -5.20319456e-03 1.24833695e+02] [ 5.56523819e-03 9.99984355e-01 5.63501372e-04 -1.25645586e+01] [ 5.19997883e-03 -5.92442044e-04 9.99986305e-01 -3.73896279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.139928851 meters 0.09760962514736964 Centerline is valid? [True, True] Translation: X:124.89, Y:-12.58, Z:-3.74 [[ 9.99986195e-01 -2.85652523e-03 -4.41032852e-03 1.24892704e+02] [ 2.85865757e-03 9.99995800e-01 4.77260716e-04 -1.25775443e+01] [ 4.40894669e-03 -4.89861746e-04 9.99990161e-01 -3.74016397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.199928851 meters 0.09988741251734776 Centerline is valid? [True, True] Translation: X:124.95, Y:-12.59, Z:-3.74 [[ 9.99993000e-01 -9.67485126e-04 -3.61448662e-03 1.24950612e+02] [ 9.68904838e-04 9.99999454e-01 3.91053446e-04 -1.25916112e+01] [ 3.61410631e-03 -3.94552802e-04 9.99993391e-01 -3.74225798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.25992885099998 meters 0.09524774878112044 Centerline is valid? [True, True] Translation: X:125.01, Y:-12.59, Z:-3.74 [[ 9.99985274e-01 3.12704633e-03 -4.43556181e-03 1.25011716e+02] [-3.12494437e-03 9.99995002e-01 4.80740727e-04 -1.25929266e+01] [ 4.43704294e-03 -4.66872764e-04 9.99990047e-01 -3.74205086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.319928851 meters 0.09438245888695992 Centerline is valid? [True, True] Translation: X:125.07, Y:-12.60, Z:-3.74 [[ 9.99966425e-01 5.15537314e-03 -6.36955368e-03 1.25071616e+02] [-5.15108428e-03 9.99986495e-01 6.89560868e-04 -1.25989414e+01] [ 6.37302261e-03 -6.56727608e-04 9.99979476e-01 -3.74457838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.379928851 meters 0.09212861127829784 Centerline is valid? [True, True] Translation: X:125.13, Y:-12.60, Z:-3.75 [[ 9.99935423e-01 7.84475146e-03 -8.22256109e-03 1.25131545e+02] [-7.83769417e-03 9.99968889e-01 8.90156479e-04 -1.26027969e+01] [ 8.22928833e-03 -8.25653076e-04 9.99965798e-01 -3.74597265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.439928851 meters 0.08989733409431631 Centerline is valid? [True, True] Translation: X:125.19, Y:-12.61, Z:-3.75 [[ 9.99926306e-01 8.80381601e-03 -8.35918558e-03 1.25190298e+02] [-8.79657154e-03 9.99960902e-01 9.03020563e-04 -1.26053701e+01] [ 8.36680877e-03 -8.29421842e-04 9.99964654e-01 -3.74582399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.499928851 meters 0.09199520037826456 Centerline is valid? [True, True] Translation: X:125.25, Y:-12.62, Z:-3.75 [[ 9.99925981e-01 9.00256367e-03 -8.18451464e-03 1.25247283e+02] [-8.99563483e-03 9.99959149e-01 8.82998862e-04 -1.26169753e+01] [ 8.19212955e-03 -8.09308598e-04 9.99966116e-01 -3.74849739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.559928851 meters 0.08886993721543027 Centerline is valid? [True, True] Translation: X:125.31, Y:-12.62, Z:-3.75 [[ 9.99921736e-01 9.58044886e-03 -8.04594074e-03 1.25306208e+02] [-9.57377293e-03 9.99953794e-01 8.67834391e-04 -1.26174187e+01] [ 8.05388321e-03 -7.90736461e-04 9.99967254e-01 -3.74736742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.619928851 meters 0.09224171674448398 Centerline is valid? [True, True] Translation: X:125.36, Y:-12.63, Z:-3.75 [[ 9.99910263e-01 1.00238977e-02 -8.88744355e-03 1.25363059e+02] [-1.00157785e-02 9.99949382e-01 9.57601138e-04 -1.26309108e+01] [ 8.89659258e-03 -8.68500540e-04 9.99960047e-01 -3.75233777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.679928851 meters 0.09333998841788137 Centerline is valid? [True, True] Translation: X:125.42, Y:-12.64, Z:-3.75 [[ 9.99911371e-01 9.80805731e-03 -9.00292782e-03 1.25421320e+02] [-9.79971773e-03 9.99951511e-01 9.69966748e-04 -1.26393556e+01] [ 9.01200477e-03 -8.81654629e-04 9.99959002e-01 -3.75382105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.739928851 meters 0.0933091248131049 Centerline is valid? [True, True] Translation: X:125.48, Y:-12.64, Z:-3.76 [[ 9.99896241e-01 1.09268546e-02 -9.38676548e-03 1.25479886e+02] [-1.09178427e-02 9.99939888e-01 1.01077073e-03 -1.26446923e+01] [ 9.39724576e-03 -9.08182628e-04 9.99955432e-01 -3.75520702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.799928851 meters 0.088984509156715 Centerline is valid? [True, True] Translation: X:125.54, Y:-12.64, Z:-3.75 [[ 9.99905348e-01 1.04871397e-02 -8.90589371e-03 1.25539074e+02] [-1.04790175e-02 9.99944635e-01 9.58188227e-04 -1.26411844e+01] [ 8.91544928e-03 -8.64772517e-04 9.99959883e-01 -3.75239390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.859928851 meters 0.09295038895471434 Centerline is valid? [True, True] Translation: X:125.60, Y:-12.65, Z:-3.76 [[ 9.99906606e-01 9.55679169e-03 -9.76966231e-03 1.25596703e+02] [-9.54697215e-03 9.99953874e-01 1.05124921e-03 -1.26542136e+01] [ 9.77925824e-03 -9.57880340e-04 9.99951723e-01 -3.75753437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.919928851 meters 0.09119958705022148 Centerline is valid? [True, True] Translation: X:125.66, Y:-12.66, Z:-3.76 [[ 9.99905808e-01 8.31024755e-03 -1.09231642e-02 1.25657115e+02] [-8.29788935e-03 9.99964880e-01 1.17621032e-03 -1.26551694e+01] [ 1.09325552e-02 -1.08546032e-03 9.99939649e-01 -3.75769010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.97992885099998 meters 0.09211013141849993 Centerline is valid? [True, True] Translation: X:125.72, Y:-12.66, Z:-3.76 [[ 9.99920954e-01 6.47946372e-03 -1.07750829e-02 1.25717043e+02] [-6.46733518e-03 9.99978414e-01 1.16007373e-03 -1.26621592e+01] [ 1.07823670e-02 -1.09029596e-03 9.99941274e-01 -3.76036124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.03992885099998 meters 0.09140332341711857 Centerline is valid? [True, True] Translation: X:125.78, Y:-12.66, Z:-3.76 [[ 9.99920080e-01 4.32768958e-03 -1.18787624e-02 1.25778164e+02] [-4.31279478e-03 9.99989882e-01 1.27923198e-03 -1.26632593e+01] [ 1.18841783e-02 -1.22789908e-03 9.99928627e-01 -3.76088394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.099928851 meters 0.09449405366666025 Centerline is valid? [True, True] Translation: X:125.84, Y:-12.67, Z:-3.76 [[ 9.99906290e-01 5.69050507e-03 -1.24510474e-02 1.25837051e+02] [-5.67425982e-03 9.99983004e-01 1.33966737e-03 -1.26678709e+01] [ 1.24584592e-02 -1.26889136e-03 9.99921585e-01 -3.76451061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.159928851 meters 0.09237794362052267 Centerline is valid? [True, True] Translation: X:125.90, Y:-12.67, Z:-3.76 [[ 9.99890045e-01 6.41865050e-03 -1.33678193e-02 1.25896044e+02] [-6.40001202e-03 9.99978488e-01 1.43659299e-03 -1.26675853e+01] [ 1.33767527e-02 -1.35088082e-03 9.99909615e-01 -3.76362011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.219928851 meters 0.09237794362052267 Centerline is valid? [True, True] Translation: X:125.95, Y:-12.67, Z:-3.77 [[ 9.99890691e-01 6.31670317e-03 -1.33680581e-02 1.25953505e+02] [-6.29808507e-03 9.99979138e-01 1.43437164e-03 -1.26736650e+01] [ 1.33768397e-02 -1.35002168e-03 9.99909615e-01 -3.76508562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.279928851 meters 0.08963199101313543 Centerline is valid? [True, True] Translation: X:126.01, Y:-12.67, Z:-3.76 [[ 9.99890632e-01 7.72806220e-03 -1.26095975e-02 1.26013692e+02] [-7.71159387e-03 9.99969348e-01 1.35411609e-03 -1.26717221e+01] [ 1.26196757e-02 -1.25672790e-03 9.99919579e-01 -3.76341692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.339928851 meters 0.09190126753478371 Centerline is valid? [True, True] Translation: X:126.07, Y:-12.68, Z:-3.77 [[ 9.99890999e-01 8.26671443e-03 -1.22332464e-02 1.26070816e+02] [-8.25128337e-03 9.99965098e-01 1.31133897e-03 -1.26787423e+01] [ 1.22436599e-02 -1.21025605e-03 9.99924311e-01 -3.76528636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.399928851 meters 0.09251547878183895 Centerline is valid? [True, True] Translation: X:126.13, Y:-12.68, Z:-3.77 [[ 9.99884202e-01 9.09314063e-03 -1.22023245e-02 1.26129041e+02] [-9.07785266e-03 9.99957940e-01 1.30767755e-03 -1.26841725e+01] [ 1.22137022e-02 -1.19675522e-03 9.99924694e-01 -3.76677794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.459928851 meters 0.09133490600079923 Centerline is valid? [True, True] Translation: X:126.19, Y:-12.68, Z:-3.77 [[ 9.99871980e-01 8.78342170e-03 -1.33744483e-02 1.26188107e+02] [-8.76503818e-03 9.99960560e-01 1.43252332e-03 -1.26848279e+01] [ 1.33865033e-02 -1.31511238e-03 9.99909532e-01 -3.76779842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.519928851 meters 0.09263767315001283 Centerline is valid? [True, True] Translation: X:126.25, Y:-12.69, Z:-3.77 [[ 9.99867407e-01 8.58283528e-03 -1.38384985e-02 1.26246525e+02] [-8.56314648e-03 9.99962238e-01 1.48138283e-03 -1.26922085e+01] [ 1.38506904e-02 -1.36268531e-03 9.99903146e-01 -3.77148675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.579928851 meters 0.09151379255441171 Centerline is valid? [True, True] Translation: X:126.31, Y:-12.69, Z:-3.77 [[ 9.99864699e-01 6.50221389e-03 -1.51097829e-02 1.26307194e+02] [-6.47848001e-03 9.99977704e-01 1.61917908e-03 -1.26933492e+01] [ 1.51199743e-02 -1.52107157e-03 9.99884530e-01 -3.77182287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.639928851 meters 0.09311124729451488 Centerline is valid? [True, True] Translation: X:126.37, Y:-12.70, Z:-3.77 [[ 9.99875676e-01 4.54856394e-03 -1.50977927e-02 1.26366579e+02] [-4.52465634e-03 9.99988456e-01 1.61729719e-03 -1.27008649e+01] [ 1.51049748e-02 -1.54878380e-03 9.99884714e-01 -3.77450916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.699928851 meters 0.09454039086453785 Centerline is valid? [True, True] Translation: X:126.43, Y:-12.71, Z:-3.78 [[ 9.99895168e-01 2.24481393e-03 -1.43043635e-02 1.26426321e+02] [-2.22312724e-03 9.99996356e-01 1.53180952e-03 -1.27073853e+01] [ 1.43077500e-02 -1.49984851e-03 9.99896514e-01 -3.77640777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.75992885099998 meters 0.09287674339583422 Centerline is valid? [True, True] Translation: X:126.49, Y:-12.71, Z:-3.78 [[ 9.99914240e-01 2.21421736e-03 -1.29077526e-02 1.26485247e+02] [-2.19658353e-03 9.99996635e-01 1.38015939e-03 -1.27069536e+01] [ 1.29107652e-02 -1.35168807e-03 9.99915739e-01 -3.77626624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.819928851 meters 0.09411747375483905 Centerline is valid? [True, True] Translation: X:126.54, Y:-12.71, Z:-3.78 [[ 9.99952644e-01 1.45868501e-03 -9.62194402e-03 1.26544315e+02] [-1.44886231e-03 9.99998422e-01 1.02775532e-03 -1.27108247e+01] [ 9.62342801e-03 -1.01376578e-03 9.99953180e-01 -3.77611582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.879928851 meters 0.09242097851454553 Centerline is valid? [True, True] Translation: X:126.60, Y:-12.71, Z:-3.78 [[ 9.99945424e-01 -4.64589644e-04 -1.04370670e-02 1.26604373e+02] [ 4.76263859e-04 9.99999264e-01 1.11607651e-03 -1.27125884e+01] [ 1.04365408e-02 -1.12098639e-03 9.99944909e-01 -3.77677829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.939928851 meters 0.09774769724063659 Centerline is valid? [True, True] Translation: X:126.66, Y:-12.73, Z:-3.78 [[ 9.99944807e-01 -5.76302982e-03 -8.78470513e-03 1.26662076e+02] [ 5.77149930e-03 9.99982904e-01 9.39070065e-04 -1.27282066e+01] [ 8.77914306e-03 -9.89719154e-04 9.99960973e-01 -3.78100561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.999928851 meters 0.09879134738764145 Centerline is valid? [True, True] Translation: X:126.72, Y:-12.74, Z:-3.78 [[ 9.99921683e-01 -9.91035932e-03 -7.64284254e-03 1.26722294e+02] [ 9.91689330e-03 9.99950492e-01 8.17490739e-04 -1.27361236e+01] [ 7.63436253e-03 -8.93219970e-04 9.99970459e-01 -3.78222688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.059928851 meters 0.10089273992387224 Centerline is valid? [True, False] Translation: X:126.72, Y:-12.74, Z:-3.78 [[ 9.99922815e-01 -1.00091172e-02 -7.36086510e-03 1.26721989e+02] [ 1.00156843e-02 9.99949476e-01 8.55844782e-04 -1.27360140e+01] [ 7.35192695e-03 -9.29502825e-04 9.99972542e-01 -3.78259699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.119928851 meters 0.10004897590879228 Centerline is valid? [False, False] Translation: X:126.72, Y:-12.74, Z:-3.78 [[ 9.99923116e-01 -9.91730052e-03 -7.44375402e-03 1.26722422e+02] [ 9.92455583e-03 9.99950310e-01 9.38379761e-04 -1.27357552e+01] [ 7.43407795e-03 -1.01218357e-03 9.99971855e-01 -3.78300724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.179928851 meters 0.09869342396505702 Centerline is valid? [False, True] Translation: X:126.72, Y:-12.74, Z:-3.78 [[ 9.99924011e-01 -9.74992320e-03 -7.54389111e-03 1.26722919e+02] [ 9.75887372e-03 9.99951719e-01 1.15055890e-03 -1.27356769e+01] [ 7.53230902e-03 -1.22409136e-03 9.99970883e-01 -3.78348626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.239928851 meters 0.10004850600207092 Centerline is valid? [True, False] Translation: X:126.72, Y:-12.74, Z:-3.78 [[ 9.99926696e-01 -9.58667985e-03 -7.39579122e-03 1.26722650e+02] [ 9.59893393e-03 9.99952612e-01 1.62318541e-03 -1.27370495e+01] [ 7.37987978e-03 -1.69405813e-03 9.99971333e-01 -3.78356953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.299928851 meters 0.10049379686537574 Centerline is valid? [False, False] Translation: X:126.72, Y:-12.74, Z:-3.78 [[ 9.99930733e-01 -9.37592653e-03 -7.11479661e-03 1.26722325e+02] [ 9.39210335e-03 9.99953376e-01 2.24369017e-03 -1.27387196e+01] [ 7.09342822e-03 -2.31035766e-03 9.99972172e-01 -3.78391265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.359928851 meters 0.10154729900300928 Centerline is valid? [False, False] Translation: X:126.72, Y:-12.74, Z:-3.78 [[ 9.99932690e-01 -9.40638073e-03 -6.79235214e-03 1.26721678e+02] [ 9.42354955e-03 9.99952472e-01 2.50010373e-03 -1.27397939e+01] [ 6.76851239e-03 -2.56394351e-03 9.99973806e-01 -3.78387841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.419928851 meters 0.10452678322060949 Centerline is valid? [False, False] Translation: X:126.72, Y:-12.74, Z:-3.78 [[ 9.99938782e-01 -8.87524254e-03 -6.60778470e-03 1.26721855e+02] [ 8.89899107e-03 9.99954019e-01 3.57333774e-03 -1.27424318e+01] [ 6.57576662e-03 -3.63192160e-03 9.99971784e-01 -3.78463592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.47992885099998 meters 0.10347782904247878 Centerline is valid? [False, False] Translation: X:126.72, Y:-12.74, Z:-3.78 [[ 9.99941534e-01 -8.71801376e-03 -6.39719698e-03 1.26721537e+02] [ 8.74413071e-03 9.99953503e-01 4.06601184e-03 -1.27440208e+01] [ 6.36145198e-03 -4.12171204e-03 9.99971271e-01 -3.78479575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.53992885099998 meters 0.10230686973603724 Centerline is valid? [False, False] Translation: X:126.72, Y:-12.74, Z:-3.78 [[ 9.99942703e-01 -8.57147182e-03 -6.41252131e-03 1.26721613e+02] [ 8.59937748e-03 9.99953620e-01 4.33690296e-03 -1.27447492e+01] [ 6.37505026e-03 -4.39179816e-03 9.99970035e-01 -3.78486813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.599928851 meters 0.10073736007035226 Centerline is valid? [False, False] Translation: X:126.72, Y:-12.74, Z:-3.79 [[ 9.99941539e-01 -8.44116823e-03 -6.75765423e-03 1.26722358e+02] [ 8.47016845e-03 9.99954992e-01 4.27440683e-03 -1.27440908e+01] [ 6.72126910e-03 -4.33139541e-03 9.99968031e-01 -3.78503741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.659928851 meters 0.09878466371943803 Centerline is valid? [False, True] Translation: X:126.72, Y:-12.74, Z:-3.79 [[ 9.99968253e-01 -4.12164476e-03 -6.81950300e-03 1.26722406e+02] [ 4.17928936e-03 9.99955477e-01 8.46035720e-03 -1.27442146e+01] [ 6.78432878e-03 -8.48858928e-03 9.99940957e-01 -3.78500627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.719928851 meters 0.09693182963076352 Centerline is valid? [True, True] Translation: X:126.78, Y:-12.74, Z:-3.78 [[ 9.99966463e-01 4.97275290e-04 -8.17473495e-03 1.26782857e+02] [-4.89824389e-04 9.99999463e-01 9.13431715e-04 -1.27434797e+01] [ 8.17518478e-03 -9.09396897e-04 9.99966169e-01 -3.78256438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.779928851 meters 0.09645224008232735 Centerline is valid? [True, True] Translation: X:126.84, Y:-12.75, Z:-3.78 [[ 9.99955613e-01 6.55747892e-03 -6.76542431e-03 1.26841681e+02] [-6.55251616e-03 9.99978247e-01 7.55452549e-04 -1.27485112e+01] [ 6.77023101e-03 -7.11088465e-04 9.99976829e-01 -3.78422621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.839928851 meters 0.09681036003172104 Centerline is valid? [True, True] Translation: X:126.90, Y:-12.76, Z:-3.79 [[ 9.99946647e-01 8.58986571e-03 -5.73742079e-03 1.26901774e+02] [-8.58632725e-03 9.99962931e-01 6.41082344e-04 -1.27556260e+01] [ 5.74271492e-03 -5.91784768e-04 9.99983335e-01 -3.78536289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.899928851 meters 0.09728562933095952 Centerline is valid? [True, True] Translation: X:126.96, Y:-12.76, Z:-3.79 [[ 9.99925392e-01 1.08229222e-02 -5.66337926e-03 1.26960511e+02] [-1.08195123e-02 9.99941267e-01 6.32381049e-04 -1.27630813e+01] [ 5.66989085e-03 -5.71058867e-04 9.99983763e-01 -3.78728098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.959928851 meters 0.092942003227961 Centerline is valid? [True, True] Translation: X:127.02, Y:-12.76, Z:-3.79 [[ 9.99922804e-01 1.03930446e-02 -6.80957592e-03 1.27019429e+02] [-1.03881206e-02 9.99945755e-01 7.58065235e-04 -1.27617609e+01] [ 6.81708514e-03 -6.87268019e-04 9.99976527e-01 -3.78672757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.019928851 meters 0.0931674788570758 Centerline is valid? [True, True] Translation: X:127.08, Y:-12.77, Z:-3.79 [[ 9.99936586e-01 8.58914583e-03 -7.28361035e-03 1.27078977e+02] [-8.58345257e-03 9.99962831e-01 8.12554163e-04 -1.27713994e+01] [ 7.29031878e-03 -7.49984112e-04 9.99973144e-01 -3.79000917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.079928851 meters 0.09509422016283965 Centerline is valid? [True, True] Translation: X:127.14, Y:-12.78, Z:-3.79 [[ 9.99944128e-01 6.43393256e-03 -8.38721170e-03 1.27138217e+02] [-6.42630659e-03 9.99978913e-01 9.35870920e-04 -1.27831650e+01] [ 8.39305617e-03 -8.81919837e-04 9.99964389e-01 -3.79202114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.139928851 meters 0.09659583800684117 Centerline is valid? [True, True] Translation: X:127.20, Y:-12.80, Z:-3.79 [[ 9.99952654e-01 3.89531124e-03 -8.91716514e-03 1.27197330e+02] [-3.88659030e-03 9.99991952e-01 9.95114733e-04 -1.27951649e+01] [ 8.92096966e-03 -9.60410251e-04 9.99959746e-01 -3.79433482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.199928851 meters 0.09509466857742285 Centerline is valid? [True, True] Translation: X:127.26, Y:-12.80, Z:-3.79 [[ 9.99957464e-01 1.60680518e-03 -9.08233835e-03 1.27257588e+02] [-1.59766612e-03 9.99998210e-01 1.01341188e-03 -1.27996099e+01] [ 9.08395045e-03 -9.98858224e-04 9.99958241e-01 -3.79398271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.25992885099998 meters 0.09416620808000552 Centerline is valid? [True, True] Translation: X:127.32, Y:-12.81, Z:-3.79 [[ 9.99960298e-01 -1.00648699e-03 -8.85382523e-03 1.27317288e+02] [ 1.01527359e-03 9.99998997e-01 9.87968585e-04 -1.28068011e+01] [ 8.85282197e-03 -9.96918415e-04 9.99960316e-01 -3.79382706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.319928851 meters 0.09905956243391778 Centerline is valid? [True, True] Translation: X:127.37, Y:-12.82, Z:-3.80 [[ 9.99966437e-01 -2.21515244e-03 -7.88781053e-03 1.27374222e+02] [ 2.22215255e-03 9.99997145e-01 8.78805979e-04 -1.28236568e+01] [ 7.88584132e-03 -8.96304402e-04 9.99968505e-01 -3.79533732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.379928851 meters 0.09939053545159464 Centerline is valid? [True, True] Translation: X:127.43, Y:-12.83, Z:-3.80 [[ 9.99969034e-01 -2.80265548e-03 -7.35369045e-03 1.27432024e+02] [ 2.80874566e-03 9.99995721e-01 8.17984266e-04 -1.28319826e+01] [ 7.35136645e-03 -8.38613582e-04 9.99972627e-01 -3.79645094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.439928851 meters 0.09932857293269777 Centerline is valid? [True, True] Translation: X:127.49, Y:-12.84, Z:-3.80 [[ 9.99970421e-01 -2.74731472e-03 -7.18396368e-03 1.27490663e+02] [ 2.75309227e-03 9.99995895e-01 7.94463799e-04 -1.28390110e+01] [ 7.18175154e-03 -8.14218414e-04 9.99973879e-01 -3.79690717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.499928851 meters 0.0986155172817453 Centerline is valid? [True, True] Translation: X:127.55, Y:-12.85, Z:-3.80 [[ 9.99960644e-01 -3.37448569e-03 -8.20502463e-03 1.27549292e+02] [ 3.38203208e-03 9.99993870e-01 9.06026384e-04 -1.28461178e+01] [ 8.20191697e-03 -9.33740383e-04 9.99965928e-01 -3.79792295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.559928851 meters 0.09814059697351549 Centerline is valid? [True, True] Translation: X:127.61, Y:-12.86, Z:-3.80 [[ 9.99945795e-01 -4.41502376e-03 -9.42942431e-03 1.27608079e+02] [ 4.42507591e-03 9.99989663e-01 1.04544338e-03 -1.28557238e+01] [ 9.42471118e-03 -1.08711263e-03 9.99954995e-01 -3.79978675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.619928851 meters 0.09743785989455175 Centerline is valid? [True, True] Translation: X:127.67, Y:-12.86, Z:-3.80 [[ 9.99931855e-01 -5.38072914e-03 -1.03601732e-02 1.27667383e+02] [ 5.39291179e-03 9.99984799e-01 1.14833417e-03 -1.28627529e+01] [ 1.03538368e-02 -1.20412742e-03 9.99945673e-01 -3.80076909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.679928851 meters 0.09540980392547843 Centerline is valid? [True, True] Translation: X:127.73, Y:-12.87, Z:-3.80 [[ 9.99910245e-01 -5.66576079e-03 -1.21408603e-02 1.27725528e+02] [ 5.68242852e-03 9.99982959e-01 1.33880552e-03 -1.28681653e+01] [ 1.21330681e-02 -1.40767493e-03 9.99925401e-01 -3.80198634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.739928851 meters 0.09911871212783929 Centerline is valid? [True, True] Translation: X:127.78, Y:-12.88, Z:-3.80 [[ 9.99913619e-01 -6.16830284e-03 -1.16062792e-02 1.27782181e+02] [ 6.18358932e-03 9.99980060e-01 1.28166210e-03 -1.28846769e+01] [ 1.15981420e-02 -1.35331986e-03 9.99931823e-01 -3.80471587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.799928851 meters 0.09942905168438718 Centerline is valid? [True, True] Translation: X:127.84, Y:-12.89, Z:-3.81 [[ 9.99912589e-01 -6.25043765e-03 -1.16510599e-02 1.27840701e+02] [ 6.26578197e-03 9.99979549e-01 1.28095119e-03 -1.28932327e+01] [ 1.16428151e-02 -1.35384222e-03 9.99931304e-01 -3.80567673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.859928851 meters 0.09913154451265926 Centerline is valid? [True, True] Translation: X:127.90, Y:-12.90, Z:-3.81 [[ 9.99928229e-01 -5.15752065e-03 -1.08136930e-02 1.27900097e+02] [ 5.17070744e-03 9.99985922e-01 1.19184949e-03 -1.29017739e+01] [ 1.08073937e-02 -1.24767839e-03 9.99940820e-01 -3.80502425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.919928851 meters 0.09762878316880759 Centerline is valid? [True, True] Translation: X:127.96, Y:-12.91, Z:-3.81 [[ 9.99915645e-01 -5.07592759e-03 -1.19556987e-02 1.27957998e+02] [ 5.09201969e-03 9.99986170e-01 1.31592189e-03 -1.29084624e+01] [ 1.19488538e-02 -1.37668954e-03 9.99927662e-01 -3.80508908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.97992885099998 meters 0.10248427430206025 Centerline is valid? [True, False] Translation: X:127.96, Y:-12.91, Z:-3.81 [[ 9.99921506e-01 -4.62833513e-03 -1.16430408e-02 1.27957585e+02] [ 4.65618402e-03 9.99986361e-01 2.36592269e-03 -1.29118886e+01] [ 1.16319318e-02 -2.41994912e-03 9.99929419e-01 -3.80535665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.03992885099998 meters 0.0980016971326618 Centerline is valid? [False, True] Translation: X:127.96, Y:-12.91, Z:-3.81 [[ 9.99924686e-01 -4.39634954e-03 -1.14583350e-02 1.27957135e+02] [ 4.43075755e-03 9.99985746e-01 2.97922666e-03 -1.29139544e+01] [ 1.14450739e-02 -3.02977139e-03 9.99929913e-01 -3.80523842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.099928851 meters 0.09848850653666905 Centerline is valid? [True, True] Translation: X:128.02, Y:-12.92, Z:-3.81 [[ 9.99923287e-01 -5.91956230e-03 -1.08802469e-02 1.28016173e+02] [ 5.93319718e-03 9.99981653e-01 1.22132687e-03 -1.29246716e+01] [ 1.08728176e-02 -1.28578783e-03 9.99940062e-01 -3.80524872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.159928851 meters 0.09727317039228939 Centerline is valid? [True, True] Translation: X:128.08, Y:-12.94, Z:-3.80 [[ 9.99908704e-01 -8.76462581e-03 -1.02842087e-02 1.28075462e+02] [ 8.77695718e-03 9.99960815e-01 1.15453825e-03 -1.29353947e+01] [ 1.02736866e-02 -1.24469690e-03 9.99946450e-01 -3.80488325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.219928851 meters 0.10260118078216982 Centerline is valid? [True, False] Translation: X:128.07, Y:-12.94, Z:-3.81 [[ 9.99918376e-01 -8.29424652e-03 -9.71841433e-03 1.28074709e+02] [ 8.32010620e-03 9.99961946e-01 2.62349209e-03 -1.29394718e+01] [ 9.69628461e-03 -2.70413619e-03 9.99949334e-01 -3.80531605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.279928851 meters 0.10149438873634 Centerline is valid? [False, False] Translation: X:128.07, Y:-12.94, Z:-3.81 [[ 9.99885794e-01 -1.17350101e-02 -9.52308512e-03 1.28074509e+02] [ 1.17373887e-02 9.99931096e-01 1.93914566e-04 -1.29442774e+01] [ 9.52015335e-03 -3.05668571e-04 9.99954636e-01 -3.80546401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.339928851 meters 0.10163198227603881 Centerline is valid? [False, False] Translation: X:128.07, Y:-12.95, Z:-3.80 [[ 9.99890994e-01 -1.18202907e-02 -8.84766066e-03 1.28072848e+02] [ 1.18298711e-02 9.99929493e-01 1.03126746e-03 -1.29490438e+01] [ 8.83484696e-03 -1.13582173e-03 9.99960327e-01 -3.80477101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.399928851 meters 0.10321757732594916 Centerline is valid? [False, False] Translation: X:128.07, Y:-12.95, Z:-3.80 [[ 9.99898816e-01 -1.15530487e-02 -8.29964436e-03 1.28071801e+02] [ 1.15736281e-02 9.99930057e-01 2.43581732e-03 -1.29543098e+01] [ 8.27092274e-03 -2.53162785e-03 9.99962591e-01 -3.80475950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.459928851 meters 0.10576854092216932 Centerline is valid? [False, False] Translation: X:128.07, Y:-12.96, Z:-3.81 [[ 9.99906930e-01 -1.09196703e-02 -8.17878913e-03 1.28071813e+02] [ 1.09496278e-02 9.99933473e-01 3.62705905e-03 -1.29574390e+01] [ 8.13863873e-03 -3.71627617e-03 9.99959975e-01 -3.80509972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.519928851 meters 0.10635530374164423 Centerline is valid? [False, False] Translation: X:128.06, Y:-12.96, Z:-3.81 [[ 9.99984647e-01 -5.06372659e-03 -2.25049644e-03 1.28064010e+02] [ 5.06934303e-03 9.99984033e-01 2.49698594e-03 -1.29620161e+01] [ 2.23781645e-03 -2.50835614e-03 9.99994350e-01 -3.80986890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.579928851 meters 0.106607287482043 Centerline is valid? [False, False] Translation: X:128.06, Y:-12.96, Z:-3.81 [[ 9.99985858e-01 -4.74223050e-03 -2.40718759e-03 1.28064184e+02] [ 4.74941049e-03 9.99984264e-01 2.98582652e-03 -1.29633922e+01] [ 2.39299023e-03 -2.99721702e-03 9.99992645e-01 -3.80971261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.639928851 meters 0.10243879841131696 Centerline is valid? [False, False] Translation: X:128.07, Y:-12.96, Z:-3.81 [[ 9.99987710e-01 -4.02185879e-03 -2.89921326e-03 1.28065246e+02] [ 4.03292458e-03 9.99984567e-01 3.82113426e-03 -1.29647755e+01] [ 2.88380045e-03 -3.83277960e-03 9.99988497e-01 -3.80995232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.699928851 meters 0.10737586912141438 Centerline is valid? [False, False] Translation: X:128.07, Y:-12.97, Z:-3.81 [[ 9.99989122e-01 -3.63718024e-03 -2.92000684e-03 1.28065315e+02] [ 3.65020651e-03 9.99983356e-01 4.46817435e-03 -1.29665904e+01] [ 2.90370669e-03 -4.47878437e-03 9.99985754e-01 -3.81000698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.75992885099998 meters 0.10083001594322812 Centerline is valid? [False, False] Translation: X:128.07, Y:-12.97, Z:-3.81 [[ 9.99990473e-01 -3.17491158e-03 -2.99575741e-03 1.28065642e+02] [ 3.19044710e-03 9.99981414e-01 5.19539270e-03 -1.29684957e+01] [ 2.97920682e-03 -5.20490101e-03 9.99982017e-01 -3.81026631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.819928851 meters 0.10966006290707996 Centerline is valid? [False, False] Translation: X:128.07, Y:-12.97, Z:-3.81 [[ 9.99991686e-01 -2.69009516e-03 -3.06441005e-03 1.28066106e+02] [ 2.70830964e-03 9.99978599e-01 5.95531964e-03 -1.29703408e+01] [ 3.04832409e-03 -5.96356950e-03 9.99977572e-01 -3.81073901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.879928851 meters 0.09787969885035257 Centerline is valid? [False, True] Translation: X:128.07, Y:-12.97, Z:-3.81 [[ 9.99991860e-01 -2.52141759e-03 -3.14998858e-03 1.28066243e+02] [ 2.54107771e-03 9.99977221e-01 6.25299784e-03 -1.29712307e+01] [ 3.13415040e-03 -6.26095130e-03 9.99975488e-01 -3.81072512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.939928851 meters 0.09463723744549073 Centerline is valid? [True, True] Translation: X:128.13, Y:-12.97, Z:-3.81 [[ 9.99988301e-01 -4.63561308e-04 -4.81484015e-03 1.28126275e+02] [ 4.66206322e-04 9.99999741e-01 5.48238304e-04 -1.29701888e+01] [ 4.81458477e-03 -5.50476600e-04 9.99988258e-01 -3.80903327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.999928851 meters 0.09844793740699498 Centerline is valid? [True, True] Translation: X:128.18, Y:-12.98, Z:-3.81 [[ 9.99990040e-01 -2.80015032e-04 -4.45434239e-03 1.28182292e+02] [ 2.82268330e-04 9.99999833e-01 5.05244932e-04 -1.29849363e+01] [ 4.45420017e-03 -5.06497219e-04 9.99989952e-01 -3.81231209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.059928851 meters 0.09943436148324737 Centerline is valid? [True, True] Translation: X:128.24, Y:-13.00, Z:-3.81 [[ 9.99993835e-01 -5.31483724e-04 -3.47107453e-03 1.28240662e+02] [ 5.32852688e-04 9.99999781e-01 3.93479324e-04 -1.29957516e+01] [ 3.47086464e-03 -3.95326469e-04 9.99993898e-01 -3.81408027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.119928851 meters 0.09394256790862525 Centerline is valid? [True, True] Translation: X:128.30, Y:-12.99, Z:-3.81 [[ 9.99992535e-01 -2.20118451e-04 -3.85773729e-03 1.28300830e+02] [ 2.21811005e-04 9.99999879e-01 4.38320316e-04 -1.29928580e+01] [ 3.85764034e-03 -4.39172733e-04 9.99992463e-01 -3.81237150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.179928851 meters 0.09693406691146204 Centerline is valid? [True, True] Translation: X:128.36, Y:-13.01, Z:-3.82 [[ 9.99990041e-01 -3.25472464e-04 -4.45110962e-03 1.28358767e+02] [ 3.27725023e-04 9.99999819e-01 5.05346854e-04 -1.30052930e+01] [ 4.45094434e-03 -5.06800561e-04 9.99989966e-01 -3.81660394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.239928851 meters 0.09554273193052107 Centerline is valid? [True, True] Translation: X:128.42, Y:-13.01, Z:-3.82 [[ 9.99988774e-01 4.85124596e-04 -4.71344079e-03 1.28417469e+02] [-4.82611788e-04 9.99999741e-01 5.34238278e-04 -1.30092010e+01] [ 4.71369874e-03 -5.31957519e-04 9.99988749e-01 -3.81698259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.299928851 meters 0.09687945593660864 Centerline is valid? [True, True] Translation: X:128.48, Y:-13.02, Z:-3.82 [[ 9.99988192e-01 -8.48341302e-05 -4.85892304e-03 1.28475271e+02] [ 8.75098745e-05 9.99999845e-01 5.50476748e-04 -1.30182941e+01] [ 4.85887559e-03 -5.50895452e-04 9.99988044e-01 -3.81848787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.359928851 meters 0.0947325268409688 Centerline is valid? [True, True] Translation: X:128.54, Y:-13.02, Z:-3.82 [[ 9.99990603e-01 -1.93537771e-03 -3.87919782e-03 1.28535426e+02] [ 1.93710047e-03 9.99998027e-01 4.40394614e-04 -1.30220258e+01] [ 3.87833784e-03 -4.47904872e-04 9.99992379e-01 -3.81861183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.419928851 meters 0.09368474606206592 Centerline is valid? [True, True] Translation: X:128.60, Y:-13.03, Z:-3.82 [[ 9.99989662e-01 -1.98358460e-03 -4.09166395e-03 1.28595122e+02] [ 1.98549941e-03 9.99997921e-01 4.63967210e-04 -1.30274139e+01] [ 4.09073512e-03 -4.72086409e-04 9.99991521e-01 -3.81850191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.47992885099998 meters 0.093846409445386 Centerline is valid? [True, True] Translation: X:128.65, Y:-13.03, Z:-3.82 [[ 9.99991584e-01 -1.06638127e-03 -3.96174126e-03 1.28654426e+02] [ 1.06816862e-03 9.99999329e-01 4.49064595e-04 -1.30308657e+01] [ 3.96125972e-03 -4.53292623e-04 9.99992051e-01 -3.82117856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.53992885099998 meters 0.09330113143572606 Centerline is valid? [True, True] Translation: X:128.71, Y:-13.03, Z:-3.82 [[ 9.99991205e-01 8.81355844e-04 -4.10049904e-03 1.28714199e+02] [-8.79455275e-04 9.99999505e-01 4.65276939e-04 -1.30343047e+01] [ 4.10090709e-03 -4.61666641e-04 9.99991485e-01 -3.82299389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.599928851 meters 0.09718807614298537 Centerline is valid? [True, True] Translation: X:128.77, Y:-13.04, Z:-3.83 [[ 9.99988603e-01 2.40622077e-03 -4.12356716e-03 1.28772185e+02] [-2.40431659e-03 9.99997001e-01 4.66676664e-04 -1.30433928e+01] [ 4.12467772e-03 -4.56756984e-04 9.99991389e-01 -3.82636757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.659928851 meters 0.09304820094241262 Centerline is valid? [True, True] Translation: X:128.83, Y:-13.04, Z:-3.83 [[ 9.99988405e-01 2.94357550e-03 -3.81114445e-03 1.28831827e+02] [-2.94195624e-03 9.99995580e-01 4.30411896e-04 -1.30380349e+01] [ 3.81239456e-03 -4.19194685e-04 9.99992645e-01 -3.82580672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.719928851 meters 0.09738968173630501 Centerline is valid? [True, True] Translation: X:128.89, Y:-13.05, Z:-3.83 [[ 9.99990500e-01 3.46702895e-03 -2.64188370e-03 1.28889444e+02] [-3.46625469e-03 9.99993948e-01 2.97593622e-04 -1.30459704e+01] [ 2.64289947e-03 -2.88433353e-04 9.99996466e-01 -3.82965023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.779928851 meters 0.0946726094448749 Centerline is valid? [True, True] Translation: X:128.95, Y:-13.04, Z:-3.83 [[ 9.99992739e-01 3.43427793e-03 -1.65151268e-03 1.28949124e+02] [-3.43397674e-03 9.99994087e-01 1.85172814e-04 -1.30420390e+01] [ 1.65213885e-03 -1.79500213e-04 9.99998619e-01 -3.83097158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.839928851 meters 0.09295784425521036 Centerline is valid? [True, True] Translation: X:129.01, Y:-13.04, Z:-3.83 [[ 9.99980598e-01 6.07008086e-03 -1.39908112e-03 1.29010361e+02] [-6.06986504e-03 9.99981566e-01 1.58458302e-04 -1.30367635e+01] [ 1.40001719e-03 -1.49962994e-04 9.99999009e-01 -3.83281743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.899928851 meters 0.09433571604814453 Centerline is valid? [True, True] Translation: X:129.07, Y:-13.04, Z:-3.84 [[ 9.99970501e-01 7.58812016e-03 -1.19050265e-03 1.29069113e+02] [-7.58796608e-03 9.99971202e-01 1.33886260e-04 -1.30400833e+01] [ 1.19148432e-03 -1.24848817e-04 9.99999282e-01 -3.83582089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.959928851 meters 0.09302649947292001 Centerline is valid? [True, True] Translation: X:129.13, Y:-13.04, Z:-3.84 [[ 9.99959778e-01 8.95550517e-03 -4.91097217e-04 1.29129632e+02] [-8.95547941e-03 9.99959897e-01 5.46313231e-05 -1.30363091e+01] [ 4.91566773e-04 -5.02311147e-05 9.99999878e-01 -3.83833631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.019928851 meters 0.09255260877076447 Centerline is valid? [True, True] Translation: X:129.19, Y:-13.04, Z:-3.84 [[ 9.99979010e-01 6.47460564e-03 2.41252827e-04 1.29189721e+02] [-6.47459916e-03 9.99979039e-01 -2.76378956e-05 -1.30370157e+01] [-2.41426714e-04 2.60753002e-05 9.99999971e-01 -3.83963041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.079928851 meters 0.09415237292835313 Centerline is valid? [True, True] Translation: X:129.25, Y:-13.04, Z:-3.84 [[ 9.99989470e-01 4.47024943e-03 1.03781889e-03 1.29249292e+02] [-4.47012933e-03 9.99990002e-01 -1.18008814e-04 -1.30426879e+01] [-1.03833604e-03 1.13368386e-04 9.99999455e-01 -3.84114589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.139928851 meters 0.09422966157253124 Centerline is valid? [True, True] Translation: X:129.31, Y:-13.04, Z:-3.84 [[ 9.99995477e-01 1.93528853e-03 2.30224175e-03 1.29309912e+02] [-1.93469294e-03 9.99998094e-01 -2.60899523e-04 -1.30440298e+01] [-2.30274228e-03 2.56444212e-04 9.99997316e-01 -3.84249704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.199928851 meters 0.09786609542885777 Centerline is valid? [True, True] Translation: X:129.37, Y:-13.05, Z:-3.85 [[ 9.99995868e-01 7.75424351e-04 2.76812850e-03 1.29369569e+02] [-7.74563764e-04 9.99999651e-01 -3.11949738e-04 -1.30548039e+01] [-2.76836942e-03 3.09804357e-04 9.99996120e-01 -3.84626553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.25992885099998 meters 0.09494481100098578 Centerline is valid? [True, True] Translation: X:129.43, Y:-13.05, Z:-3.85 [[ 9.99996435e-01 7.27875950e-04 2.56894190e-03 1.29431247e+02] [-7.27133093e-04 9.99999694e-01 -2.90090382e-04 -1.30512840e+01] [-2.56915227e-03 2.88221385e-04 9.99996658e-01 -3.84733629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.319928851 meters 0.09724109658413052 Centerline is valid? [True, True] Translation: X:129.49, Y:-13.06, Z:-3.85 [[ 9.99995150e-01 5.55441699e-04 3.06465696e-03 1.29490807e+02] [-5.54386156e-04 9.99999787e-01 -3.45263474e-04 -1.30572695e+01] [-3.06484808e-03 3.43562796e-04 9.99995244e-01 -3.84981447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.379928851 meters 0.097216370496691 Centerline is valid? [True, True] Translation: X:129.55, Y:-13.06, Z:-3.85 [[ 9.99998012e-01 6.82343062e-04 1.87386116e-03 1.29552015e+02] [-6.81947816e-04 9.99999745e-01 -2.11556645e-04 -1.30586134e+01] [-1.87400503e-03 2.10278349e-04 9.99998222e-01 -3.85148843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.439928851 meters 0.0988322308695124 Centerline is valid? [True, True] Translation: X:129.61, Y:-13.06, Z:-3.85 [[ 9.99994742e-01 6.18672542e-04 3.18324678e-03 1.29612703e+02] [-6.17527680e-04 9.99999744e-01 -3.60622820e-04 -1.30648031e+01] [-3.18346907e-03 3.58655181e-04 9.99994868e-01 -3.85355120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.499928851 meters 0.09868745224679105 Centerline is valid? [True, True] Translation: X:129.67, Y:-13.07, Z:-3.85 [[ 9.99991287e-01 9.65412921e-04 4.06117287e-03 1.29674058e+02] [-9.63553160e-04 9.99999430e-01 -4.59868630e-04 -1.30667769e+01] [-4.06161452e-03 4.55951467e-04 9.99991648e-01 -3.85473336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.559928851 meters 0.09316564689564395 Centerline is valid? [True, True] Translation: X:129.74, Y:-13.06, Z:-3.85 [[ 9.99994801e-01 1.43482207e-03 2.88790912e-03 1.29737853e+02] [-1.43388688e-03 9.99998919e-01 -3.25873699e-04 -1.30605579e+01] [-2.88837356e-03 3.21731070e-04 9.99995777e-01 -3.85455193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.619928851 meters 0.09411321761957066 Centerline is valid? [True, True] Translation: X:129.80, Y:-13.07, Z:-3.86 [[ 9.99993745e-01 1.66704775e-03 3.11952286e-03 1.29798687e+02] [-1.66595359e-03 9.99998550e-01 -3.53310086e-04 -1.30682180e+01] [-3.12010732e-03 3.48110896e-04 9.99995072e-01 -3.85710068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.679928851 meters 0.09666810334862268 Centerline is valid? [True, True] Translation: X:129.86, Y:-13.08, Z:-3.86 [[ 9.99995270e-01 1.64743950e-03 2.59721289e-03 1.29858523e+02] [-1.64668001e-03 9.99998601e-01 -2.94539834e-04 -1.30762182e+01] [-2.59769449e-03 2.90261662e-04 9.99996584e-01 -3.86004304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.739928851 meters 0.09766630306036353 Centerline is valid? [True, True] Translation: X:129.92, Y:-13.08, Z:-3.86 [[ 9.99996645e-01 1.64288792e-03 2.00262430e-03 1.29919084e+02] [-1.64243741e-03 9.99998626e-01 -2.26583749e-04 -1.30826655e+01] [-2.00299380e-03 2.23293804e-04 9.99997969e-01 -3.86210944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.799928851 meters 0.09984877027780244 Centerline is valid? [True, True] Translation: X:129.98, Y:-13.09, Z:-3.86 [[ 9.99997334e-01 1.52045554e-03 1.73764321e-03 1.29978928e+02] [-1.52011550e-03 9.99998825e-01 -1.96997454e-04 -1.30902195e+01] [-1.73794069e-03 1.94355511e-04 9.99998471e-01 -3.86439481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.859928851 meters 0.09655494572179568 Centerline is valid? [True, True] Translation: X:130.04, Y:-13.09, Z:-3.87 [[ 9.99991312e-01 3.98577583e-03 1.22086464e-03 1.30040349e+02] [-3.98560934e-03 9.99992048e-01 -1.38767558e-04 -1.30871667e+01] [-1.22140803e-03 1.33900463e-04 9.99999245e-01 -3.86531973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.919928851 meters 0.09502516356337035 Centerline is valid? [True, True] Translation: X:130.10, Y:-13.09, Z:-3.87 [[ 9.99977969e-01 6.56991818e-03 9.47833301e-04 1.30100989e+02] [-6.56981891e-03 9.99978413e-01 -1.07816961e-04 -1.30876007e+01] [-9.48521188e-04 1.01587492e-04 9.99999545e-01 -3.86730420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.97992885099998 meters 0.08958886139431838 Centerline is valid? [True, True] Translation: X:130.16, Y:-13.08, Z:-3.87 [[ 9.99941108e-01 1.08516414e-02 1.49299815e-04 1.30162928e+02] [-1.08516390e-02 9.99941119e-01 -1.67832644e-05 -1.30795769e+01] [-1.49473150e-04 1.51621283e-05 9.99999989e-01 -3.86643124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.03992885099998 meters 0.09172758990330178 Centerline is valid? [True, True] Translation: X:130.22, Y:-13.09, Z:-3.87 [[ 9.99919537e-01 1.26850680e-02 -9.57927477e-05 1.30221166e+02] [-1.26850671e-02 9.99919541e-01 9.88542503e-06 -1.30874172e+01] [ 9.59104376e-05 -8.66949218e-06 9.99999995e-01 -3.86936055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.099928851 meters 0.09096842037719571 Centerline is valid? [True, True] Translation: X:130.28, Y:-13.09, Z:-3.87 [[ 9.99891367e-01 1.47324300e-02 4.58066788e-04 1.30282022e+02] [-1.47324076e-02 9.99891471e-01 -5.22789383e-05 -1.30894066e+01] [-4.58787270e-04 4.55248325e-05 9.99999894e-01 -3.87096434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.159928851 meters 0.09207641918843697 Centerline is valid? [True, True] Translation: X:130.34, Y:-13.10, Z:-3.87 [[ 9.99889924e-01 1.47982619e-02 1.07270480e-03 1.30340772e+02] [-1.47981366e-02 9.99890494e-01 -1.24708140e-04 -1.30972185e+01] [-1.07443280e-03 1.08820381e-04 9.99999417e-01 -3.87277047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.219928851 meters 0.09240788962826249 Centerline is valid? [True, True] Translation: X:130.40, Y:-13.10, Z:-3.87 [[ 9.99906726e-01 1.34302334e-02 2.48363271e-03 1.30399674e+02] [-1.34295709e-02 9.99909779e-01 -2.83237864e-04 -1.31031236e+01] [-2.48721259e-03 2.49857324e-04 9.99996876e-01 -3.87428912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.279928851 meters 0.09197853198755743 Centerline is valid? [True, True] Translation: X:130.46, Y:-13.11, Z:-3.88 [[ 9.99930706e-01 1.14989509e-02 2.52121777e-03 1.30459985e+02] [-1.14982659e-02 9.99933852e-01 -2.86038630e-04 -1.31083811e+01] [-2.52434014e-03 2.57029177e-04 9.99996781e-01 -3.87591484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.339928851 meters 0.10007254214345035 Centerline is valid? [True, False] Translation: X:130.46, Y:-13.11, Z:-3.88 [[ 9.99970946e-01 7.30267316e-03 2.18571796e-03 1.30460807e+02] [-7.29247743e-03 9.99962659e-01 -4.63688128e-03 -1.31073597e+01] [-2.21949797e-03 4.62080726e-03 9.99986861e-01 -3.87623995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.399928851 meters 0.09941134410978018 Centerline is valid? [False, True] Translation: X:130.46, Y:-13.11, Z:-3.88 [[ 9.99970657e-01 7.24939529e-03 2.47634882e-03 1.30460428e+02] [-7.23829725e-03 9.99963850e-01 -4.46155674e-03 -1.31079493e+01] [-2.50860288e-03 4.44350128e-03 9.99986981e-01 -3.87649880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.459928851 meters 0.10024339905079709 Centerline is valid? [True, False] Translation: X:130.46, Y:-13.11, Z:-3.88 [[ 9.99971080e-01 7.12135528e-03 2.66944452e-03 1.30460241e+02] [-7.10944230e-03 9.99964844e-01 -4.44595382e-03 -1.31079919e+01] [-2.70101189e-03 4.42684698e-03 9.99986554e-01 -3.87679310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.519928851 meters 0.10109748995867762 Centerline is valid? [False, False] Translation: X:130.47, Y:-13.11, Z:-3.87 [[ 9.99987299e-01 2.94631173e-03 -4.08914889e-03 1.30469173e+02] [-2.95548724e-03 9.99993125e-01 -2.23964117e-03 -1.31059015e+01] [ 4.08252210e-03 2.25169815e-03 9.99989131e-01 -3.87318103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.579928851 meters 0.10297918130652976 Centerline is valid? [False, False] Translation: X:130.47, Y:-13.10, Z:-3.87 [[ 9.99985856e-01 2.84552275e-03 -4.49344610e-03 1.30470133e+02] [-2.85842744e-03 9.99991802e-01 -2.86808473e-03 -1.31031625e+01] [ 4.48524806e-03 2.88088835e-03 9.99985791e-01 -3.87338001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.639928851 meters 0.10273046791993401 Centerline is valid? [False, False] Translation: X:130.47, Y:-13.10, Z:-3.87 [[ 9.99985551e-01 2.60690687e-03 -4.70122281e-03 1.30470559e+02] [-2.62323245e-03 9.99990540e-01 -3.46980619e-03 -1.31010289e+01] [ 4.69213287e-03 3.48208845e-03 9.99982929e-01 -3.87339934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.699928851 meters 0.10015014246128852 Centerline is valid? [False, False] Translation: X:130.47, Y:-13.10, Z:-3.87 [[ 9.99983944e-01 2.59043767e-03 -5.03995708e-03 1.30471532e+02] [-2.60992325e-03 9.99989131e-01 -3.86349236e-03 -1.30987799e+01] [ 5.02989417e-03 3.87658423e-03 9.99979836e-01 -3.87385863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.75992885099998 meters 0.09997472638381469 Centerline is valid? [False, True] Translation: X:130.47, Y:-13.10, Z:-3.87 [[ 9.99983427e-01 2.63267437e-03 -5.11993752e-03 1.30471892e+02] [-2.65246067e-03 9.99989026e-01 -3.86161555e-03 -1.30982177e+01] [ 5.10971496e-03 3.87513198e-03 9.99979437e-01 -3.87416463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.819928851 meters 0.09950449335404624 Centerline is valid? [True, True] Translation: X:130.53, Y:-13.11, Z:-3.88 [[ 9.99981517e-01 1.38986746e-03 -5.91888615e-03 1.30532090e+02] [-1.38595213e-03 9.99998818e-01 6.65548436e-04 -1.31055111e+01] [ 5.91980418e-03 -6.57332842e-04 9.99982262e-01 -3.87714324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.879928851 meters 0.1041816720652759 Centerline is valid? [True, False] Translation: X:130.53, Y:-13.11, Z:-3.88 [[ 9.99983182e-01 1.35783597e-03 -5.63839117e-03 1.30531630e+02] [-1.35309806e-03 9.99998728e-01 8.44023399e-04 -1.31061825e+01] [ 5.63953004e-03 -8.36379908e-04 9.99983748e-01 -3.87728007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.939928851 meters 0.09956887097376643 Centerline is valid? [False, True] Translation: X:130.53, Y:-13.11, Z:-3.88 [[ 9.99985814e-01 1.30802678e-03 -5.16340381e-03 1.30530678e+02] [-1.30182114e-03 9.99998427e-01 1.20502913e-03 -1.31079087e+01] [ 5.16497189e-03 -1.19829020e-03 9.99985943e-01 -3.87724766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.999928851 meters 0.10017525296361743 Centerline is valid? [True, False] Translation: X:130.53, Y:-13.11, Z:-3.88 [[ 9.99986596e-01 1.22472220e-03 -5.03063431e-03 1.30530030e+02] [-1.21844698e-03 9.99998476e-01 1.25027644e-03 -1.31088405e+01] [ 5.03215788e-03 -1.24413012e-03 9.99986565e-01 -3.87667657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.059928851 meters 0.10142704667568822 Centerline is valid? [False, False] Translation: X:130.53, Y:-13.11, Z:-3.88 [[ 9.99987369e-01 1.33816674e-03 -4.84471601e-03 1.30529816e+02] [-1.33031953e-03 9.99997799e-01 1.62260708e-03 -1.31099779e+01] [ 4.84687667e-03 -1.61614156e-03 9.99986948e-01 -3.87690877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.119928851 meters 0.10251716527166818 Centerline is valid? [False, False] Translation: X:130.53, Y:-13.11, Z:-3.88 [[ 9.99982932e-01 -2.21088790e-03 -5.40807689e-03 1.30531311e+02] [ 2.20079274e-03 9.99995826e-01 -1.87192109e-03 -1.31110902e+01] [ 5.41219293e-03 1.85998708e-03 9.99983624e-01 -3.87739050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.179928851 meters 0.10060569922533598 Centerline is valid? [False, False] Translation: X:130.53, Y:-13.11, Z:-3.88 [[ 9.99984305e-01 -2.04448284e-03 -5.21627838e-03 1.30530879e+02] [ 2.03723421e-03 9.99996952e-01 -1.39455234e-03 -1.31127780e+01] [ 5.21911362e-03 1.38390367e-03 9.99985423e-01 -3.87733109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.239928851 meters 0.10430923248775262 Centerline is valid? [False, False] Translation: X:130.53, Y:-13.11, Z:-3.88 [[ 9.99985963e-01 -1.99474560e-03 -4.90867267e-03 1.30529996e+02] [ 1.98999653e-03 9.99997547e-01 -9.72179443e-04 -1.31149501e+01] [ 4.91059988e-03 9.62397555e-04 9.99987480e-01 -3.87693643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.299928851 meters 0.10435985509824795 Centerline is valid? [False, False] Translation: X:130.53, Y:-13.12, Z:-3.88 [[ 9.99987556e-01 -1.86969520e-03 -4.62525825e-03 1.30529362e+02] [ 1.86739652e-03 9.99998131e-01 -5.01252880e-04 -1.31167503e+01] [ 4.62618679e-03 4.92609451e-04 9.99989178e-01 -3.87682225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.359928851 meters 0.10916092371366712 Centerline is valid? [False, False] Translation: X:130.53, Y:-13.12, Z:-3.88 [[ 9.99988860e-01 -1.20069474e-03 -4.56495085e-03 1.30529397e+02] [ 1.20388328e-03 9.99999033e-01 6.95799277e-04 -1.31202153e+01] [ 4.56411100e-03 -7.01287193e-04 9.99989338e-01 -3.87696797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.419928851 meters 0.10852077613338795 Centerline is valid? [False, False] Translation: X:130.53, Y:-13.12, Z:-3.88 [[ 9.99991275e-01 -1.16691657e-03 -4.01109329e-03 1.30527860e+02] [ 1.17291577e-03 9.99998197e-01 1.49362639e-03 -1.31246366e+01] [ 4.00934312e-03 -1.49831804e-03 9.99990840e-01 -3.87623228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.47992885099998 meters 0.1062299458506781 Centerline is valid? [False, False] Translation: X:130.53, Y:-13.13, Z:-3.88 [[ 9.99992792e-01 -1.04246843e-03 -3.65104799e-03 1.30526967e+02] [ 1.05016864e-03 9.99997227e-01 2.10775975e-03 -1.31272844e+01] [ 3.64884059e-03 -2.11157877e-03 9.99991114e-01 -3.87595252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.53992885099998 meters 0.10693590079974415 Centerline is valid? [False, False] Translation: X:130.53, Y:-13.13, Z:-3.88 [[ 9.99993098e-01 -5.91887181e-04 -3.66786898e-03 1.30527406e+02] [ 6.02257956e-04 9.99995823e-01 2.82700677e-03 -1.31288917e+01] [ 3.66618039e-03 -2.82919626e-03 9.99989277e-01 -3.87651198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.599928851 meters 0.10740039601323308 Centerline is valid? [False, False] Translation: X:130.53, Y:-13.13, Z:-3.88 [[ 9.99993459e-01 -1.53657699e-04 -3.61357911e-03 1.30527101e+02] [ 1.66895578e-04 9.99993276e-01 3.66335426e-03 -1.31319331e+01] [ 3.61299191e-03 -3.66393339e-03 9.99986761e-01 -3.87617960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.659928851 meters 0.101468438720547 Centerline is valid? [False, False] Translation: X:130.53, Y:-13.13, Z:-3.88 [[ 9.99992971e-01 -9.17864241e-05 -3.74839834e-03 1.30527314e+02] [ 1.05485595e-04 9.99993316e-01 3.65463902e-03 -1.31321023e+01] [ 3.74803784e-03 -3.65500874e-03 9.99986296e-01 -3.87604415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.719928851 meters 0.10192135717432879 Centerline is valid? [False, False] Translation: X:130.53, Y:-13.13, Z:-3.88 [[ 9.99992022e-01 -4.57860675e-05 -3.99410102e-03 1.30527409e+02] [ 5.99473348e-05 9.99993713e-01 3.54549794e-03 -1.31321874e+01] [ 3.99391358e-03 -3.54570909e-03 9.99985738e-01 -3.87546288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.779928851 meters 0.09850040854200989 Centerline is valid? [False, True] Translation: X:130.53, Y:-13.13, Z:-3.88 [[ 9.99991367e-01 9.20995388e-05 -4.15423111e-03 1.30527710e+02] [-7.69744707e-05 9.99993369e-01 3.64089563e-03 -1.31326587e+01] [ 4.15453889e-03 -3.64054443e-03 9.99984743e-01 -3.87542049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.839928851 meters 0.09420233867322736 Centerline is valid? [True, True] Translation: X:130.59, Y:-13.13, Z:-3.88 [[ 9.99979183e-01 2.79233265e-03 -5.81695199e-03 1.30589179e+02] [-2.78841912e-03 9.99995881e-01 6.80781839e-04 -1.31305550e+01] [ 5.81882900e-03 -6.64547567e-04 9.99982850e-01 -3.87545661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.899928851 meters 0.09674438723086545 Centerline is valid? [True, True] Translation: X:130.65, Y:-13.14, Z:-3.88 [[ 9.99973270e-01 5.19274946e-03 -5.14724702e-03 1.30648103e+02] [-5.18971923e-03 9.99986352e-01 6.01889269e-04 -1.31410865e+01] [ 5.15030223e-03 -5.75160414e-04 9.99986572e-01 -3.87816730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.959928851 meters 0.09533590801814565 Centerline is valid? [True, True] Translation: X:130.71, Y:-13.14, Z:-3.88 [[ 9.99940226e-01 9.91219259e-03 -4.61443262e-03 1.30708793e+02] [-9.90980535e-03 9.99950751e-01 5.39918188e-04 -1.31445950e+01] [ 4.61955714e-03 -4.94157785e-04 9.99989208e-01 -3.87960459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.019928851 meters 0.09533195011443066 Centerline is valid? [True, True] Translation: X:130.77, Y:-13.15, Z:-3.88 [[ 9.99934798e-01 1.08588539e-02 -3.53328908e-03 1.30767842e+02] [-1.08574631e-02 9.99940971e-01 4.12568838e-04 -1.31513901e+01] [ 3.53756054e-03 -3.74179382e-04 9.99993673e-01 -3.88002878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.079928851 meters 0.09465151934731583 Centerline is valid? [True, True] Translation: X:130.83, Y:-13.16, Z:-3.88 [[ 9.99954428e-01 9.20514814e-03 -2.53135422e-03 1.30827037e+02] [-9.20442987e-03 9.99957595e-01 2.95253967e-04 -1.31593684e+01] [ 2.53396474e-03 -2.71940839e-04 9.99996753e-01 -3.88054499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.139928851 meters 0.0968912316253156 Centerline is valid? [True, True] Translation: X:130.89, Y:-13.17, Z:-3.88 [[ 9.99978768e-01 5.57030261e-03 -3.38155823e-03 1.30886164e+02] [-5.56899651e-03 9.99984415e-01 3.95535010e-04 -1.31742048e+01] [ 3.38370878e-03 -3.76694726e-04 9.99994204e-01 -3.88397000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.199928851 meters 0.09783895315202325 Centerline is valid? [True, True] Translation: X:130.95, Y:-13.18, Z:-3.89 [[ 9.99987788e-01 2.77942959e-03 -4.08650166e-03 1.30945805e+02] [-2.77750008e-03 9.99996029e-01 4.77765709e-04 -1.31844286e+01] [ 4.08781335e-03 -4.66409615e-04 9.99991536e-01 -3.88532339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.25992885099998 meters 0.0992753725739711 Centerline is valid? [True, True] Translation: X:131.01, Y:-13.20, Z:-3.89 [[ 9.99987928e-01 -9.38183530e-06 -4.91353278e-03 1.31005374e+02] [ 1.22045618e-05 9.99999835e-01 5.74450367e-04 -1.31984534e+01] [ 4.91352658e-03 -5.74503400e-04 9.99987764e-01 -3.88689863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.319928851 meters 0.09814938345578152 Centerline is valid? [True, True] Translation: X:131.07, Y:-13.21, Z:-3.89 [[ 9.99990242e-01 -2.65672631e-03 -3.52965617e-03 1.31065696e+02] [ 2.65819912e-03 9.99996382e-01 4.12641099e-04 -1.32060689e+01] [ 3.52854712e-03 -4.22019601e-04 9.99993686e-01 -3.88703489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.379928851 meters 0.10331310141911627 Centerline is valid? [True, False] Translation: X:131.07, Y:-13.21, Z:-3.89 [[ 9.99992803e-01 -2.21020968e-03 -3.08368560e-03 1.31065209e+02] [ 2.21627924e-03 9.99995611e-01 1.96625556e-03 -1.32106497e+01] [ 3.07932623e-03 -1.97307572e-03 9.99993312e-01 -3.88759366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.439928851 meters 0.0975897160330319 Centerline is valid? [False, True] Translation: X:131.06, Y:-13.21, Z:-3.89 [[ 9.99994103e-01 -2.03547448e-03 -2.76595170e-03 1.31064679e+02] [ 2.04279047e-03 9.99994416e-01 2.64477141e-03 -1.32131362e+01] [ 2.76055289e-03 -2.65040608e-03 9.99992677e-01 -3.88767945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.499928851 meters 0.09984014880858738 Centerline is valid? [True, True] Translation: X:131.12, Y:-13.23, Z:-3.89 [[ 9.99984752e-01 -3.52309473e-03 -4.25256524e-03 1.31122509e+02] [ 3.52534990e-03 9.99993649e-01 5.22929738e-04 -1.32258934e+01] [ 4.25069590e-03 -5.37913545e-04 9.99990821e-01 -3.88987066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.559928851 meters 0.1024015170585197 Centerline is valid? [True, False] Translation: X:131.12, Y:-13.23, Z:-3.89 [[ 9.99986081e-01 -3.07341061e-03 -4.28865040e-03 1.31122934e+02] [ 3.07863268e-03 9.99994527e-01 1.21158098e-03 -1.32274282e+01] [ 4.28490324e-03 -1.22476729e-03 9.99990070e-01 -3.89034361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.619928851 meters 0.09756408604319795 Centerline is valid? [False, True] Translation: X:131.12, Y:-13.23, Z:-3.89 [[ 9.99986266e-01 -2.81335519e-03 -4.42195472e-03 1.31123230e+02] [ 2.82017269e-03 9.99994843e-01 1.53626088e-03 -1.32281335e+01] [ 4.41760987e-03 -1.54871046e-03 9.99989043e-01 -3.89038693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.679928851 meters 0.10019911239213664 Centerline is valid? [True, False] Translation: X:131.12, Y:-13.23, Z:-3.89 [[ 9.99985950e-01 -2.62492234e-03 -4.60542472e-03 1.31123606e+02] [ 2.63292966e-03 9.99995031e-01 1.73347205e-03 -1.32285579e+01] [ 4.60085161e-03 -1.74557345e-03 9.99987892e-01 -3.89041778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.739928851 meters 0.0985064157402908 Centerline is valid? [False, True] Translation: X:131.12, Y:-13.23, Z:-3.89 [[ 9.99985614e-01 -2.17714287e-03 -4.90224244e-03 1.31124434e+02] [ 2.18787294e-03 9.99995221e-01 2.18450993e-03 -1.32293301e+01] [ 4.89746302e-03 -2.19520398e-03 9.99985598e-01 -3.89076558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.799928851 meters 0.1009667650705086 Centerline is valid? [True, False] Translation: X:131.13, Y:-13.23, Z:-3.89 [[ 9.99985269e-01 -1.71312223e-03 -5.15043430e-03 1.31125223e+02] [ 1.72703234e-03 9.99994870e-01 2.69753111e-03 -1.32303055e+01] [ 5.14578668e-03 -2.70638634e-03 9.99983098e-01 -3.89121274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.859928851 meters 0.09835958974043554 Centerline is valid? [False, True] Translation: X:131.13, Y:-13.23, Z:-3.89 [[ 9.99984991e-01 -1.54444843e-03 -5.25660929e-03 1.31125318e+02] [ 1.55980153e-03 9.99994526e-01 2.91787727e-03 -1.32311607e+01] [ 5.25207400e-03 -2.92603274e-03 9.99981927e-01 -3.89103725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.919928851 meters 0.10010976530823491 Centerline is valid? [True, False] Translation: X:131.13, Y:-13.23, Z:-3.89 [[ 9.99985164e-01 -1.30853069e-03 -5.28774299e-03 1.31125190e+02] [ 1.32627705e-03 9.99993496e-01 3.35401950e-03 -1.32327678e+01] [ 5.28331976e-03 -3.36098275e-03 9.99980395e-01 -3.89075820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.97992885099998 meters 0.10106374894874103 Centerline is valid? [False, False] Translation: X:131.13, Y:-13.23, Z:-3.89 [[ 9.99985878e-01 -9.40920844e-04 -5.23050381e-03 1.31125342e+02] [ 9.62022160e-04 9.99991404e-01 4.03322888e-03 -1.32345885e+01] [ 5.22666390e-03 -4.03820378e-03 9.99978187e-01 -3.89111053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.03992885099998 meters 0.09609813126692454 Centerline is valid? [False, True] Translation: X:131.12, Y:-13.24, Z:-3.89 [[ 9.99987101e-01 -8.33925707e-04 -5.01021640e-03 1.31124736e+02] [ 8.56308610e-04 9.99989656e-01 4.46696933e-03 -1.32367237e+01] [ 5.00643945e-03 -4.47120201e-03 9.99977472e-01 -3.89080423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.099928851 meters 0.0970869113603033 Centerline is valid? [True, True] Translation: X:131.18, Y:-13.24, Z:-3.89 [[ 9.99989711e-01 -9.59766083e-04 -4.43359440e-03 1.31183380e+02] [ 9.61944963e-04 9.99999418e-01 4.89341397e-04 -1.32449070e+01] [ 4.43312216e-03 -4.93601236e-04 9.99990052e-01 -3.89074186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.159928851 meters 0.10545726398390878 Centerline is valid? [True, False] Translation: X:131.18, Y:-13.25, Z:-3.89 [[ 9.99991146e-01 -8.19985375e-04 -4.12750791e-03 1.31182654e+02] [ 8.24246799e-04 9.99999129e-01 1.03084958e-03 -1.32468621e+01] [ 4.12665903e-03 -1.03424254e-03 9.99990950e-01 -3.89049845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.219928851 meters 0.10882732146780949 Centerline is valid? [False, False] Translation: X:131.18, Y:-13.25, Z:-3.89 [[ 9.99991583e-01 -4.49546468e-04 -4.07809900e-03 1.31182798e+02] [ 4.56365828e-04 9.99998499e-01 1.67141434e-03 -1.32485747e+01] [ 4.07734150e-03 -1.67326138e-03 9.99990288e-01 -3.89080105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.279928851 meters 0.09647048262358986 Centerline is valid? [False, True] Translation: X:131.18, Y:-13.25, Z:-3.89 [[ 9.99991446e-01 -2.19166998e-04 -4.13041003e-03 1.31182809e+02] [ 2.27654962e-04 9.99997863e-01 2.05463491e-03 -1.32498089e+01] [ 4.12995090e-03 -2.05555764e-03 9.99989359e-01 -3.89066052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.339928851 meters 0.0957808323495644 Centerline is valid? [True, True] Translation: X:131.24, Y:-13.26, Z:-3.89 [[ 9.99986361e-01 2.67716623e-03 -4.48446291e-03 1.31243408e+02] [-2.67496472e-03 9.99996299e-01 4.96844186e-04 -1.32553790e+01] [ 4.48577645e-03 -4.84841630e-04 9.99989821e-01 -3.89130900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.399928851 meters 0.09347585075358991 Centerline is valid? [True, True] Translation: X:131.30, Y:-13.26, Z:-3.89 [[ 9.99985058e-01 3.43654402e-03 -4.25142825e-03 1.31302054e+02] [-3.43458057e-03 9.99993992e-01 4.69047682e-04 -1.32587521e+01] [ 4.25301461e-03 -4.54438801e-04 9.99990853e-01 -3.89178892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.459928851 meters 0.09544199312676598 Centerline is valid? [True, True] Translation: X:131.36, Y:-13.27, Z:-3.89 [[ 9.99983582e-01 3.86695194e-03 -4.22886718e-03 1.31359035e+02] [-3.86501646e-03 9.99992422e-01 4.65761069e-04 -1.32696005e+01] [ 4.23063621e-03 -4.49408780e-04 9.99990950e-01 -3.89479152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.519928851 meters 0.09153907098020268 Centerline is valid? [True, True] Translation: X:131.42, Y:-13.27, Z:-3.89 [[ 9.99983966e-01 4.33047201e-03 -3.64883427e-03 1.31418615e+02] [-4.32903471e-03 9.99990549e-01 4.01713697e-04 -1.32687379e+01] [ 3.65053939e-03 -3.85911326e-04 9.99993262e-01 -3.89382193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.579928851 meters 0.09242797188057328 Centerline is valid? [True, True] Translation: X:131.48, Y:-13.28, Z:-3.90 [[ 9.99979240e-01 4.82104751e-03 -4.27526512e-03 1.31476483e+02] [-4.81907856e-03 9.99988277e-01 4.70725011e-04 -1.32770629e+01] [ 4.27748439e-03 -4.50112400e-04 9.99990750e-01 -3.89653355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.639928851 meters 0.09515861570974254 Centerline is valid? [True, True] Translation: X:131.53, Y:-13.29, Z:-3.90 [[ 9.99970854e-01 4.61582944e-03 -6.08162521e-03 1.31533851e+02] [-4.61183561e-03 9.99989141e-01 6.70565451e-04 -1.32888141e+01] [ 6.08465439e-03 -6.42498451e-04 9.99981282e-01 -3.90030509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.699928851 meters 0.09676189757565434 Centerline is valid? [True, True] Translation: X:131.59, Y:-13.30, Z:-3.90 [[ 9.99974913e-01 3.04648157e-03 -6.39467769e-03 1.31593118e+02] [-3.04202861e-03 9.99995124e-01 7.05965579e-04 -1.32975849e+01] [ 6.39679722e-03 -6.86495076e-04 9.99979305e-01 -3.90259036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.75992885099998 meters 0.09088212689443255 Centerline is valid? [True, True] Translation: X:131.66, Y:-13.29, Z:-3.90 [[ 9.99980585e-01 2.42780950e-04 -6.22654917e-03 1.31655066e+02] [-2.38502746e-04 9.99999735e-01 6.87824053e-04 -1.32926353e+01] [ 6.22671451e-03 -6.86325650e-04 9.99980378e-01 -3.89907101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.819928851 meters 0.09591841610870944 Centerline is valid? [True, True] Translation: X:131.71, Y:-13.31, Z:-3.90 [[ 9.99981543e-01 -8.86387683e-04 -6.01067195e-03 1.31711917e+02] [ 8.90384201e-04 9.99999384e-01 6.62260327e-04 -1.33088394e+01] [ 6.01008123e-03 -6.67599911e-04 9.99981716e-01 -3.90379983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.879928851 meters 0.09205688549952684 Centerline is valid? [True, True] Translation: X:131.77, Y:-13.31, Z:-3.90 [[ 9.99981604e-01 -1.71243869e-03 -5.81884200e-03 1.31771203e+02] [ 1.71619249e-03 9.99998322e-01 6.40179082e-04 -1.33062495e+01] [ 5.81773598e-03 -6.50153558e-04 9.99982865e-01 -3.90332725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.939928851 meters 0.09268215946964668 Centerline is valid? [True, True] Translation: X:131.83, Y:-13.31, Z:-3.90 [[ 9.99985369e-01 -1.71227100e-03 -5.13132708e-03 1.31829807e+02] [ 1.71515833e-03 9.99998373e-01 5.58338849e-04 -1.33133208e+01] [ 5.13036270e-03 -5.67131719e-04 9.99986679e-01 -3.90435721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.999928851 meters 0.1007997991744917 Centerline is valid? [True, False] Translation: X:131.83, Y:-13.31, Z:-3.90 [[ 9.99986124e-01 -1.45726835e-03 -5.06248706e-03 1.31830005e+02] [ 1.46240278e-03 9.99998420e-01 1.01065708e-03 -1.33140630e+01] [ 5.06100627e-03 -1.01804645e-03 9.99986675e-01 -3.90482736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.059928851 meters 0.0972869655244336 Centerline is valid? [False, True] Translation: X:131.83, Y:-13.31, Z:-3.91 [[ 9.99985923e-01 -1.19290349e-03 -5.17017452e-03 1.31830683e+02] [ 1.20007508e-03 9.99998322e-01 1.38422741e-03 -1.33142623e+01] [ 5.16851459e-03 -1.39041252e-03 9.99985677e-01 -3.90551132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.119928851 meters 0.09857145580031511 Centerline is valid? [True, True] Translation: X:131.89, Y:-13.32, Z:-3.91 [[ 9.99981798e-01 -1.35406477e-03 -5.87957583e-03 1.31889043e+02] [ 1.35791180e-03 9.99998867e-01 6.50360926e-04 -1.33223815e+01] [ 5.87868854e-03 -6.58333034e-04 9.99982504e-01 -3.90724777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.179928851 meters 0.09960383476665549 Centerline is valid? [True, True] Translation: X:131.95, Y:-13.33, Z:-3.91 [[ 9.99983160e-01 1.48419637e-03 -5.61044772e-03 1.31947215e+02] [-1.48071127e-03 9.99998708e-01 6.25283547e-04 -1.33286595e+01] [ 5.61136852e-03 -6.16965564e-04 9.99984066e-01 -3.90981762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.239928851 meters 0.09358228307635469 Centerline is valid? [True, True] Translation: X:132.01, Y:-13.32, Z:-3.91 [[ 9.99973821e-01 4.31579022e-03 -5.80793711e-03 1.32009232e+02] [-4.31209642e-03 9.99990493e-01 6.48362762e-04 -1.33218413e+01] [ 5.81068009e-03 -6.23301403e-04 9.99982924e-01 -3.90914970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.299928851 meters 0.09391551268249071 Centerline is valid? [True, True] Translation: X:132.07, Y:-13.33, Z:-3.91 [[ 9.99947457e-01 8.11509576e-03 -6.26331283e-03 1.32069372e+02] [-8.11088057e-03 9.99966863e-01 6.98105685e-04 -1.33252411e+01] [ 6.26877047e-03 -6.47268021e-04 9.99980142e-01 -3.91098194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.359928851 meters 0.10059482911305906 Centerline is valid? [True, False] Translation: X:132.07, Y:-13.32, Z:-3.91 [[ 9.99951373e-01 7.45276181e-03 -6.45810796e-03 1.32069223e+02] [-7.45679611e-03 9.99972017e-01 -6.00833433e-04 -1.33221795e+01] [ 6.45344937e-03 6.48961010e-04 9.99978966e-01 -3.91019363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.419928851 meters 0.09264196090940202 Centerline is valid? [False, True] Translation: X:132.07, Y:-13.32, Z:-3.91 [[ 9.99953811e-01 7.04476875e-03 -6.53808226e-03 1.32069412e+02] [-7.05402673e-03 9.99974148e-01 -1.39402987e-03 -1.33197252e+01] [ 6.52809262e-03 1.44008529e-03 9.99977655e-01 -3.91023431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.47992885099998 meters 0.09253379519191816 Centerline is valid? [True, True] Translation: X:132.13, Y:-13.33, Z:-3.91 [[ 9.99965492e-01 5.31167252e-03 -6.38752633e-03 1.32128875e+02] [-5.30730937e-03 9.99985671e-01 6.99829249e-04 -1.33254737e+01] [ 6.39115207e-03 -6.65904521e-04 9.99979355e-01 -3.91185012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.53992885099998 meters 0.09352496234698329 Centerline is valid? [True, True] Translation: X:132.19, Y:-13.33, Z:-3.91 [[ 9.99977988e-01 3.06686733e-03 -5.88362075e-03 1.32189151e+02] [-3.06312782e-03 9.99995101e-01 6.44485348e-04 -1.33302827e+01] [ 5.88556847e-03 -6.26448879e-04 9.99982484e-01 -3.91303148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.599928851 meters 0.09500066676615229 Centerline is valid? [True, True] Translation: X:132.25, Y:-13.34, Z:-3.91 [[ 9.99987918e-01 1.90016172e-03 -4.53356794e-03 1.32247357e+02] [-1.89793738e-03 9.99998076e-01 4.94889537e-04 -1.33364598e+01] [ 4.53449959e-03 -4.86279130e-04 9.99989601e-01 -3.91449554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.659928851 meters 0.09394428706995729 Centerline is valid? [True, True] Translation: X:132.31, Y:-13.34, Z:-3.91 [[ 9.99992770e-01 1.05901986e-03 -3.65221144e-03 1.32306211e+02] [-1.05757303e-03 9.99999362e-01 3.98060657e-04 -1.33380058e+01] [ 3.65263066e-03 -3.94195299e-04 9.99993251e-01 -3.91472862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.719928851 meters 0.09224011268185615 Centerline is valid? [True, True] Translation: X:132.37, Y:-13.34, Z:-3.91 [[ 9.99993464e-01 3.94346100e-04 -3.59404977e-03 1.32365593e+02] [-3.92941845e-04 9.99999846e-01 3.91414585e-04 -1.33374247e+01] [ 3.59420357e-03 -3.89999774e-04 9.99993465e-01 -3.91498026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.779928851 meters 0.09872019660365448 Centerline is valid? [True, True] Translation: X:132.42, Y:-13.35, Z:-3.92 [[ 9.99993031e-01 6.33185086e-04 -3.67915042e-03 1.32422761e+02] [-6.31713947e-04 9.99999720e-01 4.01006603e-04 -1.33535809e+01] [ 3.67940330e-03 -3.98679638e-04 9.99993151e-01 -3.91981477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.839928851 meters 0.09266492696240167 Centerline is valid? [True, True] Translation: X:132.48, Y:-13.35, Z:-3.92 [[ 9.99991664e-01 1.68261159e-03 -3.72025514e-03 1.32483771e+02] [-1.68111337e-03 9.99998505e-01 4.05810335e-04 -1.33450629e+01] [ 3.72093240e-03 -3.99552781e-04 9.99992997e-01 -3.91889394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.899928851 meters 0.09373715747970941 Centerline is valid? [True, True] Translation: X:132.54, Y:-13.35, Z:-3.92 [[ 9.99986635e-01 2.73659209e-03 -4.38649380e-03 1.32542814e+02] [-2.73453040e-03 9.99996148e-01 4.75937428e-04 -1.33515220e+01] [ 4.38777935e-03 -4.63936067e-04 9.99990266e-01 -3.92135766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.959928851 meters 0.09437492594612407 Centerline is valid? [True, True] Translation: X:132.60, Y:-13.35, Z:-3.92 [[ 9.99977940e-01 5.20649265e-03 -4.12453843e-03 1.32603094e+02] [-5.20467908e-03 9.99986354e-01 4.50314100e-04 -1.33549454e+01] [ 4.12682671e-03 -4.28837267e-04 9.99991393e-01 -3.92289598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.019928851 meters 0.09432320224149142 Centerline is valid? [True, True] Translation: X:132.66, Y:-13.36, Z:-3.92 [[ 9.99966762e-01 7.42299687e-03 -3.37258017e-03 1.32663473e+02] [-7.42179684e-03 9.99972390e-01 3.68197088e-04 -1.33598438e+01] [ 3.37522018e-03 -3.43154245e-04 9.99994245e-01 -3.92459050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.079928851 meters 0.09197684883303664 Centerline is valid? [True, True] Translation: X:132.72, Y:-13.36, Z:-3.92 [[ 9.99949366e-01 9.75691640e-03 -2.46341299e-03 1.32724747e+02] [-9.75628325e-03 9.99952370e-01 2.68911795e-04 -1.33592042e+01] [ 2.46591941e-03 -2.44864424e-04 9.99996930e-01 -3.92478447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.139928851 meters 0.0923128025401297 Centerline is valid? [True, True] Translation: X:132.78, Y:-13.36, Z:-3.93 [[ 9.99942508e-01 1.05008381e-02 -2.17078739e-03 1.32783451e+02] [-1.05003521e-02 9.99944842e-01 2.35148285e-04 -1.33638321e+01] [ 2.17313690e-03 -2.12340734e-04 9.99997616e-01 -3.92559467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.199928851 meters 0.09402067059372847 Centerline is valid? [True, True] Translation: X:132.84, Y:-13.37, Z:-3.93 [[ 9.99933737e-01 1.12823707e-02 -2.28704899e-03 1.32841445e+02] [-1.12818333e-02 9.99936327e-01 2.47716089e-04 -1.33703444e+01] [ 2.28969819e-03 -2.21897569e-04 9.99997354e-01 -3.92813473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.25992885099998 meters 0.09272725718094944 Centerline is valid? [True, True] Translation: X:132.90, Y:-13.37, Z:-3.93 [[ 9.99931042e-01 1.15125172e-02 -2.31816555e-03 1.32899815e+02] [-1.15119661e-02 9.99933704e-01 2.50943856e-04 -1.33733950e+01] [ 2.32090086e-03 -2.24239908e-04 9.99997282e-01 -3.92922559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.319928851 meters 0.09036861975530654 Centerline is valid? [True, True] Translation: X:132.96, Y:-13.37, Z:-3.93 [[ 9.99934645e-01 1.10942929e-02 -2.76086150e-03 1.32959250e+02] [-1.10935093e-02 9.99938420e-01 2.98959048e-04 -1.33725649e+01] [ 2.76400823e-03 -2.68311866e-04 9.99996144e-01 -3.92954175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.379928851 meters 0.09320791633971826 Centerline is valid? [True, True] Translation: X:133.02, Y:-13.38, Z:-3.93 [[ 9.99936217e-01 1.09020526e-02 -2.95085374e-03 1.33015555e+02] [-1.09011596e-02 9.99940530e-01 3.18512914e-04 -1.33839612e+01] [ 2.95415070e-03 -2.86324871e-04 9.99995595e-01 -3.93284666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.439928851 meters 0.09241262533294498 Centerline is valid? [True, True] Translation: X:133.07, Y:-13.39, Z:-3.93 [[ 9.99945711e-01 1.01555529e-02 -2.33233820e-03 1.33074281e+02] [-1.01549928e-02 9.99948405e-01 2.51893559e-04 -1.33861584e+01] [ 2.33477599e-03 -2.28195006e-04 9.99997248e-01 -3.93351597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.499928851 meters 0.09326390738198528 Centerline is valid? [True, True] Translation: X:133.13, Y:-13.39, Z:-3.94 [[ 9.99953630e-01 9.08764912e-03 -3.18618004e-03 1.33133127e+02] [-9.08659539e-03 9.99958657e-01 3.45038353e-04 -1.33928531e+01] [ 3.18918390e-03 -3.16070825e-04 9.99994865e-01 -3.93589484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.559928851 meters 0.09131832938316357 Centerline is valid? [True, True] Translation: X:133.19, Y:-13.39, Z:-3.94 [[ 9.99962863e-01 8.46983071e-03 -1.59196629e-03 1.33192698e+02] [-8.46956885e-03 9.99964118e-01 1.71155425e-04 -1.33918143e+01] [ 1.59335882e-03 -1.57665800e-04 9.99998718e-01 -3.93520081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.619928851 meters 0.09270461447120948 Centerline is valid? [True, True] Translation: X:133.25, Y:-13.40, Z:-3.94 [[ 9.99958369e-01 8.86408365e-03 -2.16506737e-03 1.33250937e+02] [-8.86359913e-03 9.99960690e-01 2.33280476e-04 -1.33979799e+01] [ 2.16705008e-03 -2.14080475e-04 9.99997629e-01 -3.93670044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.679928851 meters 0.09327237789746526 Centerline is valid? [True, True] Translation: X:133.31, Y:-13.40, Z:-3.94 [[ 9.99955136e-01 9.15337042e-03 -2.43763512e-03 1.33309265e+02] [-9.15275694e-03 9.99958078e-01 2.62708327e-04 -1.34010888e+01] [ 2.43993760e-03 -2.40385459e-04 9.99996994e-01 -3.93895898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.739928851 meters 0.09452355833974255 Centerline is valid? [True, True] Translation: X:133.37, Y:-13.41, Z:-3.94 [[ 9.99948995e-01 9.50869299e-03 -3.40472248e-03 1.33368076e+02] [-9.50749649e-03 9.99954735e-01 3.67436503e-04 -1.34072939e+01] [ 3.40806220e-03 -3.35047375e-04 9.99994136e-01 -3.94114862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.799928851 meters 0.09395113707348221 Centerline is valid? [True, True] Translation: X:133.43, Y:-13.41, Z:-3.94 [[ 9.99958933e-01 8.33257830e-03 -3.56390297e-03 1.33427845e+02] [-8.33125699e-03 9.99965220e-01 3.85432436e-04 -1.34091578e+01] [ 3.56699067e-03 -3.55724815e-04 9.99993575e-01 -3.94184243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.859928851 meters 0.09389037715917699 Centerline is valid? [True, True] Translation: X:133.49, Y:-13.41, Z:-3.94 [[ 9.99966904e-01 7.53480827e-03 -3.06890001e-03 1.33486581e+02] [-7.53382854e-03 9.99971566e-01 3.30679894e-04 -1.34138985e+01] [ 3.07130436e-03 -3.07548383e-04 9.99995236e-01 -3.94291018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.919928851 meters 0.09561264333558779 Centerline is valid? [True, True] Translation: X:133.55, Y:-13.42, Z:-3.95 [[ 9.99976293e-01 5.47279525e-03 -4.17880422e-03 1.33546608e+02] [-5.47095159e-03 9.99984932e-01 4.52496848e-04 -1.34221364e+01] [ 4.18121768e-03 -4.29624085e-04 9.99991166e-01 -3.94547102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.97992885099998 meters 0.09355788482655936 Centerline is valid? [True, True] Translation: X:133.61, Y:-13.42, Z:-3.95 [[ 9.99982990e-01 4.45433355e-03 -3.76551910e-03 1.33606328e+02] [-4.45283277e-03 9.99990003e-01 4.06850038e-04 -1.34223286e+01] [ 3.76729371e-03 -3.90075890e-04 9.99992828e-01 -3.94605947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.03992885099998 meters 0.09583245696277051 Centerline is valid? [True, True] Translation: X:133.66, Y:-13.43, Z:-3.95 [[ 9.99982030e-01 4.45252051e-03 -4.01420201e-03 1.33663629e+02] [-4.45082141e-03 9.99990002e-01 4.32105316e-04 -1.34309004e+01] [ 4.01608584e-03 -4.14231055e-04 9.99991850e-01 -3.94846843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.099928851 meters 0.0980490582529308 Centerline is valid? [True, True] Translation: X:133.72, Y:-13.44, Z:-3.95 [[ 9.99982041e-01 3.91684843e-03 -4.53617387e-03 1.33721245e+02] [-3.91467355e-03 9.99992218e-01 4.88231809e-04 -1.34377007e+01] [ 4.53805090e-03 -4.70465401e-04 9.99989592e-01 -3.95149827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.159928851 meters 0.09609709229847456 Centerline is valid? [True, True] Translation: X:133.78, Y:-13.44, Z:-3.95 [[ 9.99983157e-01 3.73396686e-03 -4.44340613e-03 1.33780059e+02] [-3.73187801e-03 9.99992922e-01 4.78298502e-04 -1.34389844e+01] [ 4.44516063e-03 -4.61708196e-04 9.99990014e-01 -3.95178979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.219928851 meters 0.09713445963092852 Centerline is valid? [True, True] Translation: X:133.84, Y:-13.45, Z:-3.95 [[ 9.99986982e-01 3.62556410e-03 -3.59028637e-03 1.33838697e+02] [-3.62420177e-03 9.99993358e-01 3.85880472e-04 -1.34452308e+01] [ 3.59166155e-03 -3.72863527e-04 9.99993480e-01 -3.95416710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.279928851 meters 0.0971290502238085 Centerline is valid? [True, True] Translation: X:133.90, Y:-13.45, Z:-3.96 [[ 9.99984752e-01 3.85637853e-03 -3.95284913e-03 1.33897659e+02] [-3.85472927e-03 9.99992480e-01 4.24765603e-04 -1.34501861e+01] [ 3.95445747e-03 -4.09521963e-04 9.99992097e-01 -3.95612896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.339928851 meters 0.09828397026275824 Centerline is valid? [True, True] Translation: X:133.96, Y:-13.46, Z:-3.96 [[ 9.99982211e-01 4.81093398e-03 -3.52598906e-03 1.33957325e+02] [-4.80962692e-03 9.99988362e-01 3.79077611e-04 -1.34561949e+01] [ 3.52777174e-03 -3.62112176e-04 9.99993712e-01 -3.95697241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.399928851 meters 0.10239249976348191 Centerline is valid? [True, False] Translation: X:133.96, Y:-13.46, Z:-3.96 [[ 9.99987372e-01 3.27881190e-03 -3.80868909e-03 1.33960148e+02] [-3.28499255e-03 9.99993296e-01 -1.61765683e-03 -1.34550386e+01] [ 3.80335957e-03 1.63014792e-03 9.99991439e-01 -3.95935795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.459928851 meters 0.09728769034813971 Centerline is valid? [False, True] Translation: X:133.96, Y:-13.45, Z:-3.96 [[ 9.99990378e-01 2.64580060e-03 -3.49903312e-03 1.33958846e+02] [-2.65397671e-03 9.99993754e-01 -2.33410399e-03 -1.34539727e+01] [ 3.49283569e-03 2.34336789e-03 9.99991154e-01 -3.95845227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.519928851 meters 0.09640952327442522 Centerline is valid? [True, True] Translation: X:134.02, Y:-13.46, Z:-3.96 [[ 9.99995354e-01 1.10096532e-03 -2.84237903e-03 1.34017436e+02] [-1.10011614e-03 9.99999350e-01 3.00303700e-04 -1.34607451e+01] [ 2.84270780e-03 -2.97175358e-04 9.99995915e-01 -3.96049615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.579928851 meters 0.09982016350411362 Centerline is valid? [True, True] Translation: X:134.08, Y:-13.47, Z:-3.96 [[ 9.99989803e-01 -1.98400201e-03 -4.05692098e-03 1.34076843e+02] [ 1.98576525e-03 9.99997936e-01 4.30645254e-04 -1.34723046e+01] [ 4.05605820e-03 -4.38696955e-04 9.99991678e-01 -3.96424514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.639928851 meters 0.10376513572158558 Centerline is valid? [True, False] Translation: X:134.08, Y:-13.47, Z:-3.96 [[ 9.99991930e-01 -2.15835118e-03 -3.38839722e-03 1.34075753e+02] [ 2.16105930e-03 9.99997348e-01 7.95776131e-04 -1.34738896e+01] [ 3.38667067e-03 -8.03092236e-04 9.99993943e-01 -3.96457345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.699928851 meters 0.10433366768190597 Centerline is valid? [False, False] Translation: X:134.08, Y:-13.47, Z:-3.96 [[ 9.99992581e-01 -2.27824388e-03 -3.10609196e-03 1.34075112e+02] [ 2.28096397e-03 9.99997018e-01 8.72465517e-04 -1.34745405e+01] [ 3.10409501e-03 -8.79543928e-04 9.99994795e-01 -3.96445346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.75992885099998 meters 0.10417503204736682 Centerline is valid? [False, False] Translation: X:134.08, Y:-13.47, Z:-3.96 [[ 9.99992766e-01 -2.05800687e-03 -3.19885930e-03 1.34075662e+02] [ 2.06160315e-03 9.99997246e-01 1.12134737e-03 -1.34746494e+01] [ 3.19654275e-03 -1.12793404e-03 9.99994255e-01 -3.96495201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.819928851 meters 0.1008336075628444 Centerline is valid? [False, False] Translation: X:134.08, Y:-13.47, Z:-3.96 [[ 9.99992321e-01 -2.09048670e-03 -3.31488458e-03 1.34075878e+02] [ 2.09377182e-03 9.99997320e-01 9.87859125e-04 -1.34738140e+01] [ 3.31281059e-03 -9.94792151e-04 9.99994018e-01 -3.96498300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.879928851 meters 0.10155899558755282 Centerline is valid? [False, False] Translation: X:134.08, Y:-13.48, Z:-3.96 [[ 9.99993326e-01 -1.99188589e-03 -3.06275549e-03 1.34075355e+02] [ 1.99609009e-03 9.99997069e-01 1.37024032e-03 -1.34756662e+01] [ 3.06001715e-03 -1.37634471e-03 9.99994371e-01 -3.96488064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.939928851 meters 0.10236348058484576 Centerline is valid? [False, False] Translation: X:134.08, Y:-13.48, Z:-3.96 [[ 9.99994273e-01 -1.72690754e-03 -2.91052369e-03 1.34075150e+02] [ 1.73254169e-03 9.99996628e-01 1.93437764e-03 -1.34775813e+01] [ 2.90717339e-03 -1.93940916e-03 9.99993893e-01 -3.96494378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.999928851 meters 0.10608353000735828 Centerline is valid? [False, False] Translation: X:134.07, Y:-13.48, Z:-3.96 [[ 9.99995584e-01 -1.73921814e-03 -2.40995022e-03 1.34073869e+02] [ 1.74527028e-03 9.99995323e-01 2.51149037e-03 -1.34807258e+01] [ 2.40557092e-03 -2.51568529e-03 9.99993942e-01 -3.96440852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.059928851 meters 0.10275395150182176 Centerline is valid? [False, False] Translation: X:134.07, Y:-13.48, Z:-3.96 [[ 9.99996477e-01 -1.60243868e-03 -2.11614785e-03 1.34073115e+02] [ 1.60886609e-03 9.99994088e-01 3.03911281e-03 -1.34833527e+01] [ 2.11126535e-03 -3.04250670e-03 9.99993143e-01 -3.96410573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.119928851 meters 0.10556498131679502 Centerline is valid? [False, False] Translation: X:134.07, Y:-13.49, Z:-3.96 [[ 9.99984185e-01 -5.06595685e-03 -2.44230108e-03 1.34073963e+02] [ 5.06568006e-03 9.99987162e-01 -1.19503312e-04 -1.34864244e+01] [ 2.44287513e-03 1.07129506e-04 9.99997010e-01 -3.96423786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.179928851 meters 0.10533457651789677 Centerline is valid? [False, False] Translation: X:134.07, Y:-13.49, Z:-3.96 [[ 9.99986917e-01 -4.61356434e-03 -2.20917513e-03 1.34073159e+02] [ 4.61571020e-03 9.99988880e-01 9.67226409e-04 -1.34907695e+01] [ 2.20468820e-03 -9.77410667e-04 9.99997092e-01 -3.96362728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.239928851 meters 0.10430204065488269 Centerline is valid? [False, False] Translation: X:134.07, Y:-13.49, Z:-3.96 [[ 9.99989109e-01 -4.05952412e-03 -2.30256208e-03 1.34073647e+02] [ 4.06359970e-03 9.99990180e-01 1.76811122e-03 -1.34927820e+01] [ 2.29536178e-03 -1.77744866e-03 9.99995786e-01 -3.96401836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.299928851 meters 0.10840464611581921 Centerline is valid? [False, False] Translation: X:134.07, Y:-13.50, Z:-3.96 [[ 9.99990870e-01 -3.69676888e-03 -2.14340467e-03 1.34073168e+02] [ 3.70215344e-03 9.99989988e-01 2.51365340e-03 -1.34958819e+01] [ 2.13409082e-03 -2.52156567e-03 9.99994544e-01 -3.96367343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.359928851 meters 0.10178940234748356 Centerline is valid? [False, False] Translation: X:134.07, Y:-13.50, Z:-3.96 [[ 9.99992933e-01 -3.04838377e-03 -2.20037412e-03 1.34073087e+02] [ 3.05612245e-03 9.99989127e-01 3.52223300e-03 -1.34996718e+01] [ 2.18961308e-03 -3.52893272e-03 9.99991376e-01 -3.96329161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.419928851 meters 0.09971563769818101 Centerline is valid? [False, True] Translation: X:134.07, Y:-13.50, Z:-3.96 [[ 9.99993804e-01 -2.60722924e-03 -2.36530206e-03 1.34073345e+02] [ 2.61694022e-03 9.99988122e-01 4.11183237e-03 -1.35017265e+01] [ 2.35455348e-03 -4.11799675e-03 9.99988749e-01 -3.96311877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.47992885099998 meters 0.1004330758982219 Centerline is valid? [True, False] Translation: X:134.07, Y:-13.50, Z:-3.96 [[ 9.99994561e-01 -1.91892334e-03 -2.68264880e-03 1.34073808e+02] [ 1.93217430e-03 9.99985903e-01 4.94566970e-03 -1.35045310e+01] [ 2.67312062e-03 -4.95082614e-03 9.99984172e-01 -3.96275894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.53992885099998 meters 0.09772078536695854 Centerline is valid? [False, True] Translation: X:134.07, Y:-13.51, Z:-3.96 [[ 9.99994392e-01 -1.48507033e-03 -3.00166101e-03 1.34074389e+02] [ 1.50114285e-03 9.99984512e-01 5.35939989e-03 -1.35059521e+01] [ 2.99365543e-03 -5.36387576e-03 9.99981133e-01 -3.96255613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.599928851 meters 0.0961285815402331 Centerline is valid? [True, True] Translation: X:134.13, Y:-13.51, Z:-3.96 [[ 9.99991908e-01 2.05118738e-03 -3.46062292e-03 1.34134448e+02] [-2.04990047e-03 9.99997828e-01 3.75380489e-04 -1.35102454e+01] [ 3.46138538e-03 -3.68283519e-04 9.99993942e-01 -3.96160518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.659928851 meters 0.09374314142169433 Centerline is valid? [True, True] Translation: X:134.19, Y:-13.51, Z:-3.96 [[ 9.99988482e-01 4.12220038e-03 -2.45836533e-03 1.34194449e+02] [-4.12155696e-03 9.99991471e-01 2.66734556e-04 -1.35146928e+01] [ 2.45944389e-03 -2.56599191e-04 9.99996943e-01 -3.96262023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.719928851 meters 0.0925867215738281 Centerline is valid? [True, True] Translation: X:134.25, Y:-13.52, Z:-3.96 [[ 9.99982765e-01 5.32194415e-03 -2.47931935e-03 1.34253651e+02] [-5.32129518e-03 9.99985806e-01 2.68278007e-04 -1.35214918e+01] [ 2.48071192e-03 -2.55080193e-04 9.99996890e-01 -3.96404351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.779928851 meters 0.09262222908181321 Centerline is valid? [True, True] Translation: X:134.31, Y:-13.53, Z:-3.97 [[ 9.99976230e-01 5.65054385e-03 -3.95097227e-03 1.34311449e+02] [-5.64890054e-03 9.99983954e-01 4.26959167e-04 -1.35292875e+01] [ 3.95332142e-03 -4.04630369e-04 9.99992104e-01 -3.96559310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.839928851 meters 0.09465730884909389 Centerline is valid? [True, True] Translation: X:134.37, Y:-13.54, Z:-3.97 [[ 9.99979490e-01 5.28254140e-03 -3.62144703e-03 1.34367865e+02] [-5.28116116e-03 9.99985978e-01 3.90586267e-04 -1.35414750e+01] [ 3.62345954e-03 -3.71452810e-04 9.99993366e-01 -3.96769763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.899928851 meters 0.09651285410118525 Centerline is valid? [True, True] Translation: X:134.43, Y:-13.55, Z:-3.97 [[ 9.99990580e-01 3.02401621e-03 -3.11387010e-03 1.34427459e+02] [-3.02298010e-03 9.99995374e-01 3.37393382e-04 -1.35535977e+01] [ 3.11487598e-03 -3.27977036e-04 9.99995095e-01 -3.96993810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.959928851 meters 0.09355699734371542 Centerline is valid? [True, True] Translation: X:134.49, Y:-13.56, Z:-3.97 [[ 9.99993487e-01 1.93425458e-03 -3.04691029e-03 1.34486649e+02] [-1.93326140e-03 9.99998077e-01 3.28873499e-04 -1.35551119e+01] [ 3.04754055e-03 -3.22980883e-04 9.99995304e-01 -3.96983653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.019928851 meters 0.09499562867282843 Centerline is valid? [True, True] Translation: X:134.55, Y:-13.56, Z:-3.97 [[ 9.99991852e-01 1.18612104e-03 -3.85863382e-03 1.34545676e+02] [-1.18452063e-03 9.99999212e-01 4.17020500e-04 -1.35649057e+01] [ 3.85912541e-03 -4.12446470e-04 9.99992468e-01 -3.97197605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.079928851 meters 0.0963626909157176 Centerline is valid? [True, True] Translation: X:134.60, Y:-13.57, Z:-3.97 [[ 9.99989320e-01 4.30099861e-04 -4.60171541e-03 1.34604434e+02] [-4.27815817e-04 9.99999785e-01 4.97319032e-04 -1.35739795e+01] [ 4.60192831e-03 -4.95345034e-04 9.99989288e-01 -3.97451024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.139928851 meters 0.098468514553813 Centerline is valid? [True, True] Translation: X:134.66, Y:-13.58, Z:-3.98 [[ 9.99993404e-01 6.97069750e-05 -3.63138736e-03 1.34661540e+02] [-6.82877274e-05 9.99999921e-01 3.90950444e-04 -1.35845677e+01] [ 3.63141433e-03 -3.90699886e-04 9.99993330e-01 -3.97666373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.199928851 meters 0.09596532808998613 Centerline is valid? [True, True] Translation: X:134.72, Y:-13.59, Z:-3.98 [[ 9.99991433e-01 -9.73550100e-04 -4.02329246e-03 1.34721383e+02] [ 9.75304967e-04 9.99999430e-01 4.34237916e-04 -1.35862715e+01] [ 4.02286742e-03 -4.38158133e-04 9.99991812e-01 -3.97677970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.25992885099998 meters 0.09745261644724021 Centerline is valid? [True, True] Translation: X:134.78, Y:-13.60, Z:-3.98 [[ 9.99986893e-01 -1.58460028e-03 -4.86850232e-03 1.34780147e+02] [ 1.58717704e-03 9.99998602e-01 5.25453195e-04 -1.35954555e+01] [ 4.86766288e-03 -5.33173483e-04 9.99988011e-01 -3.97936538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.319928851 meters 0.09759972029848474 Centerline is valid? [True, True] Translation: X:134.84, Y:-13.60, Z:-3.98 [[ 9.99984930e-01 -2.46415671e-03 -4.90589941e-03 1.34839183e+02] [ 2.46678284e-03 9.99996817e-01 5.29321437e-04 -1.36034905e+01] [ 4.90457946e-03 -5.41415248e-04 9.99987826e-01 -3.98135381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.379928851 meters 0.09780089095923003 Centerline is valid? [True, True] Translation: X:134.90, Y:-13.61, Z:-3.98 [[ 9.99988534e-01 -2.85983495e-03 -3.84102643e-03 1.34898199e+02] [ 2.86144653e-03 9.99995820e-01 4.14142427e-04 -1.36098497e+01] [ 3.83982600e-03 -4.25128570e-04 9.99992537e-01 -3.98089694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.439928851 meters 0.09742207583904519 Centerline is valid? [True, True] Translation: X:134.96, Y:-13.62, Z:-3.98 [[ 9.99981503e-01 -4.67113612e-03 -3.89537299e-03 1.34957433e+02] [ 4.67280839e-03 9.99988994e-01 4.20306102e-04 -1.36177546e+01] [ 3.89336681e-03 -4.38500660e-04 9.99992325e-01 -3.98180757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.499928851 meters 0.09873344170964236 Centerline is valid? [True, True] Translation: X:135.02, Y:-13.63, Z:-3.98 [[ 9.99971864e-01 -6.73459244e-03 -3.30414206e-03 1.35017021e+02] [ 6.73580658e-03 9.99977251e-01 3.56470109e-04 -1.36283182e+01] [ 3.30166621e-03 -3.78716141e-04 9.99994478e-01 -3.98355396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.559928851 meters 0.09991285270969026 Centerline is valid? [True, True] Translation: X:135.08, Y:-13.64, Z:-3.99 [[ 9.99949386e-01 -9.41168355e-03 -3.55603673e-03 1.35076678e+02] [ 9.41310798e-03 9.99955622e-01 3.84043098e-04 -1.36379637e+01] [ 3.55226443e-03 -4.17497018e-04 9.99993604e-01 -3.98537483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.619928851 meters 0.0993293778331612 Centerline is valid? [True, True] Translation: X:135.14, Y:-13.64, Z:-3.99 [[ 9.99919216e-01 -1.20482439e-02 -4.04984548e-03 1.35137209e+02] [ 1.20501127e-02 9.99927299e-01 4.37374986e-04 -1.36449464e+01] [ 4.04428145e-03 -4.86140748e-04 9.99991704e-01 -3.98656026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.679928851 meters 0.09978728012333724 Centerline is valid? [True, True] Translation: X:135.20, Y:-13.65, Z:-3.99 [[ 9.99900305e-01 -1.31255320e-02 -5.20581889e-03 1.35197469e+02] [ 1.31286364e-02 9.99913657e-01 5.62597641e-04 -1.36522242e+01] [ 5.19798501e-03 -6.30886856e-04 9.99986291e-01 -3.98754332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.739928851 meters 0.09912946268473706 Centerline is valid? [True, True] Translation: X:135.26, Y:-13.66, Z:-3.99 [[ 9.99913435e-01 -1.21288431e-02 -5.10033905e-03 1.35258129e+02] [ 1.21318091e-02 9.99926255e-01 5.50990359e-04 -1.36575627e+01] [ 5.09328005e-03 -6.12819002e-04 9.99986841e-01 -3.98839210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.799928851 meters 0.1002162976489711 Centerline is valid? [True, False] Translation: X:135.26, Y:-13.66, Z:-3.99 [[ 9.99956959e-01 -7.94702218e-03 -4.78807294e-03 1.35257483e+02] [ 7.96983241e-03 9.99956893e-01 4.76387444e-03 -1.36579633e+01] [ 4.75000792e-03 -4.80182954e-03 9.99977190e-01 -3.98842155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.859928851 meters 0.09713252904085823 Centerline is valid? [False, True] Translation: X:135.26, Y:-13.66, Z:-3.99 [[ 9.99957263e-01 -7.59392223e-03 -5.27306316e-03 1.35258724e+02] [ 7.61955049e-03 9.99959174e-01 4.85726150e-03 -1.36573754e+01] [ 5.23596221e-03 -4.89723228e-03 9.99974301e-01 -3.98885817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.919928851 meters 0.09424981397000858 Centerline is valid? [True, True] Translation: X:135.32, Y:-13.66, Z:-3.99 [[ 9.99969353e-01 -4.42216949e-03 -6.46047673e-03 1.35319747e+02] [ 4.42673534e-03 9.99989962e-01 6.92607794e-04 -1.36557216e+01] [ 6.45734905e-03 -7.21185388e-04 9.99978891e-01 -3.98796006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.97992885099998 meters 0.0949153500723049 Centerline is valid? [True, True] Translation: X:135.38, Y:-13.66, Z:-3.99 [[ 9.99974009e-01 -3.28170402e-03 -6.41959688e-03 1.35379001e+02] [ 3.28618378e-03 9.99994364e-01 6.87402239e-04 -1.36627221e+01] [ 6.41730485e-03 -7.08480348e-04 9.99979158e-01 -3.98996398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.03992885099998 meters 0.09411301951775801 Centerline is valid? [True, True] Translation: X:135.44, Y:-13.67, Z:-3.99 [[ 9.99968037e-01 -1.42982921e-03 -7.86647670e-03 1.35438888e+02] [ 1.43649621e-03 9.99998614e-01 8.41934748e-04 -1.36668259e+01] [ 7.86526197e-03 -8.53208001e-04 9.99968704e-01 -3.99166403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.099928851 meters 0.09415229157042891 Centerline is valid? [True, True] Translation: X:135.50, Y:-13.67, Z:-3.99 [[ 9.99974253e-01 -9.64009194e-04 -7.11077112e-03 1.35497683e+02] [ 9.69408687e-04 9.99999244e-01 7.55932438e-04 -1.36725009e+01] [ 7.11003702e-03 -7.62806218e-04 9.99974432e-01 -3.99260327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.159928851 meters 0.09712728926615788 Centerline is valid? [True, True] Translation: X:135.55, Y:-13.68, Z:-4.00 [[ 9.99971565e-01 -1.56865543e-03 -7.37627537e-03 1.35554986e+02] [ 1.57449814e-03 9.99998451e-01 7.86355454e-04 -1.36830721e+01] [ 7.37503043e-03 -7.97947025e-04 9.99972486e-01 -3.99502051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.219928851 meters 0.09676346273164763 Centerline is valid? [True, True] Translation: X:135.61, Y:-13.69, Z:-4.00 [[ 9.99961776e-01 -3.17027820e-03 -8.14831915e-03 1.35614448e+02] [ 3.17747145e-03 9.99994573e-01 8.69995794e-04 -1.36886106e+01] [ 8.14551680e-03 -8.95853591e-04 9.99966423e-01 -3.99560509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.279928851 meters 0.09617471916648954 Centerline is valid? [True, True] Translation: X:135.68, Y:-13.69, Z:-4.00 [[ 9.99947644e-01 -6.89389405e-03 -7.56200232e-03 1.35675001e+02] [ 6.90019704e-03 9.99975867e-01 8.07733893e-04 -1.36936941e+01] [ 7.55625139e-03 -8.59870909e-04 9.99971081e-01 -3.99653438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.339928851 meters 0.09949629760867891 Centerline is valid? [True, True] Translation: X:135.73, Y:-13.71, Z:-4.00 [[ 9.99925458e-01 -9.53684468e-03 -7.62407012e-03 1.35733090e+02] [ 9.54332011e-03 9.99954131e-01 8.13410610e-04 -1.37053203e+01] [ 7.61596303e-03 -8.86108918e-04 9.99970606e-01 -3.99769503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.399928851 meters 0.10271550449730803 Centerline is valid? [True, False] Translation: X:135.73, Y:-13.70, Z:-4.00 [[ 9.99924118e-01 -9.79028160e-03 -7.47716952e-03 1.35732752e+02] [ 9.79486536e-03 9.99951863e-01 5.76659652e-04 -1.37045358e+01] [ 7.47116393e-03 -6.49853762e-04 9.99971879e-01 -3.99766392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.459928851 meters 0.1013301772757744 Centerline is valid? [False, False] Translation: X:135.73, Y:-13.70, Z:-4.00 [[ 9.99922282e-01 -9.95383669e-03 -7.50673947e-03 1.35733180e+02] [ 9.95610613e-03 9.99950402e-01 2.65010570e-04 -1.37029404e+01] [ 7.50372927e-03 -3.39727869e-04 9.99971789e-01 -3.99821434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.519928851 meters 0.1023169449331941 Centerline is valid? [False, False] Translation: X:135.73, Y:-13.70, Z:-4.00 [[ 9.99920540e-01 -9.99724769e-03 -7.67908626e-03 1.35733817e+02] [ 9.99775018e-03 9.99950021e-01 2.70501697e-05 -1.37016141e+01] [ 7.67843204e-03 -1.03821606e-04 9.99970515e-01 -3.99863539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.579928851 meters 0.10366903657632821 Centerline is valid? [False, False] Translation: X:135.73, Y:-13.70, Z:-4.00 [[ 9.99919491e-01 -1.00245981e-02 -7.77933795e-03 1.35734321e+02] [ 1.00238348e-02 9.99949751e-01 -1.37098940e-04 -1.37004738e+01] [ 7.78032140e-03 5.91091040e-05 9.99969731e-01 -3.99907467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.639928851 meters 0.10533597789169134 Centerline is valid? [False, False] Translation: X:135.73, Y:-13.70, Z:-4.00 [[ 9.99953887e-01 -5.98004093e-03 -7.51415196e-03 1.35733716e+02] [ 6.00920321e-03 9.99974478e-01 3.86441514e-03 -1.37000880e+01] [ 7.49085082e-03 -3.90939101e-03 9.99964301e-01 -3.99902495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.699928851 meters 0.1027199214698655 Centerline is valid? [False, False] Translation: X:135.73, Y:-13.70, Z:-4.00 [[ 9.99952365e-01 -5.81947661e-03 -7.83584628e-03 1.35734811e+02] [ 5.84935683e-03 9.99975688e-01 3.79576939e-03 -1.36988540e+01] [ 7.81356639e-03 -3.84142324e-03 9.99962095e-01 -3.99970096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.75992885099998 meters 0.10127920398981519 Centerline is valid? [False, False] Translation: X:135.73, Y:-13.70, Z:-4.00 [[ 9.99950694e-01 -6.10013692e-03 -7.83567266e-03 1.35734810e+02] [ 6.12706799e-03 9.99975389e-01 3.41758834e-03 -1.36976103e+01] [ 7.81463206e-03 -3.46542953e-03 9.99963460e-01 -3.99977341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.819928851 meters 0.10117734415983921 Centerline is valid? [False, False] Translation: X:135.73, Y:-13.70, Z:-4.00 [[ 9.99950800e-01 -6.12611359e-03 -7.80175837e-03 1.35734858e+02] [ 6.15287379e-03 9.99975254e-01 3.41065010e-03 -1.36974030e+01] [ 7.78067128e-03 -3.45848553e-03 9.99963749e-01 -3.99994546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.879928851 meters 0.10142025455241575 Centerline is valid? [False, False] Translation: X:135.73, Y:-13.70, Z:-4.00 [[ 9.99950023e-01 -6.22801242e-03 -7.82065311e-03 1.35734937e+02] [ 6.25329825e-03 9.99975286e-01 3.21293192e-03 -1.36966735e+01] [ 7.80044965e-03 -3.26167622e-03 9.99964257e-01 -3.99999309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.939928851 meters 0.10121061181048178 Centerline is valid? [False, False] Translation: X:135.74, Y:-13.70, Z:-4.00 [[ 9.99948734e-01 -6.25284551e-03 -7.96437830e-03 1.35735570e+02] [ 6.27721899e-03 9.99975680e-01 3.03899944e-03 -1.36953722e+01] [ 7.94518221e-03 -3.08883779e-03 9.99963666e-01 -4.00050935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.999928851 meters 0.10063009752938849 Centerline is valid? [False, False] Translation: X:135.74, Y:-13.69, Z:-4.00 [[ 9.99946170e-01 -6.42411446e-03 -8.14783392e-03 1.35736003e+02] [ 6.44553066e-03 9.99975834e-01 2.60492318e-03 -1.36936950e+01] [ 8.13090270e-03 -2.65730007e-03 9.99963413e-01 -4.00067054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.059928851 meters 0.1003402279462614 Centerline is valid? [False, False] Translation: X:135.74, Y:-13.69, Z:-4.00 [[ 9.99945161e-01 -6.48965008e-03 -8.21940275e-03 1.35736213e+02] [ 6.51000299e-03 9.99975804e-01 2.45187258e-03 -1.36928701e+01] [ 8.20329208e-03 -2.50524646e-03 9.99963214e-01 -4.00079396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.119928851 meters 0.10071573622422449 Centerline is valid? [False, False] Translation: X:135.74, Y:-13.69, Z:-4.00 [[ 9.99944010e-01 -6.74661278e-03 -8.15225305e-03 1.35735849e+02] [ 6.76481856e-03 9.99974681e-01 2.20771299e-03 -1.36920693e+01] [ 8.13715206e-03 -2.26273790e-03 9.99964333e-01 -4.00056601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.179928851 meters 0.10266983666386142 Centerline is valid? [False, False] Translation: X:135.74, Y:-13.69, Z:-4.00 [[ 9.99945689e-01 -6.61571992e-03 -8.05297772e-03 1.35735798e+02] [ 6.63583934e-03 9.99974922e-01 2.47423292e-03 -1.36927604e+01] [ 8.03640693e-03 -2.52753681e-03 9.99964513e-01 -4.00074792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.239928851 meters 0.10167491986175274 Centerline is valid? [False, False] Translation: X:135.73, Y:-13.69, Z:-4.00 [[ 9.99949076e-01 -6.73495389e-03 -7.51565136e-03 1.35734527e+02] [ 6.75648227e-03 9.99973134e-01 2.84276953e-03 -1.36947958e+01] [ 7.49630352e-03 -2.89340413e-03 9.99967716e-01 -4.00042674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.299928851 meters 0.10372378982335938 Centerline is valid? [False, False] Translation: X:135.73, Y:-13.70, Z:-4.00 [[ 9.99952112e-01 -6.49326646e-03 -7.32199048e-03 1.35734417e+02] [ 6.51823531e-03 9.99973005e-01 3.39142614e-03 -1.36962789e+01] [ 7.29977139e-03 -3.43899019e-03 9.99967443e-01 -4.00081072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.359928851 meters 0.1032845352189187 Centerline is valid? [False, False] Translation: X:135.73, Y:-13.70, Z:-4.00 [[ 9.99953355e-01 -6.32728588e-03 -7.29747427e-03 1.35734690e+02] [ 6.35422792e-03 9.99973060e-01 3.67471073e-03 -1.36967624e+01] [ 7.27402673e-03 -3.72090914e-03 9.99966621e-01 -4.00124104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.419928851 meters 0.10163497529262262 Centerline is valid? [False, False] Translation: X:135.73, Y:-13.70, Z:-4.00 [[ 9.99953320e-01 -6.34907374e-03 -7.28336582e-03 1.35734837e+02] [ 6.37567324e-03 9.99973070e-01 3.63470218e-03 -1.36964998e+01] [ 7.26009268e-03 -3.68096887e-03 9.99966870e-01 -4.00148704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.47992885099998 meters 0.10642842536062781 Centerline is valid? [False, False] Translation: X:135.74, Y:-13.70, Z:-4.00 [[ 9.99952390e-01 -6.29533887e-03 -7.45565771e-03 1.35735420e+02] [ 6.32184204e-03 9.99973763e-01 3.53655726e-03 -1.36955899e+01] [ 7.43319827e-03 -3.58352237e-03 9.99965952e-01 -4.00182233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.53992885099998 meters 0.10162757950907961 Centerline is valid? [False, False] Translation: X:135.73, Y:-13.69, Z:-4.00 [[ 9.99950344e-01 -6.66670831e-03 -7.40703956e-03 1.35734923e+02] [ 6.68934911e-03 9.99973017e-01 3.03610112e-03 -1.36945042e+01] [ 7.38659890e-03 -3.08549863e-03 9.99967958e-01 -4.00132039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.599928851 meters 0.09941720631875096 Centerline is valid? [False, True] Translation: X:135.74, Y:-13.69, Z:-4.00 [[ 9.99949578e-01 -6.69951420e-03 -7.48053637e-03 1.35735350e+02] [ 6.72157946e-03 9.99973122e-01 2.92845461e-03 -1.36934024e+01] [ 7.46071608e-03 -2.97858797e-03 9.99967732e-01 -4.00178487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.659928851 meters 0.10125194601120735 Centerline is valid? [True, False] Translation: X:135.74, Y:-13.69, Z:-4.00 [[ 9.99949643e-01 -6.69423804e-03 -7.47656103e-03 1.35735628e+02] [ 6.71601395e-03 9.99973268e-01 2.89125716e-03 -1.36927223e+01] [ 7.45700640e-03 -2.94132426e-03 9.99967870e-01 -4.00221099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.719928851 meters 0.10353005588271781 Centerline is valid? [False, False] Translation: X:135.74, Y:-13.69, Z:-4.00 [[ 9.99949457e-01 -6.80117438e-03 -7.40456708e-03 1.35735452e+02] [ 6.82205503e-03 9.99972814e-01 2.79837359e-03 -1.36924788e+01] [ 7.38533355e-03 -2.84874651e-03 9.99968670e-01 -4.00219888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.779928851 meters 0.10177807631922518 Centerline is valid? [False, False] Translation: X:135.74, Y:-13.69, Z:-4.00 [[ 9.99951368e-01 -6.42118147e-03 -7.48532210e-03 1.35736225e+02] [ 6.44591552e-03 9.99973829e-01 3.28491099e-03 -1.36930622e+01] [ 7.46403319e-03 -3.33300099e-03 9.99966589e-01 -4.00300838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.839928851 meters 0.1029924653219726 Centerline is valid? [False, False] Translation: X:135.74, Y:-13.69, Z:-4.00 [[ 9.99951092e-01 -6.49327182e-03 -7.45990414e-03 1.35736069e+02] [ 6.51771595e-03 9.99973455e-01 3.25710950e-03 -1.36930300e+01] [ 7.43855682e-03 -3.30557174e-03 9.99966870e-01 -4.00289001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.899928851 meters 0.09889536130554258 Centerline is valid? [False, True] Translation: X:135.74, Y:-13.69, Z:-4.00 [[ 9.99952510e-01 -6.26449839e-03 -7.46544826e-03 1.35736282e+02] [ 6.29140299e-03 9.99973780e-01 3.58586406e-03 -1.36936897e+01] [ 7.44278887e-03 -3.63266191e-03 9.99965704e-01 -4.00316568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.959928851 meters 0.10023481335920749 Centerline is valid? [True, False] Translation: X:135.74, Y:-13.69, Z:-4.00 [[ 9.99955034e-01 -6.08418162e-03 -7.27414368e-03 1.35736162e+02] [ 6.11356719e-03 9.99973214e-01 4.02434184e-03 -1.36949139e+01] [ 7.24946401e-03 -4.06863185e-03 9.99965445e-01 -4.00350054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.019928851 meters 0.10150696428081682 Centerline is valid? [False, False] Translation: X:135.73, Y:-13.70, Z:-4.00 [[ 9.99958239e-01 -6.24435144e-03 -6.67297257e-03 1.35734815e+02] [ 6.27380979e-03 9.99970627e-01 4.40280006e-03 -1.36971378e+01] [ 6.64528393e-03 -4.44448115e-03 9.99968043e-01 -4.00320490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.079928851 meters 0.1023968303454262 Centerline is valid? [False, False] Translation: X:135.73, Y:-13.70, Z:-4.00 [[ 9.99959862e-01 -6.10958877e-03 -6.55339987e-03 1.35734673e+02] [ 6.14061196e-03 9.99969987e-01 4.72427921e-03 -1.36981419e+01] [ 6.52433977e-03 -4.76433147e-03 9.99967367e-01 -4.00331990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.139928851 meters 0.10228830563180351 Centerline is valid? [False, False] Translation: X:135.73, Y:-13.70, Z:-4.00 [[ 9.99962368e-01 -6.03043328e-03 -6.23672419e-03 1.35734055e+02] [ 6.06265234e-03 9.99968308e-01 5.16008468e-03 -1.36999248e+01] [ 6.20540900e-03 -5.19770158e-03 9.99967238e-01 -4.00325722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.199928851 meters 0.10435218443703662 Centerline is valid? [False, False] Translation: X:135.73, Y:-13.70, Z:-4.00 [[ 9.99964611e-01 -6.12659225e-03 -5.76560606e-03 1.35732976e+02] [ 6.15788714e-03 9.99966320e-01 5.42584904e-03 -1.37015318e+01] [ 5.73216991e-03 -5.46116097e-03 9.99968658e-01 -4.00297678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.25992885099998 meters 0.10348833139930498 Centerline is valid? [False, False] Translation: X:135.73, Y:-13.70, Z:-4.00 [[ 9.99964570e-01 -6.29460929e-03 -5.58905090e-03 1.35732410e+02] [ 6.32446249e-03 9.99965743e-01 5.33986203e-03 -1.37017657e+01] [ 5.55524709e-03 -5.37502058e-03 9.99970124e-01 -4.00266871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.319928851 meters 0.10624875403809236 Centerline is valid? [False, False] Translation: X:135.73, Y:-13.70, Z:-4.00 [[ 9.99966940e-01 -5.93112207e-03 -5.56241644e-03 1.35732726e+02] [ 5.96395703e-03 9.99964780e-01 5.90511110e-03 -1.37032272e+01] [ 5.52719660e-03 -5.93808989e-03 9.99967094e-01 -4.00311688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.379928851 meters 0.10536849063009374 Centerline is valid? [False, False] Translation: X:135.73, Y:-13.70, Z:-4.00 [[ 9.99967172e-01 -5.91819506e-03 -5.53441431e-03 1.35732307e+02] [ 5.95126618e-03 9.99964421e-01 5.97828663e-03 -1.37041965e+01] [ 5.49883673e-03 -6.01102714e-03 9.99966815e-01 -4.00253315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.439928851 meters 0.09902270409741114 Centerline is valid? [False, True] Translation: X:135.73, Y:-13.70, Z:-4.00 [[ 9.99967549e-01 -5.82453005e-03 -5.56559554e-03 1.35732263e+02] [ 5.85862736e-03 9.99964050e-01 6.12990605e-03 -1.37047437e+01] [ 5.52969164e-03 -6.16231388e-03 9.99965724e-01 -4.00238322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.499928851 meters 0.10177623911133164 Centerline is valid? [True, False] Translation: X:135.73, Y:-13.71, Z:-4.00 [[ 9.99968083e-01 -5.67236633e-03 -5.62647717e-03 1.35732506e+02] [ 5.70785681e-03 9.99963790e-01 6.31188947e-03 -1.37052340e+01] [ 5.59047008e-03 -6.34380314e-03 9.99964251e-01 -4.00254415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.559928851 meters 0.09906924234983404 Centerline is valid? [False, True] Translation: X:135.73, Y:-13.71, Z:-4.00 [[ 9.99968928e-01 -5.52051980e-03 -5.62727141e-03 1.35732498e+02] [ 5.55760591e-03 9.99962801e-01 6.59623209e-03 -1.37061944e+01] [ 5.59064745e-03 -6.62730130e-03 9.99962411e-01 -4.00251432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.619928851 meters 0.09991827408432556 Centerline is valid? [True, True] Translation: X:135.79, Y:-13.71, Z:-4.00 [[ 9.99971614e-01 -4.38561502e-03 -6.12671642e-03 1.35791900e+02] [ 4.38997768e-03 9.99990120e-01 6.98804397e-04 -1.37123013e+01] [ 6.12359120e-03 -7.25680710e-04 9.99980987e-01 -4.00212481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.679928851 meters 0.10042162791515917 Centerline is valid? [True, False] Translation: X:135.79, Y:-13.71, Z:-4.00 [[ 9.99971736e-01 -3.90271255e-03 -6.42625394e-03 1.35793087e+02] [ 3.91040362e-03 9.99991653e-01 1.18469032e-03 -1.37127078e+01] [ 6.42157679e-03 -1.20978609e-03 9.99978650e-01 -4.00295577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.739928851 meters 0.10056787460094094 Centerline is valid? [False, False] Translation: X:135.79, Y:-13.71, Z:-4.00 [[ 9.99970264e-01 -3.59611899e-03 -6.82200267e-03 1.35794403e+02] [ 3.60475370e-03 9.99992717e-01 1.25384092e-03 -1.37118077e+01] [ 6.81744402e-03 -1.27839527e-03 9.99975944e-01 -4.00372120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.799928851 meters 0.10043404276816265 Centerline is valid? [False, False] Translation: X:135.79, Y:-13.71, Z:-4.00 [[ 9.99968350e-01 -3.78678283e-03 -6.99706397e-03 1.35794638e+02] [ 3.79255908e-03 9.99992478e-01 8.12440292e-04 -1.37103669e+01] [ 6.99393480e-03 -8.38951357e-04 9.99975190e-01 -4.00362937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.859928851 meters 0.09706847472358508 Centerline is valid? [False, True] Translation: X:135.80, Y:-13.71, Z:-4.00 [[ 9.99967965e-01 -3.71721720e-03 -7.08883797e-03 1.35795089e+02] [ 3.72334412e-03 9.99992706e-01 8.51302965e-04 -1.37098284e+01] [ 7.08562179e-03 -8.77669877e-04 9.99974512e-01 -4.00401992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.919928851 meters 0.09693958100677365 Centerline is valid? [True, True] Translation: X:135.85, Y:-13.72, Z:-4.01 [[ 9.99965156e-01 -3.87158510e-03 -7.39577821e-03 1.35853644e+02] [ 3.87771667e-03 9.99992150e-01 8.14903158e-04 -1.37161138e+01] [ 7.39256519e-03 -8.43553496e-04 9.99972319e-01 -4.00507166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.97992885099998 meters 0.09574811092401617 Centerline is valid? [True, True] Translation: X:135.91, Y:-13.72, Z:-4.01 [[ 9.99963029e-01 -4.51469527e-03 -7.31833460e-03 1.35912104e+02] [ 4.52070201e-03 9.99989458e-01 8.04446202e-04 -1.37205168e+01] [ 7.31462562e-03 -8.37500471e-04 9.99972897e-01 -4.00532473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.03992885099998 meters 0.10051736568607197 Centerline is valid? [True, False] Translation: X:135.91, Y:-13.72, Z:-4.01 [[ 9.99963093e-01 -4.44540433e-03 -7.35195978e-03 1.35912407e+02] [ 4.45196414e-03 9.99989706e-01 8.76128721e-04 -1.37202820e+01] [ 7.34798935e-03 -9.08827047e-04 9.99972590e-01 -4.00568431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.099928851 meters 0.11060170972857276 Centerline is valid? [False, False] Translation: X:135.91, Y:-13.72, Z:-4.01 [[ 9.99962302e-01 -3.89355424e-03 -7.76109144e-03 1.35913861e+02] [ 3.90436865e-03 9.99991427e-01 1.37874934e-03 -1.37205059e+01] [ 7.75565668e-03 -1.40899953e-03 9.99968932e-01 -4.00660765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.159928851 meters 0.09790658814515961 Centerline is valid? [False, True] Translation: X:135.91, Y:-13.72, Z:-4.01 [[ 9.99961532e-01 -4.02887924e-03 -7.79121289e-03 1.35913792e+02] [ 4.03819549e-03 9.99991150e-01 1.18037665e-03 -1.37198847e+01] [ 7.78638834e-03 -1.21179368e-03 9.99968951e-01 -4.00645227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.219928851 meters 0.09810813036312903 Centerline is valid? [True, True] Translation: X:135.97, Y:-13.73, Z:-4.01 [[ 9.99968256e-01 -4.18582819e-03 -6.77981044e-03 1.35971748e+02] [ 4.19087787e-03 9.99990951e-01 7.30776113e-04 -1.37266503e+01] [ 6.77669018e-03 -7.59166273e-04 9.99976750e-01 -4.00723207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.279928851 meters 0.09981931172554617 Centerline is valid? [True, True] Translation: X:136.03, Y:-13.74, Z:-4.01 [[ 9.99965191e-01 -5.08244985e-03 -6.61701133e-03 1.36030623e+02] [ 5.08730139e-03 9.99986803e-01 7.16566043e-04 -1.37354422e+01] [ 6.61328209e-03 -7.50203832e-04 9.99977851e-01 -4.00905783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.339928851 meters 0.09667665434098874 Centerline is valid? [True, True] Translation: X:136.09, Y:-13.74, Z:-4.01 [[ 9.99952091e-01 -5.93223239e-03 -7.78619606e-03 1.36090617e+02] [ 5.93897389e-03 9.99982009e-01 8.42992006e-04 -1.37355051e+01] [ 7.78105515e-03 -8.89193634e-04 9.99969332e-01 -4.00939999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.399928851 meters 0.10158165541650883 Centerline is valid? [True, False] Translation: X:136.09, Y:-13.73, Z:-4.01 [[ 9.99951127e-01 -5.83797823e-03 -7.97876409e-03 1.36091442e+02] [ 5.84450248e-03 9.99982605e-01 7.94629484e-04 -1.37345280e+01] [ 7.97398627e-03 -8.41222555e-04 9.99967853e-01 -4.01004170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.459928851 meters 0.1255376422102444 Centerline is valid? [False, False] Translation: X:136.09, Y:-13.73, Z:-4.01 [[ 9.99949253e-01 -5.76382017e-03 -8.26258596e-03 1.36092301e+02] [ 5.76957857e-03 9.99983129e-01 6.73257969e-04 -1.37333173e+01] [ 8.25856603e-03 -7.20895442e-04 9.99965638e-01 -4.01053237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.519928851 meters 0.09893442708446952 Centerline is valid? [False, True] Translation: X:136.09, Y:-13.73, Z:-4.01 [[ 9.99949180e-01 -5.84449329e-03 -8.21463217e-03 1.36092411e+02] [ 5.84937516e-03 9.99982730e-01 5.70388456e-04 -1.37325812e+01] [ 8.21115666e-03 -6.18409933e-04 9.99966097e-01 -4.01085982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.579928851 meters 0.09688125681509493 Centerline is valid? [True, True] Translation: X:136.15, Y:-13.73, Z:-4.01 [[ 9.99946163e-01 -6.93652718e-03 -7.71727664e-03 1.36152542e+02] [ 6.94315667e-03 9.99975549e-01 8.32585886e-04 -1.37340993e+01] [ 7.71131269e-03 -8.86123322e-04 9.99969875e-01 -4.01049729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.639928851 meters 0.10103255305420848 Centerline is valid? [True, False] Translation: X:136.15, Y:-13.73, Z:-4.01 [[ 9.99944751e-01 -7.12583568e-03 -7.72773111e-03 1.36152484e+02] [ 7.13014913e-03 9.99974439e-01 5.30771514e-04 -1.37329809e+01] [ 7.72375139e-03 -5.85842065e-04 9.99970000e-01 -4.01044589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.699928851 meters 0.1009335329609293 Centerline is valid? [False, False] Translation: X:136.15, Y:-13.73, Z:-4.01 [[ 9.99944295e-01 -7.03019569e-03 -7.87300022e-03 1.36152957e+02] [ 7.03500325e-03 9.99975084e-01 5.83111281e-04 -1.37325649e+01] [ 7.86870467e-03 -6.38465381e-04 9.99968837e-01 -4.01075274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.75992885099998 meters 0.09609679337500687 Centerline is valid? [False, True] Translation: X:136.15, Y:-13.73, Z:-4.01 [[ 9.99968617e-01 -3.05166907e-03 -7.31104697e-03 1.36152158e+02] [ 3.08640586e-03 9.99983981e-01 4.74471184e-03 -1.37326030e+01] [ 7.29645056e-03 -4.76712780e-03 9.99962017e-01 -4.01125158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.819928851 meters 0.0966011728938375 Centerline is valid? [True, True] Translation: X:136.21, Y:-13.74, Z:-4.01 [[ 9.99969064e-01 -1.77319243e-03 -7.66340563e-03 1.36210412e+02] [ 1.77970465e-03 9.99998061e-01 8.43045581e-04 -1.37373789e+01] [ 7.66189588e-03 -8.56658099e-04 9.99970280e-01 -4.01265787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.879928851 meters 0.09761721097583984 Centerline is valid? [True, True] Translation: X:136.27, Y:-13.74, Z:-4.01 [[ 9.99967648e-01 -1.98897558e-03 -7.79408332e-03 1.36267835e+02] [ 1.99567187e-03 9.99997646e-01 8.51467897e-04 -1.37443519e+01] [ 7.79237142e-03 -8.66994782e-04 9.99969263e-01 -4.01407587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.939928851 meters 0.09990104593219265 Centerline is valid? [True, True] Translation: X:136.33, Y:-13.75, Z:-4.02 [[ 9.99967591e-01 -2.98939259e-03 -7.47532220e-03 1.36325113e+02] [ 2.99560115e-03 9.99995177e-01 8.19481944e-04 -1.37538799e+01] [ 7.47283640e-03 -8.41848469e-04 9.99971724e-01 -4.01537251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.999928851 meters 0.10455042692675731 Centerline is valid? [True, False] Translation: X:136.33, Y:-13.75, Z:-4.02 [[ 9.99968052e-01 -2.80351227e-03 -7.48572395e-03 1.36325513e+02] [ 2.81186554e-03 9.99995436e-01 1.10560149e-03 -1.37540991e+01] [ 7.48259021e-03 -1.12661502e-03 9.99971370e-01 -4.01591348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.059928851 meters 0.10192812911047937 Centerline is valid? [False, False] Translation: X:136.33, Y:-13.75, Z:-4.02 [[ 9.99968195e-01 -2.66322662e-03 -7.51772220e-03 1.36325990e+02] [ 2.67288387e-03 9.99995615e-01 1.27484414e-03 -1.37539634e+01] [ 7.51429404e-03 -1.29489760e-03 9.99970929e-01 -4.01649473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.119928851 meters 0.1010460759521872 Centerline is valid? [False, False] Translation: X:136.33, Y:-13.75, Z:-4.02 [[ 9.99966953e-01 -2.84239287e-03 -7.61671097e-03 1.36326095e+02] [ 2.85000256e-03 9.99995450e-01 9.88410773e-04 -1.37528215e+01] [ 7.61386686e-03 -1.01008575e-03 9.99970504e-01 -4.01643728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.179928851 meters 0.10069320487438403 Centerline is valid? [False, False] Translation: X:136.33, Y:-13.75, Z:-4.02 [[ 9.99966361e-01 -2.60761502e-03 -7.77671279e-03 1.36326780e+02] [ 2.61713549e-03 9.99995838e-01 1.21430272e-03 -1.37527674e+01] [ 7.77351399e-03 -1.23461458e-03 9.99969024e-01 -4.01694697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.239928851 meters 0.10110344364582922 Centerline is valid? [False, False] Translation: X:136.33, Y:-13.75, Z:-4.02 [[ 9.99965744e-01 -2.70408679e-03 -7.82290728e-03 1.36326663e+02] [ 2.71255845e-03 9.99995746e-01 1.07252226e-03 -1.37525723e+01] [ 7.81997380e-03 -1.09370561e-03 9.99968825e-01 -4.01669769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.299928851 meters 0.10428307902446847 Centerline is valid? [False, False] Translation: X:136.33, Y:-13.75, Z:-4.02 [[ 9.99965896e-01 -2.45206454e-03 -7.88636425e-03 1.36327164e+02] [ 2.46327431e-03 9.99995969e-01 1.41201230e-03 -1.37529201e+01] [ 7.88287012e-03 -1.43139042e-03 9.99967905e-01 -4.01720367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.359928851 meters 0.10628451669860861 Centerline is valid? [False, False] Translation: X:136.33, Y:-13.75, Z:-4.02 [[ 9.99966365e-01 -2.52911931e-03 -7.80212446e-03 1.36326623e+02] [ 2.54034985e-03 9.99995751e-01 1.42984663e-03 -1.37537324e+01] [ 7.79847506e-03 -1.44961866e-03 9.99968541e-01 -4.01667429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.419928851 meters 0.09977014221279722 Centerline is valid? [False, True] Translation: X:136.33, Y:-13.76, Z:-4.02 [[ 9.99967083e-01 -2.00824536e-03 -7.86127319e-03 1.36327168e+02] [ 2.02552201e-03 9.99995550e-01 2.19034655e-03 -1.37554594e+01] [ 7.85683945e-03 -2.20619763e-03 9.99966701e-01 -4.01723002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.47992885099998 meters 0.10955553870974423 Centerline is valid? [True, False] Translation: X:136.33, Y:-13.76, Z:-4.02 [[ 9.99966891e-01 -2.06468238e-03 -7.87106918e-03 1.36326814e+02] [ 2.08155143e-03 9.99995553e-01 2.13558202e-03 -1.37559028e+01] [ 7.86662488e-03 -2.15189534e-03 9.99966742e-01 -4.01667894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.53992885099998 meters 0.10207894711193245 Centerline is valid? [False, False] Translation: X:136.33, Y:-13.76, Z:-4.02 [[ 9.99967676e-01 -1.59101882e-03 -7.88132489e-03 1.36327200e+02] [ 1.61378479e-03 9.99994542e-01 2.88307885e-03 -1.37577972e+01] [ 7.87669484e-03 -2.89570442e-03 9.99964786e-01 -4.01712910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.599928851 meters 0.10261413854965842 Centerline is valid? [False, False] Translation: X:136.33, Y:-13.76, Z:-4.02 [[ 9.99968284e-01 -1.35248136e-03 -7.84868696e-03 1.36327237e+02] [ 1.37841082e-03 9.99993608e-01 3.29920114e-03 -1.37591453e+01] [ 7.84417468e-03 -3.30991522e-03 9.99963756e-01 -4.01721860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.659928851 meters 0.10444277661192647 Centerline is valid? [False, False] Translation: X:136.33, Y:-13.76, Z:-4.02 [[ 9.99967814e-01 -1.22933614e-03 -7.92844945e-03 1.36327228e+02] [ 1.25663303e-03 9.99993298e-01 3.43884247e-03 -1.37599269e+01] [ 7.92416881e-03 -3.44869494e-03 9.99962656e-01 -4.01693193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.719928851 meters 0.10485818993221936 Centerline is valid? [False, False] Translation: X:136.33, Y:-13.76, Z:-4.02 [[ 9.99967574e-01 -1.14594135e-03 -7.97106319e-03 1.36327070e+02] [ 1.17420046e-03 9.99993040e-01 3.54143562e-03 -1.37608358e+01] [ 7.96694943e-03 -3.55068041e-03 9.99961959e-01 -4.01654997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.779928851 meters 0.09665644453296303 Centerline is valid? [False, True] Translation: X:136.33, Y:-13.76, Z:-4.02 [[ 9.99968032e-01 -1.19203874e-03 -7.90663543e-03 1.36326756e+02] [ 1.21987899e-03 9.99993070e-01 3.51723707e-03 -1.37612789e+01] [ 7.90238795e-03 -3.52676977e-03 9.99962556e-01 -4.01625695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.839928851 meters 0.0977697587035453 Centerline is valid? [True, True] Translation: X:136.38, Y:-13.77, Z:-4.02 [[ 9.99962761e-01 -1.24387834e-03 -8.53991700e-03 1.36384326e+02] [ 1.25177223e-03 9.99998794e-01 9.19068858e-04 -1.37691866e+01] [ 8.53876349e-03 -9.29724664e-04 9.99963112e-01 -4.01678164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.899928851 meters 0.09453349818380574 Centerline is valid? [True, True] Translation: X:136.44, Y:-13.77, Z:-4.02 [[ 9.99955904e-01 -2.12424075e-03 -9.14750498e-03 1.36443942e+02] [ 2.13333981e-03 9.99997239e-01 9.85061040e-04 -1.37712694e+01] [ 9.14538722e-03 -1.00453234e-03 9.99957676e-01 -4.01635970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.959928851 meters 0.09359845334979702 Centerline is valid? [True, True] Translation: X:136.50, Y:-13.78, Z:-4.02 [[ 9.99960440e-01 -2.80099629e-03 -8.44235739e-03 1.36502876e+02] [ 2.80872318e-03 9.99995647e-01 9.03535317e-04 -1.37763375e+01] [ 8.43978985e-03 -9.27211818e-04 9.99963954e-01 -4.01673997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.019928851 meters 0.09546325273948174 Centerline is valid? [True, True] Translation: X:136.56, Y:-13.79, Z:-4.02 [[ 9.99949755e-01 -2.93455194e-03 -9.58518026e-03 1.36559857e+02] [ 2.94454107e-03 9.99995136e-01 1.02819765e-03 -1.37863316e+01] [ 9.58211634e-03 -1.05636995e-03 9.99953532e-01 -4.01887035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.079928851 meters 0.09609338116741446 Centerline is valid? [True, True] Translation: X:136.62, Y:-13.79, Z:-4.02 [[ 9.99948230e-01 -2.71174154e-03 -9.80730719e-03 1.36618718e+02] [ 2.72216934e-03 9.99995744e-01 1.05007645e-03 -1.37937435e+01] [ 9.80441791e-03 -1.07671924e-03 9.99951356e-01 -4.01996788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.139928851 meters 0.0972240687520785 Centerline is valid? [True, True] Translation: X:136.68, Y:-13.80, Z:-4.02 [[ 9.99951251e-01 -2.47387590e-03 -9.55907488e-03 1.36676693e+02] [ 2.48373219e-03 9.99996396e-01 1.01935923e-03 -1.38020907e+01] [ 9.55651866e-03 -1.04305172e-03 9.99953791e-01 -4.02216493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.199928851 meters 0.09872927758478306 Centerline is valid? [True, True] Translation: X:136.74, Y:-13.81, Z:-4.02 [[ 9.99939513e-01 -4.65175549e-03 -9.96650016e-03 1.36736849e+02] [ 4.66261657e-03 9.99988561e-01 1.06680058e-03 -1.38109844e+01] [ 9.96142366e-03 -1.11320602e-03 9.99949764e-01 -4.02350928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.25992885099998 meters 0.0947174690317849 Centerline is valid? [True, True] Translation: X:136.80, Y:-13.81, Z:-4.02 [[ 9.99921105e-01 -7.64888995e-03 -9.96384094e-03 1.36797726e+02] [ 7.65989296e-03 9.99970094e-01 1.06659967e-03 -1.38107635e+01] [ 9.95538465e-03 -1.14283748e-03 9.99949791e-01 -4.02229181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.319928851 meters 0.09878842672188207 Centerline is valid? [True, True] Translation: X:136.86, Y:-13.83, Z:-4.03 [[ 9.99881017e-01 -1.08257489e-02 -1.09889000e-02 1.36856138e+02] [ 1.08393166e-02 9.99940562e-01 1.17586731e-03 -1.38260521e+01] [ 1.09755172e-02 -1.29483957e-03 9.99938929e-01 -4.02547236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.379928851 meters 0.10339372530613516 Centerline is valid? [True, False] Translation: X:136.85, Y:-13.83, Z:-4.03 [[ 9.99885122e-01 -1.11712826e-02 -1.02442616e-02 1.36854423e+02] [ 1.11870866e-02 9.99936317e-01 1.48671005e-03 -1.38284582e+01] [ 1.02270007e-02 -1.60114270e-03 9.99946421e-01 -4.02500986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.439928851 meters 0.10488452160699009 Centerline is valid? [False, False] Translation: X:136.85, Y:-13.83, Z:-4.03 [[ 9.99889566e-01 -1.10012009e-02 -9.99150996e-03 1.36854270e+02] [ 1.10213205e-02 9.99937341e-01 1.96083856e-03 -1.38296958e+01] [ 9.96931232e-03 -2.07074165e-03 9.99948161e-01 -4.02545964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.499928851 meters 0.1048822006858555 Centerline is valid? [False, False] Translation: X:136.85, Y:-13.83, Z:-4.03 [[ 9.99890878e-01 -1.10559204e-02 -9.79793212e-03 1.36854089e+02] [ 1.10767314e-02 9.99936504e-01 2.07230409e-03 -1.38298509e+01] [ 9.77439876e-03 -2.18060701e-03 9.99949852e-01 -4.02578716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.559928851 meters 0.10593098435193044 Centerline is valid? [False, False] Translation: X:136.85, Y:-13.83, Z:-4.03 [[ 9.99889543e-01 -1.10640223e-02 -9.92417738e-03 1.36854275e+02] [ 1.10838454e-02 9.99936681e-01 1.94469023e-03 -1.38293019e+01] [ 9.90203290e-03 -2.05447348e-03 9.99948863e-01 -4.02571384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.619928851 meters 0.10310910809742461 Centerline is valid? [False, False] Translation: X:136.85, Y:-13.83, Z:-4.03 [[ 9.99965265e-01 -4.50227600e-03 7.01416441e-03 1.36847150e+02] [ 4.51606548e-03 9.99987899e-01 -1.95135164e-03 -1.38282423e+01] [-7.00529400e-03 1.98296028e-03 9.99973497e-01 -4.03238953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.679928851 meters 0.10062423248950667 Centerline is valid? [False, False] Translation: X:136.85, Y:-13.83, Z:-4.03 [[ 9.99969365e-01 -4.28767780e-03 6.54865894e-03 1.36848261e+02] [ 4.30156379e-03 9.99988527e-01 -2.10782124e-03 -1.38267657e+01] [-6.53954615e-03 2.13592614e-03 9.99976336e-01 -4.03269229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.739928851 meters 0.1012029623840524 Centerline is valid? [False, False] Translation: X:136.85, Y:-13.83, Z:-4.03 [[ 9.99977383e-01 3.48810949e-06 6.72562160e-03 1.36848207e+02] [-1.88205325e-05 9.99997401e-01 2.27964154e-03 -1.38275548e+01] [-6.72559617e-03 -2.27971656e-03 9.99974784e-01 -4.03309962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.799928851 meters 0.09804890056093563 Centerline is valid? [False, True] Translation: X:136.85, Y:-13.83, Z:-4.03 [[ 9.99979824e-01 2.14671954e-04 6.34864509e-03 1.36849155e+02] [-2.28936194e-04 9.99997451e-01 2.24617503e-03 -1.38271024e+01] [-6.34814672e-03 -2.24758315e-03 9.99977324e-01 -4.03339282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.859928851 meters 0.09836359326288154 Centerline is valid? [True, True] Translation: X:136.91, Y:-13.83, Z:-4.03 [[ 9.99976695e-01 1.04617246e-03 6.74642803e-03 1.36910674e+02] [-1.04092161e-03 9.99999153e-01 -7.81779927e-04 -1.38335485e+01] [-6.74724019e-03 7.74739205e-04 9.99976937e-01 -4.03496750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.919928851 meters 0.09815414784394863 Centerline is valid? [True, True] Translation: X:136.97, Y:-13.84, Z:-4.04 [[ 9.99982934e-01 1.24601854e-03 5.70787124e-03 1.36972862e+02] [-1.24229368e-03 9.99999013e-01 -6.56080776e-04 -1.38398044e+01] [-5.70868310e-03 6.48978727e-04 9.99983495e-01 -4.03739433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.97992885099998 meters 0.10112216863508669 Centerline is valid? [True, False] Translation: X:136.97, Y:-13.84, Z:-4.04 [[ 9.99982180e-01 1.61550445e-03 5.74712846e-03 1.36973204e+02] [-1.61576322e-03 9.99998694e-01 4.03820900e-05 -1.38414085e+01] [-5.74705571e-03 -4.96673692e-05 9.99983484e-01 -4.03799971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.03992885099998 meters 0.1002033008660339 Centerline is valid? [False, False] Translation: X:136.97, Y:-13.84, Z:-4.04 [[ 9.99981171e-01 1.62873627e-03 5.91649960e-03 1.36972661e+02] [-1.63057530e-03 9.99998624e-01 3.06020277e-04 -1.38429188e+01] [-5.91599303e-03 -3.15661813e-04 9.99982451e-01 -4.03762063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.099928851 meters 0.10082532063694252 Centerline is valid? [False, False] Translation: X:136.97, Y:-13.84, Z:-4.04 [[ 9.99979467e-01 1.63168811e-03 6.19700079e-03 1.36972007e+02] [-1.63593291e-03 9.99998431e-01 6.79969803e-04 -1.38446668e+01] [-6.19588157e-03 -6.90093719e-04 9.99980567e-01 -4.03740167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.159928851 meters 0.10180404553338492 Centerline is valid? [False, False] Translation: X:136.97, Y:-13.85, Z:-4.04 [[ 9.99980128e-01 1.89520135e-03 6.01264514e-03 1.36972312e+02] [-1.90117141e-03 9.99997705e-01 9.87357297e-04 -1.38457766e+01] [-6.01076010e-03 -9.98768745e-04 9.99981436e-01 -4.03728539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.219928851 meters 0.10441488256349607 Centerline is valid? [False, False] Translation: X:136.97, Y:-13.85, Z:-4.04 [[ 9.99981194e-01 2.06137303e-03 5.77599322e-03 1.36972848e+02] [-2.06717890e-03 9.99997364e-01 9.99382587e-04 -1.38459039e+01] [-5.77391789e-03 -1.01130380e-03 9.99982819e-01 -4.03729429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.279928851 meters 0.1044062556402616 Centerline is valid? [False, False] Translation: X:136.97, Y:-13.85, Z:-4.04 [[ 9.99982077e-01 2.12341098e-03 5.59790478e-03 1.36972839e+02] [-2.12858544e-03 9.99997313e-01 9.18561388e-04 -1.38461134e+01] [-5.59593925e-03 -9.30460544e-04 9.99983910e-01 -4.03672705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.339928851 meters 0.1007175349613745 Centerline is valid? [False, False] Translation: X:136.97, Y:-13.85, Z:-4.04 [[ 9.99983540e-01 2.52541595e-03 5.15192683e-03 1.36973886e+02] [-2.53133552e-03 9.99996143e-01 1.14280441e-03 -1.38463842e+01] [-5.14902090e-03 -1.15582686e-03 9.99986076e-01 -4.03693284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.399928851 meters 0.10313588114954635 Centerline is valid? [False, False] Translation: X:136.97, Y:-13.85, Z:-4.04 [[ 9.99984975e-01 2.84057418e-03 4.68828068e-03 1.36974680e+02] [-2.84599092e-03 9.99995290e-01 1.14911229e-03 -1.38461326e+01] [-4.68499445e-03 -1.16243783e-03 9.99988350e-01 -4.03676394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.459928851 meters 0.09977598661489138 Centerline is valid? [False, True] Translation: X:136.98, Y:-13.85, Z:-4.04 [[ 9.99986483e-01 2.97013441e-03 4.26754722e-03 1.36975246e+02] [-2.97442620e-03 9.99995077e-01 9.99685110e-04 -1.38457618e+01] [-4.26455701e-03 -1.01236510e-03 9.99990394e-01 -4.03637977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.519928851 meters 0.09539495811163796 Centerline is valid? [True, True] Translation: X:137.04, Y:-13.84, Z:-4.04 [[ 9.99979412e-01 5.31177868e-03 3.59998742e-03 1.37037043e+02] [-5.31038423e-03 9.99985821e-01 -3.96797190e-04 -1.38447389e+01] [-3.60204407e-03 3.77671704e-04 9.99993441e-01 -4.03716349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.579928851 meters 0.09407841756263716 Centerline is valid? [True, True] Translation: X:137.10, Y:-13.85, Z:-4.04 [[ 9.99966253e-01 7.14444141e-03 4.05593907e-03 1.37097211e+02] [-7.14268321e-03 9.99974390e-01 -4.47807011e-04 -1.38499145e+01] [-4.05903453e-03 4.18821611e-04 9.99991674e-01 -4.03918224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.639928851 meters 0.09229738527380933 Centerline is valid? [True, True] Translation: X:137.16, Y:-13.85, Z:-4.04 [[ 9.99974481e-01 6.45120505e-03 3.06919302e-03 1.37157652e+02] [-6.45019532e-03 9.99979140e-01 -3.38771492e-04 -1.38533984e+01] [-3.07131448e-03 3.18965952e-04 9.99995233e-01 -4.04017275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.699928851 meters 0.09447384123943342 Centerline is valid? [True, True] Translation: X:137.22, Y:-13.87, Z:-4.04 [[ 9.99982688e-01 4.97295902e-03 3.14537376e-03 1.37216964e+02] [-4.97189132e-03 9.99987580e-01 -3.47180173e-04 -1.38665030e+01] [-3.14706121e-03 3.31535706e-04 9.99994993e-01 -4.04368148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.75992885099998 meters 0.09625817339119329 Centerline is valid? [True, True] Translation: X:137.28, Y:-13.88, Z:-4.05 [[ 9.99981073e-01 4.74371429e-03 3.91813363e-03 1.37276783e+02] [-4.74205577e-03 9.99988663e-01 -4.32475887e-04 -1.38776777e+01] [-3.92014075e-03 4.13887693e-04 9.99992231e-01 -4.04633344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.819928851 meters 0.09536562313194255 Centerline is valid? [True, True] Translation: X:137.34, Y:-13.88, Z:-4.05 [[ 9.99970178e-01 5.53850727e-03 5.38210635e-03 1.37337722e+02] [-5.53539164e-03 9.99984503e-01 -5.93610635e-04 -1.38833334e+01] [-5.38531066e-03 5.63800866e-04 9.99985340e-01 -4.04705280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.879928851 meters 0.09647529091535803 Centerline is valid? [True, True] Translation: X:137.40, Y:-13.89, Z:-4.05 [[ 9.99955000e-01 7.68740873e-03 5.55892030e-03 1.37396500e+02] [-7.68412460e-03 9.99970289e-01 -6.11903328e-04 -1.38921815e+01] [-5.56345909e-03 5.69160356e-04 9.99984362e-01 -4.04993455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.939928851 meters 0.091883002348283 Centerline is valid? [True, True] Translation: X:137.46, Y:-13.89, Z:-4.05 [[ 9.99921055e-01 1.18045561e-02 4.30536701e-03 1.37457718e+02] [-1.18026165e-02 9.99930234e-01 -4.75632727e-04 -1.38899500e+01] [-4.31068127e-03 4.24780582e-04 9.99990619e-01 -4.05076127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.999928851 meters 0.08811170546871055 Centerline is valid? [True, True] Translation: X:137.52, Y:-13.89, Z:-4.05 [[ 9.99888098e-01 1.44015286e-02 4.04807075e-03 1.37519106e+02] [-1.43998349e-02 9.99896217e-01 -4.47247939e-04 -1.38887647e+01] [-4.05409168e-03 3.88906341e-04 9.99991707e-01 -4.05070280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.059928851 meters 0.08651511307814438 Centerline is valid? [True, True] Translation: X:137.58, Y:-13.89, Z:-4.05 [[ 9.99841677e-01 1.73124165e-02 4.11099442e-03 1.37579466e+02] [-1.73106942e-02 9.99850056e-01 -4.54172314e-04 -1.38926268e+01] [-4.11824082e-03 3.82936241e-04 9.99991447e-01 -4.05262070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.119928851 meters 0.092992588644383 Centerline is valid? [True, True] Translation: X:137.64, Y:-13.91, Z:-4.06 [[ 9.99818328e-01 1.86270065e-02 4.04298979e-03 1.37636573e+02] [-1.86253478e-02 9.99826433e-01 -4.47528607e-04 -1.39123776e+01] [-4.05062418e-03 3.72145212e-04 9.99991727e-01 -4.05875152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.179928851 meters 0.08725489727885315 Centerline is valid? [True, True] Translation: X:137.70, Y:-13.91, Z:-4.06 [[ 9.99781718e-01 2.03203818e-02 4.85784435e-03 1.37697421e+02] [-2.03180111e-02 9.99793424e-01 -5.36862584e-04 -1.39083665e+01] [-4.86775009e-03 4.38043661e-04 9.99988056e-01 -4.05763867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.239928851 meters 0.0881396528827012 Centerline is valid? [True, True] Translation: X:137.76, Y:-13.92, Z:-4.06 [[ 9.99764582e-01 2.10809491e-02 5.13550804e-03 1.37755374e+02] [-2.10783032e-02 9.99777666e-01 -5.68800299e-04 -1.39179142e+01] [-5.14635709e-03 4.60418597e-04 9.99986651e-01 -4.05987101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.299928851 meters 0.08887985602279518 Centerline is valid? [True, True] Translation: X:137.81, Y:-13.93, Z:-4.06 [[ 9.99772916e-01 2.05398531e-02 5.67719735e-03 1.37813688e+02] [-2.05366146e-02 9.99788904e-01 -6.28168796e-04 -1.39283761e+01] [-5.68890141e-03 5.11435735e-04 9.99983687e-01 -4.06275701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.359928851 meters 0.08644730081820909 Centerline is valid? [True, True] Translation: X:137.87, Y:-13.93, Z:-4.06 [[ 9.99785125e-01 1.99643452e-02 5.57923483e-03 1.37872264e+02] [-1.99612101e-02 9.99800565e-01 -6.17051559e-04 -1.39307284e+01] [-5.59044116e-03 5.05550692e-04 9.99984246e-01 -4.06312098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.419928851 meters 0.0880576595911407 Centerline is valid? [True, True] Translation: X:137.93, Y:-13.94, Z:-4.07 [[ 9.99777818e-01 2.01534180e-02 6.17693065e-03 1.37928965e+02] [-2.01495801e-02 9.99796743e-01 -6.82930865e-04 -1.39432368e+01] [-6.18943854e-03 5.58316571e-04 9.99980689e-01 -4.06754404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.47992885099998 meters 0.08864373263218903 Centerline is valid? [True, True] Translation: X:137.99, Y:-13.95, Z:-4.07 [[ 9.99767210e-01 2.05179083e-02 6.67385281e-03 1.37987354e+02] [-2.05134447e-02 9.99789306e-01 -7.36593863e-04 -1.39517071e+01] [-6.68756004e-03 5.99518682e-04 9.99977458e-01 -4.06979006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.53992885099998 meters 0.0896924191650219 Centerline is valid? [True, True] Translation: X:138.05, Y:-13.96, Z:-4.07 [[ 9.99733940e-01 2.17131699e-02 7.78373586e-03 1.38045429e+02] [-2.17071443e-02 9.99764004e-01 -8.57781888e-04 -1.39608174e+01] [-7.80052409e-03 6.88590989e-04 9.99969338e-01 -4.07145078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.599928851 meters 0.0859485752003849 Centerline is valid? [True, True] Translation: X:138.11, Y:-13.96, Z:-4.07 [[ 9.99696448e-01 2.32371087e-02 8.18834824e-03 1.38105552e+02] [-2.32304966e-02 9.99729729e-01 -9.01702544e-04 -1.39618341e+01] [-8.20708813e-03 7.11209434e-04 9.99966068e-01 -4.07184054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.659928851 meters 0.08609848980853682 Centerline is valid? [True, True] Translation: X:138.17, Y:-13.97, Z:-4.07 [[ 9.99658521e-01 2.46744618e-02 8.60306215e-03 1.38165228e+02] [-2.46672247e-02 9.99695270e-01 -9.46346129e-04 -1.39699873e+01] [-8.62379112e-03 7.33809305e-04 9.99962545e-01 -4.07441013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.719928851 meters 0.08737113693019503 Centerline is valid? [True, True] Translation: X:138.22, Y:-13.98, Z:-4.08 [[ 9.99657939e-01 2.50928564e-02 7.37243829e-03 1.38221696e+02] [-2.50875411e-02 9.99684928e-01 -8.12582795e-04 -1.39803741e+01] [-7.39050546e-03 6.27348494e-04 9.99972493e-01 -4.07834395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.779928851 meters 0.08467134780705934 Centerline is valid? [True, True] Translation: X:138.28, Y:-13.98, Z:-4.08 [[ 9.99666323e-01 2.48828796e-02 6.93436629e-03 1.38280524e+02] [-2.48781775e-02 9.99690199e-01 -7.63525934e-04 -1.39814374e+01] [-6.95121674e-03 5.90756767e-04 9.99975666e-01 -4.07909547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.839928851 meters 0.08613059666581124 Centerline is valid? [True, True] Translation: X:138.34, Y:-13.99, Z:-4.08 [[ 9.99666760e-01 2.52704422e-02 5.27006506e-03 1.38336798e+02] [-2.52677285e-02 9.99680551e-01 -5.80873314e-04 -1.39936904e+01] [-5.28306047e-03 4.47517171e-04 9.99985944e-01 -4.08408389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.899928851 meters 0.08635235812473238 Centerline is valid? [True, True] Translation: X:138.40, Y:-14.00, Z:-4.09 [[ 9.99657219e-01 2.56743195e-02 5.12589498e-03 1.38395627e+02] [-2.56717643e-02 9.99670267e-01 -5.63677421e-04 -1.40012831e+01] [-5.13867684e-03 4.31893435e-04 9.99986704e-01 -4.08590324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.959928851 meters 0.08437136420664712 Centerline is valid? [True, True] Translation: X:138.45, Y:-14.01, Z:-4.09 [[ 9.99628680e-01 2.67154102e-02 5.36550716e-03 1.38454830e+02] [-2.67126271e-02 9.99642980e-01 -5.89711839e-04 -1.40060995e+01] [-5.37934596e-03 4.46166075e-04 9.99985432e-01 -4.08650622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.019928851 meters 0.08344633798805529 Centerline is valid? [True, True] Translation: X:138.51, Y:-14.01, Z:-4.09 [[ 9.99620377e-01 2.69793123e-02 5.58732992e-03 1.38512991e+02] [-2.69762977e-02 9.99635885e-01 -6.14210899e-04 -1.40130441e+01] [-5.60186648e-03 4.63252255e-04 9.99984202e-01 -4.08817695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.079928851 meters 0.08384422715330334 Centerline is valid? [True, True] Translation: X:138.57, Y:-14.02, Z:-4.09 [[ 9.99611088e-01 2.72425291e-02 5.95961347e-03 1.38571289e+02] [-2.72391075e-02 9.99628732e-01 -6.54565446e-04 -1.40219461e+01] [-5.97523288e-03 4.91976326e-04 9.99982027e-01 -4.08991788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.139928851 meters 0.08444109810524258 Centerline is valid? [True, True] Translation: X:138.63, Y:-14.03, Z:-4.09 [[ 9.99599363e-01 2.75734288e-02 6.38901304e-03 1.38628023e+02] [-2.75695042e-02 9.99619643e-01 -7.01546389e-04 -1.40309903e+01] [-6.40592697e-03 5.25123402e-04 9.99979344e-01 -4.09240743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.19992885099998 meters 0.08280482797839007 Centerline is valid? [True, True] Translation: X:138.69, Y:-14.03, Z:-4.09 [[ 9.99583309e-01 2.82955012e-02 5.70728630e-03 1.38686648e+02] [-2.82923846e-02 9.99599494e-01 -6.26088847e-04 -1.40349517e+01] [-5.72271600e-03 4.64355222e-04 9.99983517e-01 -4.09408176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.25992885099998 meters 0.08166942906162537 Centerline is valid? [True, True] Translation: X:138.75, Y:-14.04, Z:-4.10 [[ 9.99542551e-01 2.95945366e-02 6.23316740e-03 1.38745984e+02] [-2.95908537e-02 9.99561862e-01 -6.82276339e-04 -1.40405809e+01] [-6.25062807e-03 4.97519488e-04 9.99980341e-01 -4.09594547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.319928851 meters 0.08110328322249456 Centerline is valid? [True, True] Translation: X:138.80, Y:-14.05, Z:-4.10 [[ 9.99535547e-01 2.97484770e-02 6.61202937e-03 1.38804792e+02] [-2.97443322e-02 9.99557277e-01 -7.24331440e-04 -1.40466805e+01] [-6.63064983e-03 5.27324624e-04 9.99977878e-01 -4.09703031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.379928851 meters 0.0837116668139084 Centerline is valid? [True, True] Translation: X:138.86, Y:-14.06, Z:-4.10 [[ 9.99561605e-01 2.87893091e-02 6.91180575e-03 1.38861027e+02] [-2.87847583e-02 9.99585346e-01 -7.57009287e-04 -1.40612157e+01] [-6.93073351e-03 5.57722761e-04 9.99975827e-01 -4.10098549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.439928851 meters 0.08388812727423779 Centerline is valid? [True, True] Translation: X:138.92, Y:-14.07, Z:-4.10 [[ 9.99600616e-01 2.74599679e-02 6.67524467e-03 1.38920123e+02] [-2.74557058e-02 9.99622755e-01 -7.29315930e-04 -1.40699046e+01] [-6.69275346e-03 5.45751099e-04 9.99977454e-01 -4.10224282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.499928851 meters 0.08212638677168362 Centerline is valid? [True, True] Translation: X:138.98, Y:-14.07, Z:-4.10 [[ 9.99670050e-01 2.47876497e-02 6.73524089e-03 1.38979839e+02] [-2.47832547e-02 9.99692578e-01 -7.35234298e-04 -1.40746728e+01] [-6.75139506e-03 5.68070517e-04 9.99977048e-01 -4.10324707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.559928851 meters 0.08124622160797602 Centerline is valid? [True, True] Translation: X:139.04, Y:-14.08, Z:-4.11 [[ 9.99696564e-01 2.39345697e-02 5.82385284e-03 1.39038404e+02] [-2.39312641e-02 9.99713404e-01 -6.36621418e-04 -1.40829407e+01] [-5.83742101e-03 4.97056084e-04 9.99982839e-01 -4.10595828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.619928851 meters 0.0878010398731948 Centerline is valid? [True, True] Translation: X:139.09, Y:-14.10, Z:-4.11 [[ 9.99678389e-01 2.43671191e-02 7.02580696e-03 1.39094854e+02] [-2.43623210e-02 9.99702900e-01 -7.67718779e-04 -1.41028256e+01] [-7.04242669e-03 5.96306908e-04 9.99975024e-01 -4.11144039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.679928851 meters 0.07625978564517626 Centerline is valid? [True, True] Translation: X:139.16, Y:-14.09, Z:-4.11 [[ 9.99594170e-01 2.71413426e-02 8.65118845e-03 1.39157843e+02] [-2.71341907e-02 9.99631355e-01 -9.43026822e-04 -1.40889510e+01] [-8.67359425e-03 7.07901116e-04 9.99962133e-01 -4.10586381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.739928851 meters 0.07647965293989778 Centerline is valid? [True, True] Translation: X:139.22, Y:-14.10, Z:-4.11 [[ 9.99508788e-01 2.96484867e-02 1.01562329e-02 1.39216626e+02] [-2.96387589e-02 9.99560062e-01 -1.10702631e-03 -1.40980086e+01] [-1.01845865e-02 8.05464389e-04 9.99947811e-01 -4.10838060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.799928851 meters 0.08501285129859627 Centerline is valid? [True, True] Translation: X:139.27, Y:-14.12, Z:-4.12 [[ 9.99411594e-01 3.27742617e-02 1.01149738e-02 1.39273829e+02] [-3.27647741e-02 9.99462483e-01 -1.10231170e-03 -1.41233114e+01] [-1.01456643e-02 7.70248257e-04 9.99948235e-01 -4.11703082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.859928851 meters 0.07451949607295565 Centerline is valid? [True, True] Translation: X:139.33, Y:-14.11, Z:-4.11 [[ 9.99380080e-01 3.38926203e-02 9.52605311e-03 1.39334158e+02] [-3.38842473e-02 9.99425224e-01 -1.03902421e-03 -1.41108432e+01] [-9.55579301e-03 7.15596954e-04 9.99954086e-01 -4.11364121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.919928851 meters 0.07133376164829561 Centerline is valid? [True, True] Translation: X:139.39, Y:-14.11, Z:-4.11 [[ 9.99387365e-01 3.37822812e-02 9.14613859e-03 1.39392796e+02] [-3.37745625e-02 9.99428979e-01 -9.97115576e-04 -1.41131567e+01] [-9.17460079e-03 6.87597879e-04 9.99957676e-01 -4.11412442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.97992885099998 meters 0.0693661236668463 Centerline is valid? [True, True] Translation: X:139.45, Y:-14.12, Z:-4.11 [[ 9.99415347e-01 3.28421522e-02 9.50562529e-03 1.39451703e+02] [-3.28337791e-02 9.99460290e-01 -1.03561402e-03 -1.41169192e+01] [-9.53450679e-03 7.22902947e-04 9.99954284e-01 -4.11469755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.03992885099998 meters 0.07100842270958514 Centerline is valid? [True, True] Translation: X:139.51, Y:-14.13, Z:-4.12 [[ 9.99430316e-01 3.21415740e-02 1.02938015e-02 1.39508384e+02] [-3.21317236e-02 9.99483014e-01 -1.12093230e-03 -1.41293141e+01] [-1.03245083e-02 7.89536135e-04 9.99946389e-01 -4.11724921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.099928851 meters 0.06787611602273316 Centerline is valid? [True, True] Translation: X:139.57, Y:-14.13, Z:-4.12 [[ 9.99419825e-01 3.24402835e-02 1.03750277e-02 1.39567697e+02] [-3.24303062e-02 9.99473362e-01 -1.12850785e-03 -1.41301354e+01] [-1.04061729e-02 7.91387795e-04 9.99945541e-01 -4.11769337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.159928851 meters 0.06710766656819561 Centerline is valid? [True, True] Translation: X:139.63, Y:-14.14, Z:-4.12 [[ 9.99398291e-01 3.31058712e-02 1.03468257e-02 1.39626473e+02] [-3.30959910e-02 9.99451545e-01 -1.12471819e-03 -1.41363211e+01] [-1.03783857e-02 7.81602992e-04 9.99945838e-01 -4.11890523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.219928851 meters 0.06742821469076593 Centerline is valid? [True, True] Translation: X:139.68, Y:-14.14, Z:-4.12 [[ 9.99359175e-01 3.39052937e-02 1.14747414e-02 1.39684174e+02] [-3.38932065e-02 9.99424683e-01 -1.24626470e-03 -1.41442380e+01] [-1.15103948e-02 8.56550282e-04 9.99933386e-01 -4.12054763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.279928851 meters 0.06665236048840108 Centerline is valid? [True, True] Translation: X:139.74, Y:-14.15, Z:-4.12 [[ 9.99335894e-01 3.43549767e-02 1.21452205e-02 1.39742320e+02] [-3.43414804e-02 9.99409288e-01 -1.31811265e-03 -1.41503288e+01] [-1.21833299e-02 9.00152429e-04 9.99925375e-01 -4.12102139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.339928851 meters 0.065935630589077 Centerline is valid? [True, True] Translation: X:139.80, Y:-14.16, Z:-4.12 [[ 9.99342452e-01 3.41869016e-02 1.20796839e-02 1.39801166e+02] [-3.41735481e-02 9.99415055e-01 -1.31020133e-03 -1.41567850e+01] [-1.21174097e-02 8.96534148e-04 9.99926180e-01 -4.12306788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.399928851 meters 0.06240806580684261 Centerline is valid? [True, True] Translation: X:139.86, Y:-14.16, Z:-4.12 [[ 9.99349491e-01 3.44186457e-02 1.07680881e-02 1.39860079e+02] [-3.44080528e-02 9.99407186e-01 -1.16750479e-03 -1.41582980e+01] [-1.08018885e-02 7.96236372e-04 9.99941341e-01 -4.12398486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.459928851 meters 0.062228947779213 Centerline is valid? [True, True] Translation: X:139.92, Y:-14.17, Z:-4.13 [[ 9.99344544e-01 3.45932449e-02 1.06672475e-02 1.39918796e+02] [-3.45828673e-02 9.99401165e-01 -1.15583049e-03 -1.41658698e+01] [-1.07008435e-02 7.86168887e-04 9.99942435e-01 -4.12566148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.519928851 meters 0.061703688314111285 Centerline is valid? [True, True] Translation: X:139.98, Y:-14.17, Z:-4.13 [[ 9.99310316e-01 3.54407474e-02 1.10835988e-02 1.39976849e+02] [-3.54296053e-02 9.99371454e-01 -1.20007832e-03 -1.41732797e+01] [-1.11191639e-02 8.06563114e-04 9.99937855e-01 -4.12660853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.579928851 meters 0.06263081792220164 Centerline is valid? [True, True] Translation: X:140.04, Y:-14.18, Z:-4.13 [[ 9.99241013e-01 3.68447012e-02 1.26437844e-02 1.40035027e+02] [-3.68303368e-02 9.99320598e-01 -1.36713612e-03 -1.41839068e+01] [-1.26855659e-02 9.00423640e-04 9.99919130e-01 -4.12757091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.639928851 meters 0.06167422674394963 Centerline is valid? [True, True] Translation: X:140.09, Y:-14.19, Z:-4.13 [[ 9.99218541e-01 3.72404163e-02 1.32460490e-02 1.40093241e+02] [-3.72246836e-02 9.99305895e-01 -1.43238476e-03 -1.41893667e+01] [-1.32901974e-02 9.38185427e-04 9.99911241e-01 -4.12839347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.69992885099998 meters 0.061421393569343126 Centerline is valid? [True, True] Translation: X:140.15, Y:-14.20, Z:-4.13 [[ 9.99215901e-01 3.72850240e-02 1.33195285e-02 1.40152152e+02] [-3.72691226e-02 9.99304227e-01 -1.44015001e-03 -1.41960646e+01] [-1.33639572e-02 9.42613652e-04 9.99910254e-01 -4.12975046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.75992885099998 meters 0.060933283705958734 Centerline is valid? [True, True] Translation: X:140.21, Y:-14.20, Z:-4.13 [[ 9.99163551e-01 3.79938189e-02 1.51217585e-02 1.40210503e+02] [-3.79734443e-02 9.99277415e-01 -1.63232819e-03 -1.42039613e+01] [-1.51728501e-02 1.05673758e-03 9.99884327e-01 -4.13065438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.819928851 meters 0.0622074569632562 Centerline is valid? [True, True] Translation: X:140.27, Y:-14.21, Z:-4.13 [[ 9.99161989e-01 3.84324851e-02 1.40805990e-02 1.40267824e+02] [-3.84148701e-02 9.99260721e-01 -1.51944688e-03 -1.42142010e+01] [-1.41285857e-02 9.77269183e-04 9.99899709e-01 -4.13284986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.879928851 meters 0.06195561550646023 Centerline is valid? [True, True] Translation: X:140.33, Y:-14.22, Z:-4.13 [[ 9.99147896e-01 3.88087901e-02 1.40484811e-02 1.40326673e+02] [-3.87913170e-02 9.99246186e-01 -1.51423600e-03 -1.42209963e+01] [-1.40966568e-02 9.67986631e-04 9.99900169e-01 -4.13408103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.939928851 meters 0.0631805525910639 Centerline is valid? [True, True] Translation: X:140.38, Y:-14.23, Z:-4.14 [[ 9.99170352e-01 3.79233876e-02 1.48466631e-02 1.40383156e+02] [-3.79037800e-02 9.99280113e-01 -1.59994486e-03 -1.42316922e+01] [-1.48966506e-02 1.03587282e-03 9.99888502e-01 -4.13528056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.999928851 meters 0.06170551354639602 Centerline is valid? [True, True] Translation: X:140.44, Y:-14.24, Z:-4.14 [[ 9.99213421e-01 3.63083263e-02 1.59450256e-02 1.40442563e+02] [-3.62855381e-02 9.99339989e-01 -1.71625106e-03 -1.42386840e+01] [-1.59968160e-02 1.13632726e-03 9.99871397e-01 -4.13580359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.059928851 meters 0.05576757243642376 Centerline is valid? [True, True] Translation: X:140.50, Y:-14.24, Z:-4.13 [[ 9.99259755e-01 3.48290592e-02 1.63364077e-02 1.40503092e+02] [-3.48049502e-02 9.99392578e-01 -1.75787311e-03 -1.42376040e+01] [-1.63877097e-02 1.18798400e-03 9.99865007e-01 -4.13370400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.119928851 meters 0.056164936244751384 Centerline is valid? [True, True] Translation: X:140.56, Y:-14.25, Z:-4.14 [[ 9.99339972e-01 3.31693242e-02 1.48126868e-02 1.40561647e+02] [-3.31493234e-02 9.99449139e-01 -1.59380708e-03 -1.42463197e+01] [-1.48573926e-02 1.10172458e-03 9.99889016e-01 -4.13571557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.179928851 meters 0.057550249645248325 Centerline is valid? [True, True] Translation: X:140.62, Y:-14.26, Z:-4.14 [[ 9.99364150e-01 3.25192673e-02 1.46216865e-02 1.40619095e+02] [-3.24997162e-02 9.99470507e-01 -1.57282379e-03 -1.42565000e+01] [-1.46650915e-02 1.09662305e-03 9.99891860e-01 -4.13760910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.239928851 meters 0.0547213596475024 Centerline is valid? [True, True] Translation: X:140.68, Y:-14.26, Z:-4.14 [[ 9.99414216e-01 3.05844150e-02 1.53563481e-02 1.40678312e+02] [-3.05626438e-02 9.99531491e-01 -1.65046865e-03 -1.42596033e+01] [-1.53996321e-02 1.18017123e-03 9.99880722e-01 -4.13688720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.299928851 meters 0.05540761708736987 Centerline is valid? [True, True] Translation: X:140.74, Y:-14.27, Z:-4.14 [[ 9.99444646e-01 2.92053043e-02 1.60452503e-02 1.40736832e+02] [-2.91813736e-02 9.99572647e-01 -1.72360965e-03 -1.42674622e+01] [-1.60887318e-02 1.25442999e-03 9.99869781e-01 -4.13823445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.359928851 meters 0.056642872813302755 Centerline is valid? [True, True] Translation: X:140.80, Y:-14.28, Z:-4.14 [[ 9.99501371e-01 2.71003593e-02 1.62043267e-02 1.40796224e+02] [-2.70756995e-02 9.99631873e-01 -1.73929701e-03 -1.42759694e+01] [-1.62454970e-02 1.29968627e-03 9.99867189e-01 -4.13897505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.419928851 meters 0.05874613614109202 Centerline is valid? [True, True] Translation: X:140.85, Y:-14.28, Z:-4.14 [[ 9.99543782e-01 2.55863058e-02 1.60489326e-02 1.40854745e+02] [-2.55619386e-02 9.99671758e-01 -1.72164293e-03 -1.42848968e+01] [-1.60877152e-02 1.31061566e-03 9.99869725e-01 -4.14045137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.47992885099998 meters 0.05343394776728032 Centerline is valid? [True, True] Translation: X:140.91, Y:-14.28, Z:-4.14 [[ 9.99547478e-01 2.52245261e-02 1.63879021e-02 1.40914960e+02] [-2.51990467e-02 9.99680905e-01 -1.75943663e-03 -1.42821445e+01] [-1.64270538e-02 1.34568093e-03 9.99864161e-01 -4.13938415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.53992885099998 meters 0.06235943396861439 Centerline is valid? [True, True] Translation: X:140.97, Y:-14.30, Z:-4.14 [[ 9.99537888e-01 2.58479550e-02 1.59966606e-02 1.40972281e+02] [-2.58237657e-02 9.99665037e-01 -1.71689674e-03 -1.43004417e+01] [-1.60356806e-02 1.30300933e-03 9.99870571e-01 -4.14346108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.599928851 meters 0.05369063822700178 Centerline is valid? [True, True] Translation: X:141.03, Y:-14.29, Z:-4.14 [[ 9.99444666e-01 2.78573267e-02 1.82846828e-02 1.41033588e+02] [-2.78260730e-02 9.99610855e-01 -1.96153115e-03 -1.42915412e+01] [-1.83322104e-02 1.45165093e-03 9.99830897e-01 -4.14102832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.659928851 meters 0.05099409624810463 Centerline is valid? [True, True] Translation: X:141.09, Y:-14.29, Z:-4.14 [[ 9.99403369e-01 2.92140377e-02 1.84240355e-02 1.41093908e+02] [-2.91825403e-02 9.99572145e-01 -1.97617966e-03 -1.42929556e+01] [-1.84738849e-02 1.43734045e-03 9.99828310e-01 -4.14226045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.719928851 meters 0.0496043734634046 Centerline is valid? [True, True] Translation: X:141.15, Y:-14.30, Z:-4.14 [[ 9.99363350e-01 3.01457540e-02 1.90821642e-02 1.41153417e+02] [-3.01121472e-02 9.99544432e-01 -2.04611040e-03 -1.42976828e+01] [-1.91351526e-02 1.47020280e-03 9.99815825e-01 -4.14349669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.779928851 meters 0.05001976189360157 Centerline is valid? [True, True] Translation: X:141.21, Y:-14.30, Z:-4.15 [[ 9.99341035e-01 3.05816870e-02 1.95513914e-02 1.41212392e+02] [-3.05465037e-02 9.99531150e-01 -2.09571255e-03 -1.43048547e+01] [-1.96063151e-02 1.49710490e-03 9.99806657e-01 -4.14545207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.839928851 meters 0.05001661409268823 Centerline is valid? [True, True] Translation: X:141.27, Y:-14.31, Z:-4.15 [[ 9.99331131e-01 3.16206638e-02 1.83691030e-02 1.41271925e+02] [-3.15897926e-02 9.99498980e-01 -1.96841585e-03 -1.43116008e+01] [-1.84221423e-02 1.38682308e-03 9.99829336e-01 -4.14846029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.899928851 meters 0.04846385500585659 Centerline is valid? [True, True] Translation: X:141.33, Y:-14.32, Z:-4.15 [[ 9.99301044e-01 3.29367761e-02 1.76802844e-02 1.41331489e+02] [-3.29083918e-02 9.99456578e-01 -1.89404703e-03 -1.43155289e+01] [-1.77330603e-02 1.31089345e-03 9.99841898e-01 -4.15055139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.959928851 meters 0.04647199221032424 Centerline is valid? [True, True] Translation: X:141.39, Y:-14.32, Z:-4.15 [[ 9.99140514e-01 3.68253024e-02 1.90297451e-02 1.41391686e+02] [-3.67931427e-02 9.99320826e-01 -2.03745134e-03 -1.43177308e+01] [-1.90918504e-02 1.33553605e-03 9.99816842e-01 -4.15077115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.019928851 meters 0.04244172952994277 Centerline is valid? [True, True] Translation: X:141.45, Y:-14.32, Z:-4.15 [[ 9.98906855e-01 4.16540466e-02 2.12140181e-02 1.41452369e+02] [-4.16151623e-02 9.99131132e-01 -2.27131842e-03 -1.43167391e+01] [-2.12901955e-02 1.38601073e-03 9.99772377e-01 -4.14976144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.079928851 meters 0.04174494909215563 Centerline is valid? [True, True] Translation: X:141.51, Y:-14.32, Z:-4.15 [[ 9.98557162e-01 4.86260467e-02 2.27837865e-02 1.41511426e+02] [-4.85830007e-02 9.98816170e-01 -2.43938474e-03 -1.43203877e+01] [-2.28754320e-02 1.32896039e-03 9.99737440e-01 -4.14965837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.139928851 meters 0.039413505491929436 Centerline is valid? [True, True] Translation: X:141.57, Y:-14.32, Z:-4.15 [[ 9.98345740e-01 5.25716413e-02 2.32810136e-02 1.41572088e+02] [-5.25277884e-02 9.98616354e-01 -2.49160315e-03 -1.43228372e+01] [-2.33797886e-02 1.26458124e-03 9.99725856e-01 -4.15039618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.19992885099998 meters 0.040560245955120026 Centerline is valid? [True, True] Translation: X:141.63, Y:-14.33, Z:-4.15 [[ 9.98334416e-01 5.31215506e-02 2.25054423e-02 1.41629149e+02] [-5.30806954e-02 9.98587320e-01 -2.40927434e-03 -1.43307517e+01] [-2.26016337e-02 1.21065696e-03 9.99743817e-01 -4.15323638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.25992885099998 meters 0.03928200497166855 Centerline is valid? [True, True] Translation: X:141.69, Y:-14.34, Z:-4.15 [[ 9.98401844e-01 5.19648868e-02 2.22127959e-02 1.41687519e+02] [-5.19248461e-02 9.98648169e-01 -2.37597370e-03 -1.43364140e+01] [-2.23062352e-02 1.21878051e-03 9.99750442e-01 -4.15369058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.319928851 meters 0.0405915292439187 Centerline is valid? [True, True] Translation: X:141.74, Y:-14.35, Z:-4.16 [[ 9.98461543e-01 5.07841803e-02 2.22601424e-02 1.41744957e+02] [-5.07437059e-02 9.98708873e-01 -2.37970587e-03 -1.43451272e+01] [-2.23522531e-02 1.24648268e-03 9.99749380e-01 -4.15556865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.379928851 meters 0.03765268882428883 Centerline is valid? [True, True] Translation: X:141.81, Y:-14.35, Z:-4.15 [[ 9.98576447e-01 4.84496412e-02 2.23094527e-02 1.41805144e+02] [-4.84084586e-02 9.98824781e-01 -2.38265255e-03 -1.43461493e+01] [-2.23986729e-02 1.29929450e-03 9.99748274e-01 -4.15433108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.439928851 meters 0.03929916453212804 Centerline is valid? [True, True] Translation: X:141.86, Y:-14.35, Z:-4.15 [[ 9.98654023e-01 4.59453446e-02 2.40659206e-02 1.41864488e+02] [-4.58967180e-02 9.98942886e-01 -2.56931937e-03 -1.43543869e+01] [-2.41585285e-02 1.46131435e-03 9.99707072e-01 -4.15377257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.499928851 meters 0.043467303521253726 Centerline is valid? [True, True] Translation: X:141.92, Y:-14.37, Z:-4.15 [[ 9.98795526e-01 4.07706352e-02 2.72993104e-02 1.41923319e+02] [-4.07061692e-02 9.99166913e-01 -2.91326250e-03 -1.43676149e+01] [-2.73953432e-02 1.79850320e-03 9.99623059e-01 -4.15303706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.559928851 meters 0.04647396916171725 Centerline is valid? [True, True] Translation: X:141.98, Y:-14.38, Z:-4.16 [[ 9.99047858e-01 3.48752935e-02 2.62124277e-02 1.41982487e+02] [-3.48138400e-02 9.99389900e-01 -2.79729140e-03 -1.43796555e+01] [-2.62939918e-02 1.88207272e-03 9.99652482e-01 -4.15581922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.619928851 meters 0.04773823482066759 Centerline is valid? [True, True] Translation: X:142.04, Y:-14.39, Z:-4.16 [[ 9.99108178e-01 3.34795630e-02 2.57287287e-02 1.42042257e+02] [-3.34199040e-02 9.99437628e-01 -2.74539818e-03 -1.43878033e+01] [-2.58061743e-02 1.88309813e-03 9.99665192e-01 -4.15774903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.679928851 meters 0.04922734998745935 Centerline is valid? [True, True] Translation: X:142.10, Y:-14.39, Z:-4.16 [[ 9.99205193e-01 3.11075194e-02 2.49259827e-02 1.42102259e+02] [-3.10507891e-02 9.99514269e-01 -2.65986608e-03 -1.43943898e+01] [-2.49966172e-02 1.88378057e-03 9.99685761e-01 -4.15905783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.739928851 meters 0.047205134413746574 Centerline is valid? [True, True] Translation: X:142.16, Y:-14.40, Z:-4.16 [[ 9.99205830e-01 3.02660789e-02 2.59166855e-02 1.42162623e+02] [-3.02044783e-02 9.99539916e-01 -2.76513625e-03 -1.43952692e+01] [-2.59884515e-02 1.98014030e-03 9.99660282e-01 -4.15845220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.799928851 meters 0.04745445537831641 Centerline is valid? [True, True] Translation: X:142.22, Y:-14.40, Z:-4.16 [[ 9.99152113e-01 3.11641637e-02 2.69044665e-02 1.42223207e+02] [-3.10981155e-02 9.99512216e-01 -2.86995179e-03 -1.43995552e+01] [-2.69807826e-02 2.03084019e-03 9.99633890e-01 -4.15877389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.859928851 meters 0.04824461450836835 Centerline is valid? [True, True] Translation: X:142.28, Y:-14.40, Z:-4.16 [[ 9.99076063e-01 3.27609111e-02 2.78162221e-02 1.42283628e+02] [-3.26909242e-02 9.99461104e-01 -2.96721053e-03 -1.44023573e+01] [-2.78984405e-02 2.05513101e-03 9.99608650e-01 -4.15896368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.919928851 meters 0.046326239359818305 Centerline is valid? [True, True] Translation: X:142.34, Y:-14.40, Z:-4.16 [[ 9.98981959e-01 3.42675118e-02 2.93390993e-02 1.42344423e+02] [-3.41902948e-02 9.99410441e-01 -3.12965880e-03 -1.44023505e+01] [-2.94290477e-02 2.12336023e-03 9.99564616e-01 -4.15867649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.97992885099998 meters 0.04515401989657956 Centerline is valid? [True, True] Translation: X:142.40, Y:-14.40, Z:-4.16 [[ 9.99024050e-01 3.37816825e-02 2.84560394e-02 1.42404705e+02] [-3.37088495e-02 9.99427086e-01 -3.03546109e-03 -1.44043960e+01] [-2.85422795e-02 2.07327828e-03 9.99590436e-01 -4.16019777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.03992885099998 meters 0.05062349973168208 Centerline is valid? [True, True] Translation: X:142.46, Y:-14.42, Z:-4.16 [[ 9.99147041e-01 3.25636580e-02 2.53928958e-02 1.42463204e+02] [-3.25052713e-02 9.99467893e-01 -2.70882790e-03 -1.44150661e+01] [-2.54675934e-02 1.88111442e-03 9.99673878e-01 -4.16490110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.099928851 meters 0.04457415857708075 Centerline is valid? [True, True] Translation: X:142.52, Y:-14.41, Z:-4.17 [[ 9.99203384e-01 3.16877508e-02 2.42586711e-02 1.42523871e+02] [-3.16342140e-02 9.99496163e-01 -2.58759764e-03 -1.44108557e+01] [-2.43284438e-02 1.81813233e-03 9.99702366e-01 -4.16691446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 1829.93 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%| | 0/6838 [00:00