+ python -m lidar_slam --no-model /working/cf3633bb-4319-48e6-a195-9cfd55a72198 Lidar SLAM 0.0.11 ===================================================== The recording path: /working/cf3633bb-4319-48e6-a195-9cfd55a72198 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 0.027719421 Adjusted end_distance from 9.223372036854776e+18 to 174.917719421 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.027719421 meters 0.1028445716007337 Centerline is valid? [0, False] SLAMing on 0.08771942099999999 meters 0.11257570824998002 Centerline is valid? [False, False] Translation: X:0.00, Y:0.01, Z:-0.00 [[ 9.99997354e-01 2.23011025e-03 -5.64993107e-04 3.32370701e-03] [-2.22956517e-03 9.99997050e-01 9.63551147e-04 5.45541513e-03] [ 5.67140266e-04 -9.62288908e-04 9.99999376e-01 -2.95912727e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.147719421 meters 0.11967689166645676 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.01 [[ 9.99997706e-01 1.96057793e-03 -8.62421124e-04 8.56136541e-03] [-1.96066523e-03 9.99998073e-01 -1.00386683e-04 8.75621154e-03] [ 8.62222646e-04 1.02077372e-04 9.99999623e-01 -9.07748779e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.20771942099999996 meters 0.1300440724749018 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.01 [[ 9.99997766e-01 1.91539428e-03 -8.94270919e-04 1.02795995e-02] [-1.91579989e-03 9.99998062e-01 -4.52935494e-04 1.31991341e-02] [ 8.93401636e-04 4.54647726e-04 9.99999498e-01 -1.14324487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.26771942099999996 meters 0.14728653996927785 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.01 [[ 9.99998985e-01 1.10782736e-03 -8.95860726e-04 9.67098429e-03] [-1.10789748e-03 9.99999383e-01 -7.77804947e-05 9.12914576e-03] [ 8.95774006e-04 7.87729376e-05 9.99999596e-01 -1.11457065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.32771942099999996 meters 0.162356216249916 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.01 [[ 9.99995575e-01 -2.91436712e-03 -5.97778970e-04 9.90187438e-03] [ 2.91239100e-03 9.99990378e-01 -3.28042444e-03 6.34034139e-03] [ 6.07333580e-04 3.27866896e-03 9.99994441e-01 -1.24717079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.38771942099999995 meters 0.17411146249606144 Centerline is valid? [False, False] Translation: X:0.01, Y:0.00, Z:-0.02 [[ 9.99978864e-01 -6.49056244e-03 -3.78916314e-04 1.14816558e-02] [ 6.48808738e-03 9.99959709e-01 -6.20369256e-03 4.36402889e-03] [ 4.19166501e-04 6.20110300e-03 9.99980685e-01 -1.53041511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.44771942099999995 meters 0.17928813780585973 Centerline is valid? [False, False] Translation: X:0.01, Y:0.00, Z:-0.02 [[ 9.99998009e-01 -1.99526598e-03 3.37448566e-05 1.20661275e-02] [ 1.99530923e-03 9.99997119e-01 -1.33410037e-03 3.31700321e-03] [-3.10828743e-05 1.33416505e-03 9.99999110e-01 -1.71996181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5077194209999999 meters 0.18270583466672877 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.02 [[ 9.99998518e-01 1.64574551e-03 5.05632333e-04 1.13063625e-02] [-1.64678474e-03 9.99996519e-01 2.06179506e-03 6.28289007e-03] [-5.02237383e-04 -2.06262467e-03 9.99997747e-01 -1.73471189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.567719421 meters 0.18847409223359268 Centerline is valid? [False, False] Translation: X:0.02, Y:0.01, Z:-0.02 [[ 9.99999362e-01 4.19213331e-04 1.04876361e-03 1.58284156e-02] [-4.19570814e-04 9.99999854e-01 3.40664695e-04 9.47472487e-03] [-1.04862064e-03 -3.41104508e-04 9.99999392e-01 -2.38352067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6277194209999999 meters 0.19057522959577633 Centerline is valid? [False, False] Translation: X:0.02, Y:0.01, Z:-0.03 [[ 9.99998971e-01 9.28970519e-04 1.09334607e-03 1.84264098e-02] [-9.29573053e-04 9.99999416e-01 5.50712944e-04 1.06554608e-02] [-1.09283383e-03 -5.51728722e-04 9.99999251e-01 -2.69717170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6877194209999999 meters 0.19395408795847907 Centerline is valid? [False, False] Translation: X:0.02, Y:0.02, Z:-0.03 [[ 9.99998675e-01 1.37001108e-03 8.79437698e-04 2.17492622e-02] [-1.37028696e-03 9.99999012e-01 3.13171271e-04 1.77781206e-02] [-8.79007781e-04 -3.14375938e-04 9.99999564e-01 -3.06408727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7477194209999999 meters 0.194956805342371 Centerline is valid? [False, False] Translation: X:0.03, Y:0.02, Z:-0.04 [[ 9.99999089e-01 1.01236248e-03 8.93094631e-04 2.66298023e-02] [-1.01082213e-03 9.99998004e-01 -1.72350171e-03 2.45735943e-02] [-8.94837657e-04 1.72259738e-03 9.99998116e-01 -3.60814172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8077194209999999 meters 0.20213955789617502 Centerline is valid? [False, False] Translation: X:0.03, Y:0.04, Z:-0.04 [[ 9.99983412e-01 5.74478525e-03 -4.15895023e-04 3.30654049e-02] [-5.74408105e-03 9.99982100e-01 1.67507214e-03 3.73434160e-02] [ 4.25510508e-04 -1.67265542e-03 9.99998511e-01 -4.12774721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8677194209999999 meters 0.19937491141023725 Centerline is valid? [False, False] Translation: X:0.03, Y:0.04, Z:-0.04 [[ 9.99989513e-01 4.57960737e-03 -2.94908932e-05 3.15223422e-02] [-4.57959698e-03 9.99989455e-01 3.43319868e-04 4.08310457e-02] [ 3.10628524e-05 -3.43181212e-04 9.99999941e-01 -4.03545037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9277194209999999 meters 0.1944867913299089 Centerline is valid? [False, False] Translation: X:0.04, Y:0.04, Z:-0.04 [[ 9.99999476e-01 1.02249170e-03 -4.70855810e-05 3.51358659e-02] [-1.02263194e-03 9.99994729e-01 -3.08159894e-03 3.93079510e-02] [ 4.39344235e-05 3.08164548e-03 9.99995251e-01 -4.48655176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9877194209999999 meters 0.18994132282515838 Centerline is valid? [False, False] Translation: X:0.04, Y:0.04, Z:-0.05 [[ 9.99998924e-01 1.41263262e-03 -3.96000416e-04 4.01005842e-02] [-1.41357818e-03 9.99996126e-01 -2.39774290e-03 4.16857969e-02] [ 3.92611752e-04 2.39830010e-03 9.99997047e-01 -5.08674715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.0477194209999998 meters 0.18869301906944824 Centerline is valid? [False, False] Translation: X:0.04, Y:0.05, Z:-0.06 [[ 9.99994899e-01 3.17885278e-03 3.10612849e-04 4.49401212e-02] [-3.17841485e-03 9.99993968e-01 -1.40036769e-03 4.54957719e-02] [-3.15062539e-04 1.39937329e-03 9.99998971e-01 -5.79068489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1077194209999999 meters 0.1910547052547751 Centerline is valid? [False, False] Translation: X:0.05, Y:0.05, Z:-0.06 [[ 9.99978121e-01 6.61352163e-03 -1.38018574e-04 5.09985261e-02] [-6.61344717e-03 9.99977989e-01 5.33143790e-04 5.40681808e-02] [ 1.41541495e-04 -5.32219346e-04 9.99999848e-01 -6.42980991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.167719421 meters 0.1906520025809569 Centerline is valid? [False, False] Translation: X:0.05, Y:0.06, Z:-0.06 [[ 9.99979668e-01 6.37403794e-03 -1.85209547e-04 5.16144191e-02] [-6.37401774e-03 9.99979680e-01 1.09426785e-04 5.63699847e-02] [ 1.85903274e-04 -1.08244032e-04 9.99999977e-01 -6.49636521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2277194209999998 meters 0.18483705178656634 Centerline is valid? [False, False] Translation: X:0.05, Y:0.06, Z:-0.07 [[ 9.99984021e-01 5.63522143e-03 -4.50489035e-04 5.25156127e-02] [-5.63556673e-03 9.99983824e-01 -7.68944066e-04 5.86550553e-02] [ 4.46148578e-04 7.71470540e-04 9.99999603e-01 -6.55927127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2877194209999998 meters 0.1825978884734456 Centerline is valid? [False, False] Translation: X:0.06, Y:0.06, Z:-0.07 [[ 9.99997326e-01 2.17138754e-03 -7.95895805e-04 5.89387994e-02] [-2.17507841e-03 9.99986748e-01 -4.66622508e-03 5.94203873e-02] [ 7.85753075e-04 4.66794374e-03 9.99988796e-01 -7.27907319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3477194209999999 meters 0.17488464294231812 Centerline is valid? [False, False] Translation: X:0.06, Y:0.07, Z:-0.08 [[ 9.99982008e-01 5.97686536e-03 -5.11409705e-04 6.15322238e-02] [-5.97787929e-03 9.99980123e-01 -2.00460955e-03 6.54836586e-02] [ 4.99418259e-04 2.00763062e-03 9.99997860e-01 -7.64903984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.407719421 meters 0.16938112090516463 Centerline is valid? [False, False] Translation: X:0.06, Y:0.07, Z:-0.08 [[ 9.99986174e-01 5.23135029e-03 -5.33749864e-04 6.19800931e-02] [-5.23280857e-03 9.99982477e-01 -2.76833147e-03 6.77328356e-02] [ 5.19258399e-04 2.77108621e-03 9.99996026e-01 -7.73409340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4677194209999997 meters 0.15856285679225968 Centerline is valid? [False, False] Translation: X:0.06, Y:0.07, Z:-0.08 [[ 9.99999143e-01 -7.80074453e-04 -1.05185254e-03 6.22562680e-02] [ 7.71996882e-04 9.99970379e-01 -7.65803671e-03 6.69498214e-02] [ 1.05779522e-03 7.65721812e-03 9.99970124e-01 -7.76556321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5277194209999998 meters 0.15175415098247846 Centerline is valid? [False, False] Translation: X:0.06, Y:0.07, Z:-0.08 [[ 0.99997143 -0.00743032 -0.00139049 0.0612355 ] [ 0.0074109 0.99988168 -0.0134801 0.06845953] [ 0.00149049 0.01346941 0.99990817 -0.07654098] [ 0. 0. 0. 1. ]] SLAMing on 1.5877194209999999 meters 0.142480663812442 Centerline is valid? [False, False] Translation: X:0.06, Y:0.07, Z:-0.08 [[ 0.99995459 -0.00946448 -0.00111829 0.05924958] [ 0.00944663 0.99984274 -0.0150083 0.07029141] [ 0.00126016 0.01499705 0.99988674 -0.07540242] [ 0. 0. 0. 1. ]] SLAMing on 1.6477194209999997 meters 0.1378219928571003 Centerline is valid? [False, False] Translation: X:0.06, Y:0.07, Z:-0.08 [[ 9.99999396e-01 -6.89559072e-04 -8.56432794e-04 6.10895840e-02] [ 6.84509947e-04 9.99982467e-01 -5.88189556e-03 7.11054530e-02] [ 8.60473693e-04 5.88130577e-03 9.99982335e-01 -7.92202375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7077194209999997 meters 0.13920431855995752 Centerline is valid? [False, False] Translation: X:0.06, Y:0.07, Z:-0.08 [[ 9.99993120e-01 3.57776956e-03 -9.80036349e-04 6.12464132e-02] [-3.57937200e-03 9.99992252e-01 -1.63824321e-03 7.15916353e-02] [ 9.74167499e-04 1.64173985e-03 9.99998178e-01 -7.90636659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7677194209999998 meters 0.1369422667137475 Centerline is valid? [False, False] Translation: X:0.06, Y:0.08, Z:-0.08 [[ 0.99999363 0.00338647 -0.00112635 0.06088162] [-0.00338933 0.99999101 -0.0025466 0.07540021] [ 0.00111772 0.0025504 0.99999612 -0.07800693] [ 0. 0. 0. 1. ]] SLAMing on 1.8277194209999998 meters 0.14038716754543987 Centerline is valid? [False, False] Translation: X:0.07, Y:0.08, Z:-0.09 [[ 0.99998815 0.00441236 -0.002059 0.06829134] [-0.00441661 0.99998812 -0.00206438 0.0755625 ] [ 0.00204987 0.00207345 0.99999575 -0.0855938 ] [ 0. 0. 0. 1. ]] SLAMing on 1.8877194209999997 meters 0.13208404132031165 Centerline is valid? [False, False] Translation: X:0.07, Y:0.08, Z:-0.09 [[ 0.99996524 0.00814094 -0.0018019 0.06816761] [-0.00813776 0.99996533 0.00176339 0.07593927] [ 0.00181619 -0.00174867 0.99999682 -0.08631098] [ 0. 0. 0. 1. ]] SLAMing on 1.9477194209999997 meters 0.13362939663419315 Centerline is valid? [False, False] Translation: X:0.07, Y:0.08, Z:-0.08 [[ 0.99998821 0.00428202 -0.00228844 0.06812744] [-0.00428752 0.99998793 -0.00240134 0.0753688 ] [ 0.00227813 0.00241112 0.9999945 -0.08447605] [ 0. 0. 0. 1. ]] SLAMing on 2.0077194209999996 meters 0.11752751844094741 Centerline is valid? [False, False] Translation: X:0.06, Y:0.07, Z:-0.08 [[ 9.99998570e-01 -1.67816434e-03 2.08743764e-04 5.96683923e-02] [ 1.67922991e-03 9.99984998e-01 -5.21376448e-03 6.95139693e-02] [-1.99991079e-04 5.21410755e-03 9.99986386e-01 -7.93590952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0677194209999996 meters 0.11083904081093691 Centerline is valid? [False, False] Translation: X:0.06, Y:0.07, Z:-0.07 [[ 0.9998363 -0.01627785 0.00789985 0.06130935] [ 0.01633779 0.99983777 -0.00758373 0.06521527] [-0.00777512 0.00771156 0.99994004 -0.07400418] [ 0. 0. 0. 1. ]] SLAMing on 2.1277194209999997 meters 0.10718962870140782 Centerline is valid? [False, False] Translation: X:0.06, Y:0.06, Z:-0.08 [[ 0.9998347 -0.01630981 0.00803496 0.06153913] [ 0.01636029 0.99984658 -0.00625724 0.06090341] [-0.00793168 0.00638766 0.99994814 -0.07506807] [ 0. 0. 0. 1. ]] SLAMing on 2.1877194209999997 meters 0.10851532340749621 Centerline is valid? [False, False] Translation: X:0.06, Y:0.06, Z:-0.07 [[ 0.99999796 0.00134939 0.00150634 0.06139655] [-0.00133958 0.99997798 -0.00649892 0.05700657] [-0.00151507 0.00649689 0.99997775 -0.06992897] [ 0. 0. 0. 1. ]] SLAMing on 2.2477194209999998 meters 0.10816775285593817 Centerline is valid? [False, False] Translation: X:0.06, Y:0.06, Z:-0.07 [[ 9.99972377e-01 7.42712218e-03 2.88759353e-04 6.35940796e-02] [-7.42659177e-03 9.99970809e-01 -1.79649281e-03 5.63178092e-02] [-3.02093696e-04 1.79429868e-03 9.99998345e-01 -6.85139447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.307719421 meters 0.10836970911027433 Centerline is valid? [False, False] Translation: X:0.06, Y:0.05, Z:-0.07 [[ 9.99979960e-01 6.33050202e-03 -6.55884638e-05 6.39651686e-02] [-6.33064544e-03 9.99976875e-01 -2.48432755e-03 4.79679946e-02] [ 4.98599065e-05 2.48469298e-03 9.99996912e-01 -6.70995270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.367719421 meters 0.10233911848192387 Centerline is valid? [False, False] Translation: X:0.06, Y:0.04, Z:-0.06 [[ 9.99998767e-01 1.43526698e-03 6.37564714e-04 6.07877064e-02] [-1.43197922e-03 9.99985828e-01 -5.12761621e-03 3.77118242e-02] [-6.44915177e-04 5.12669690e-03 9.99986650e-01 -6.38858969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4277194209999995 meters 0.09984975539827237 Centerline is valid? [False, True] Translation: X:0.06, Y:0.02, Z:-0.06 [[ 9.99962889e-01 -8.61169360e-03 -2.43923295e-04 6.32032243e-02] [ 8.60760553e-03 9.99871420e-01 -1.35297116e-02 2.49680021e-02] [ 3.60405662e-04 1.35271099e-02 9.99908440e-01 -6.43102314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4877194209999995 meters 0.09490162936522879 Centerline is valid? [True, True] Translation: X:0.12, Y:0.00, Z:-0.07 [[ 9.99841383e-01 -1.77279631e-02 -1.71094676e-03 1.24606688e-01] [ 1.77278537e-02 9.99842846e-01 -7.90827957e-05 2.77753791e-03] [ 1.71207985e-03 4.87388380e-05 9.99998533e-01 -7.48514736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5477194209999996 meters 0.09449839798845838 Centerline is valid? [True, True] Translation: X:0.19, Y:-0.01, Z:-0.08 [[ 9.99814332e-01 -1.89125281e-02 -3.69031053e-03 1.85781322e-01] [ 1.89120292e-02 9.99821137e-01 -1.70033198e-04 -1.30095509e-02] [ 3.69286623e-03 1.00210367e-04 9.99993176e-01 -8.24309670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6077194209999996 meters 0.08777878797429446 Centerline is valid? [True, True] Translation: X:0.25, Y:-0.03, Z:-0.07 [[ 9.99733459e-01 -2.30869432e-02 6.68984375e-05 2.49267116e-01] [ 2.30869429e-02 9.99733461e-01 4.60181764e-06 -3.15053206e-02] [-6.69868484e-05 -3.05611066e-06 9.99999998e-01 -7.31967381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6677194209999997 meters 0.08465056927718956 Centerline is valid? [True, True] Translation: X:0.31, Y:-0.06, Z:-0.08 [[ 9.99418533e-01 -3.40883965e-02 7.59472530e-04 3.09846656e-01] [ 3.40883785e-02 9.99418822e-01 3.66289202e-05 -5.84889759e-02] [-7.60279762e-04 -1.07184346e-05 9.99999711e-01 -8.48241773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7277194209999998 meters 0.08427492379340483 Centerline is valid? [True, True] Translation: X:0.37, Y:-0.07, Z:-0.10 [[ 9.99300584e-01 -3.72406824e-02 -3.38737976e-03 3.68938093e-01] [ 3.72403512e-02 9.99306325e-01 -1.60824040e-04 -7.41453444e-02] [ 3.39101922e-03 3.45643448e-05 9.99994250e-01 -1.00439170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.787719421 meters 0.07964289391093156 Centerline is valid? [True, True] Translation: X:0.43, Y:-0.07, Z:-0.10 [[ 9.99561069e-01 -2.96253936e-02 7.46836846e-05 4.29868205e-01] [ 2.96253933e-02 9.99561072e-01 4.15417045e-06 -7.26829456e-02] [-7.47739727e-05 -1.93981352e-06 9.99999997e-01 -9.73450014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8477194209999994 meters 0.08003998476458944 Centerline is valid? [True, True] Translation: X:0.49, Y:-0.07, Z:-0.10 [[ 9.99837948e-01 -1.78383475e-02 -2.42285610e-03 4.90001777e-01] [ 1.78381244e-02 9.99840882e-01 -1.13677752e-04 -6.89804448e-02] [ 2.42449840e-03 7.04401224e-05 9.99997058e-01 -1.04310948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9077194209999995 meters 0.08542674652239494 Centerline is valid? [True, True] Translation: X:0.55, Y:-0.07, Z:-0.12 [[ 9.99983487e-01 -2.40072355e-03 -5.22128996e-03 5.48541435e-01] [ 2.39947465e-03 9.99997091e-01 -2.45444397e-04 -6.53577240e-02] [ 5.22186402e-03 2.32911991e-04 9.99986339e-01 -1.15798585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9677194209999995 meters 0.08536422978045238 Centerline is valid? [True, True] Translation: X:0.61, Y:-0.06, Z:-0.12 [[ 9.99993083e-01 2.91522955e-03 -2.30973715e-03 6.08558183e-01] [-2.91549875e-03 9.99995744e-01 -1.13189359e-04 -6.02817104e-02] [ 2.30939735e-03 1.19922611e-04 9.99997326e-01 -1.17095943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0277194209999996 meters 0.0829281110110328 Centerline is valid? [True, True] Translation: X:0.67, Y:-0.07, Z:-0.13 [[ 0.99973585 -0.00142533 0.02293891 0.66790071] [ 0.00140083 0.99999843 0.00108426 -0.07426536] [-0.02294042 -0.00105184 0.99973628 -0.13315575] [ 0. 0. 0. 1. ]] SLAMing on 3.0877194209999996 meters 0.07954190350282359 Centerline is valid? [True, True] Translation: X:0.73, Y:-0.08, Z:-0.13 [[ 0.99961253 -0.00339301 0.02762753 0.72907094] [ 0.00335819 0.99999351 0.00130658 -0.07940023] [-0.02763178 -0.0012133 0.99961743 -0.13373817] [ 0. 0. 0. 1. ]] SLAMing on 3.1477194209999997 meters 0.0812147333447452 Centerline is valid? [True, True] Translation: X:0.79, Y:-0.10, Z:-0.14 [[ 9.99684463e-01 -7.59723835e-03 2.39427797e-02 7.90179682e-01] [ 7.57201520e-03 9.99970678e-01 1.14396205e-03 -9.55999239e-02] [-2.39507686e-02 -9.62305995e-04 9.99712676e-01 -1.43135777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2077194209999997 meters 0.07380790381628256 Centerline is valid? [True, True] Translation: X:0.85, Y:-0.12, Z:-0.14 [[ 0.99923854 -0.01537725 0.03585921 0.85300916] [ 0.01532644 0.99988111 0.00169141 -0.11581607] [-0.03588095 -0.00114052 0.99935542 -0.13787659] [ 0. 0. 0. 1. ]] SLAMing on 3.2677194209999993 meters 0.06968484976788568 Centerline is valid? [True, True] Translation: X:0.91, Y:-0.13, Z:-0.14 [[ 0.99876052 -0.01851201 0.04620305 0.91457947] [ 0.018431 0.99982776 0.00217879 -0.12890336] [-0.04623542 -0.00132452 0.99892969 -0.13552809] [ 0. 0. 0. 1. ]] SLAMing on 3.3277194209999994 meters 0.06704709862344879 Centerline is valid? [True, True] Translation: X:0.97, Y:-0.14, Z:-0.14 [[ 0.99838027 -0.02591972 0.05064582 0.97470826] [ 0.02583187 0.99966345 0.00238859 -0.13811217] [-0.05069069 -0.00107644 0.99871382 -0.13978157] [ 0. 0. 0. 1. ]] SLAMing on 3.3877194209999995 meters 0.0632777933457486 Centerline is valid? [True, True] Translation: X:1.04, Y:-0.15, Z:-0.14 [[ 9.97876971e-01 -3.37982672e-02 5.56707177e-02 1.03560512e+00] [ 3.37043300e-02 9.99428399e-01 2.62567771e-03 -1.51388840e-01] [-5.57276396e-02 -7.43759077e-04 9.98445731e-01 -1.43420630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4477194209999995 meters 0.05954701847498823 Centerline is valid? [True, True] Translation: X:1.10, Y:-0.16, Z:-0.14 [[ 9.96975010e-01 -4.31565486e-02 6.46400894e-02 1.09690854e+00] [ 4.30494976e-02 9.99068289e-01 3.04866365e-03 -1.59851423e-01] [-6.47114333e-02 -2.56718102e-04 9.97903986e-01 -1.36964765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5077194209999996 meters 0.057580219160746765 Centerline is valid? [True, True] Translation: X:1.16, Y:-0.16, Z:-0.13 [[ 9.96126096e-01 -4.43032963e-02 7.59606397e-02 1.15891680e+00] [ 4.41586320e-02 9.99018104e-01 3.58382174e-03 -1.62350352e-01] [-7.60448293e-02 -2.15620423e-04 9.97104376e-01 -1.34179423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5677194209999996 meters 0.058779609330010696 Centerline is valid? [True, True] Translation: X:1.22, Y:-0.16, Z:-0.15 [[ 9.96452370e-01 -4.23592971e-02 7.27211406e-02 1.21948851e+00] [ 4.22215799e-02 9.99102382e-01 3.43065584e-03 -1.62442151e-01] [-7.28011850e-02 -3.48083691e-04 9.97346412e-01 -1.47418047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6277194209999997 meters 0.059506230414992874 Centerline is valid? [True, True] Translation: X:1.28, Y:-0.16, Z:-0.16 [[ 9.96684678e-01 -4.32787039e-02 6.88956157e-02 1.28002429e+00] [ 4.31574619e-02 9.99063003e-01 3.24796934e-03 -1.61289217e-01] [-6.89716286e-02 -2.63841364e-04 9.97618587e-01 -1.58189208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6877194209999993 meters 0.06182474333327052 Centerline is valid? [True, True] Translation: X:1.34, Y:-0.16, Z:-0.18 [[ 9.97137814e-01 -4.44945051e-02 6.11262519e-02 1.33947696e+00] [ 4.44015198e-02 9.99009617e-01 2.87935333e-03 -1.62099383e-01] [-6.11938289e-02 -1.57013602e-04 9.98125889e-01 -1.76113379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7477194209999993 meters 0.06188467138019155 Centerline is valid? [True, True] Translation: X:1.40, Y:-0.14, Z:-0.17 [[ 9.97363741e-01 -3.57768591e-02 6.31314792e-02 1.40144428e+00] [ 3.56596286e-02 9.99359541e-01 2.98305767e-03 -1.41091103e-01] [-6.31977705e-02 -7.23948459e-04 9.98000760e-01 -1.72059079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8077194209999994 meters 0.0637429666115154 Centerline is valid? [True, True] Translation: X:1.46, Y:-0.13, Z:-0.18 [[ 9.97841975e-01 -2.86565667e-02 5.90778658e-02 1.46070163e+00] [ 2.85429852e-02 9.99588740e-01 2.76571812e-03 -1.29126865e-01] [-5.91328254e-02 -1.07349098e-03 9.98249546e-01 -1.82333952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8677194209999994 meters 0.06546662228215384 Centerline is valid? [True, True] Translation: X:1.52, Y:-0.12, Z:-0.19 [[ 9.98062894e-01 -2.52493745e-02 5.68588422e-02 1.52064981e+00] [ 2.51385599e-02 9.99680428e-01 2.66346832e-03 -1.21812089e-01] [-5.69079227e-02 -1.22895949e-03 9.98378675e-01 -1.92051243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9277194209999995 meters 0.07033917938793284 Centerline is valid? [True, True] Translation: X:1.58, Y:-0.11, Z:-0.19 [[ 0.99803385 -0.01282226 0.06135172 1.58160473] [ 0.01266942 0.99991559 0.0028797 -0.10572798] [-0.06138346 -0.00209674 0.99811205 -0.19076839] [ 0. 0. 0. 1. ]] SLAMing on 3.9877194209999995 meters 0.0763621018448146 Centerline is valid? [True, True] Translation: X:1.64, Y:-0.10, Z:-0.19 [[ 0.99794742 -0.00227597 0.06399819 1.64162546] [ 0.00208972 0.99999338 0.00297714 -0.09941902] [-0.06400454 -0.00283729 0.99794557 -0.1927847 ] [ 0. 0. 0. 1. ]] SLAMing on 4.047719420999999 meters 0.07847003875409146 Centerline is valid? [True, True] Translation: X:1.70, Y:-0.11, Z:-0.20 [[ 0.99758403 -0.00274441 0.06941596 1.70194946] [ 0.00252651 0.9999916 0.0032267 -0.10835341] [-0.06942423 -0.00304352 0.99758258 -0.19940099] [ 0. 0. 0. 1. ]] SLAMing on 4.107719420999999 meters 0.0751778925231567 Centerline is valid? [True, True] Translation: X:1.76, Y:-0.13, Z:-0.21 [[ 0.99776078 -0.00991394 0.06614477 1.76266437] [ 0.00973179 0.99994792 0.00307542 -0.13075376] [-0.06617181 -0.00242483 0.9978053 -0.21250528] [ 0. 0. 0. 1. ]] SLAMing on 4.167719420999999 meters 0.07341430683945095 Centerline is valid? [True, True] Translation: X:1.83, Y:-0.15, Z:-0.22 [[ 0.99798333 -0.01222085 0.06228904 1.8251428 ] [ 0.01206375 0.99992303 0.00289762 -0.145937 ] [-0.06231966 -0.00214034 0.99805395 -0.21989029] [ 0. 0. 0. 1. ]] SLAMing on 4.227719420999999 meters 0.07649128045231557 Centerline is valid? [True, True] Translation: X:1.88, Y:-0.15, Z:-0.23 [[ 0.99822993 -0.01004782 0.05861786 1.88396849] [ 0.00990544 0.99994724 0.00271908 -0.14974463] [-0.05864208 -0.00213363 0.99827679 -0.23238642] [ 0. 0. 0. 1. ]] SLAMing on 4.287719420999999 meters 0.0761181277960638 Centerline is valid? [True, True] Translation: X:1.95, Y:-0.15, Z:-0.23 [[ 0.99786032 -0.00875981 0.06479229 1.94545726] [ 0.00858296 0.99995864 0.00300729 -0.14634238] [-0.06481595 -0.00244475 0.99789424 -0.23128957] [ 0. 0. 0. 1. ]] SLAMing on 4.347719420999999 meters 0.07178010180545276 Centerline is valid? [True, True] Translation: X:2.01, Y:-0.14, Z:-0.22 [[ 0.9973148 -0.01245079 0.07216758 2.00763433] [ 0.01224098 0.99991947 0.00334889 -0.14477667] [-0.07220347 -0.00245649 0.9973869 -0.2248888 ] [ 0. 0. 0. 1. ]] SLAMing on 4.407719420999999 meters 0.06052245635422554 Centerline is valid? [True, True] Translation: X:2.07, Y:-0.17, Z:-0.22 [[ 9.97112017e-01 -2.40825015e-02 7.20254096e-02 2.07044299e+00] [ 2.39038867e-02 9.99708679e-01 3.34094651e-03 -1.71709801e-01] [-7.20848855e-02 -1.60961068e-03 9.97397202e-01 -2.16184045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.467719420999999 meters 0.06273514745711525 Centerline is valid? [True, True] Translation: X:2.13, Y:-0.17, Z:-0.24 [[ 9.96854320e-01 -3.01612492e-02 7.32923193e-02 2.12922418e+00] [ 2.99926368e-02 9.99544336e-01 3.40030497e-03 -1.71478136e-01] [-7.33614801e-02 -1.19137879e-03 9.97304705e-01 -2.37405981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.527719420999999 meters 0.06222612707730533 Centerline is valid? [True, True] Translation: X:2.19, Y:-0.18, Z:-0.24 [[ 9.96756964e-01 -3.19496464e-02 7.38564496e-02 2.19097216e+00] [ 3.17830916e-02 9.99488906e-01 3.42961627e-03 -1.78215057e-01] [-7.39282770e-02 -1.07110760e-03 9.97262986e-01 -2.44681921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.587719420999999 meters 0.05903117985411325 Centerline is valid? [True, True] Translation: X:2.25, Y:-0.19, Z:-0.23 [[ 9.96872405e-01 -2.91097843e-02 7.34712792e-02 2.25473180e+00] [ 2.89383584e-02 9.99575426e-01 3.39689412e-03 -1.86035826e-01] [-7.35389681e-02 -1.26013181e-03 9.97291548e-01 -2.34405608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.647719420999999 meters 0.06402790953459302 Centerline is valid? [True, True] Translation: X:2.31, Y:-0.17, Z:-0.25 [[ 9.97561881e-01 -1.40186180e-02 6.83649859e-02 2.31334665e+00] [ 1.38367314e-02 9.99899358e-01 3.13334845e-03 -1.70169615e-01] [-6.84020307e-02 -2.17976103e-03 9.97655457e-01 -2.45698595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.707719420999999 meters 0.06922414394658886 Centerline is valid? [True, True] Translation: X:2.37, Y:-0.16, Z:-0.26 [[ 0.99763394 -0.00271526 0.06869612 2.37204854] [ 0.00250506 0.99999191 0.00314576 -0.15990309] [-0.0687041 -0.00296623 0.99763267 -0.25529489] [ 0. 0. 0. 1. ]] SLAMing on 4.767719420999999 meters 0.06748551285467554 Centerline is valid? [True, True] Translation: X:2.43, Y:-0.17, Z:-0.26 [[ 0.99783844 -0.00685973 0.06535592 2.43450727] [ 0.00667757 0.99997319 0.00300533 -0.1687311 ] [-0.06537479 -0.00256242 0.99785749 -0.26219619] [ 0. 0. 0. 1. ]] SLAMing on 4.8277194209999985 meters 0.06176280395226891 Centerline is valid? [True, True] Translation: X:2.50, Y:-0.19, Z:-0.26 [[ 9.97282889e-01 -1.71573255e-02 7.16412318e-02 2.49665364e+00] [ 1.69673015e-02 9.99850730e-01 3.26020405e-03 -1.86647039e-01] [-7.16864742e-02 -2.03578733e-03 9.97425138e-01 -2.60822885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.887719420999999 meters 0.05834140174726271 Centerline is valid? [True, True] Translation: X:2.56, Y:-0.20, Z:-0.26 [[ 9.96668842e-01 -2.88260330e-02 7.62907496e-02 2.55803969e+00] [ 2.86448051e-02 9.99583634e-01 3.46891412e-03 -2.01111462e-01] [-7.63589798e-02 -1.27202497e-03 9.97079580e-01 -2.63060921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.947719420999999 meters 0.057585266098532234 Centerline is valid? [True, True] Translation: X:2.62, Y:-0.20, Z:-0.27 [[ 9.96561772e-01 -3.20871430e-02 7.63874994e-02 2.62018316e+00] [ 3.19142834e-02 9.99484541e-01 3.48288126e-03 -2.02982453e-01] [-7.64598805e-02 -1.03305402e-03 9.97072124e-01 -2.68630997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.007719420999999 meters 0.05634258261299018 Centerline is valid? [True, True] Translation: X:2.68, Y:-0.22, Z:-0.27 [[ 9.95925488e-01 -4.71574437e-02 7.68674049e-02 2.68248625e+00] [ 4.70290152e-02 9.98887458e-01 3.48111262e-03 -2.19380435e-01] [-7.69460470e-02 1.48069572e-04 9.97035247e-01 -2.73787237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.067719420999999 meters 0.0580775747723415 Centerline is valid? [True, True] Translation: X:2.74, Y:-0.24, Z:-0.28 [[ 9.95085377e-01 -6.23655009e-02 7.69131762e-02 2.74331457e+00] [ 6.22846578e-02 9.98052457e-01 3.45180367e-03 -2.36004267e-01] [-7.69786579e-02 1.35567150e-03 9.97031819e-01 -2.81410485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.127719420999999 meters 0.05881504045192031 Centerline is valid? [True, True] Translation: X:2.80, Y:-0.23, Z:-0.28 [[ 9.94455593e-01 -6.53018418e-02 8.24241710e-02 2.80399730e+00] [ 6.52191794e-02 9.97864112e-01 3.69778224e-03 -2.31107216e-01] [-8.24895941e-02 1.69835656e-03 9.96590479e-01 -2.83768200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.187719420999999 meters 0.056891828093011715 Centerline is valid? [True, True] Translation: X:2.87, Y:-0.21, Z:-0.29 [[ 9.94891115e-01 -6.15627310e-02 8.00106225e-02 2.86636070e+00] [ 6.14723285e-02 9.98102314e-01 3.59490810e-03 -2.11477689e-01] [-8.00800999e-02 1.34189715e-03 9.96787528e-01 -2.85646636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.247719420999998 meters 0.05702100194641855 Centerline is valid? [True, True] Translation: X:2.93, Y:-0.19, Z:-0.30 [[ 9.96060503e-01 -5.31237543e-02 7.10024069e-02 2.92538086e+00] [ 5.30333857e-02 9.98587744e-01 3.15861356e-03 -1.92793504e-01] [-7.10699307e-02 6.19327816e-04 9.97471143e-01 -3.02177210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.307719420999999 meters 0.0576674776510888 Centerline is valid? [True, True] Translation: X:2.99, Y:-0.16, Z:-0.31 [[ 9.97059485e-01 -3.21423954e-02 6.95647235e-02 2.98574646e+00] [ 3.20041128e-02 9.99482924e-01 3.10173330e-03 -1.60058691e-01] [-6.96284504e-02 -8.66255349e-04 9.97572618e-01 -3.11140488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.3677194209999985 meters 0.05930543325069438 Centerline is valid? [True, True] Translation: X:3.05, Y:-0.14, Z:-0.32 [[ 9.97281305e-01 -2.22558724e-02 7.02472403e-02 3.04675129e+00] [ 2.20919559e-02 9.99751107e-01 3.10956621e-03 -1.41766956e-01] [-7.02989624e-02 -1.54921331e-03 9.97524765e-01 -3.16547898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.427719420999999 meters 0.06110788754005168 Centerline is valid? [True, True] Translation: X:3.11, Y:-0.13, Z:-0.32 [[ 9.97122454e-01 -1.47762805e-02 7.43537065e-02 3.10800663e+00] [ 1.45735026e-02 9.99888457e-01 3.26904527e-03 -1.32328951e-01] [-7.43937172e-02 -2.17604451e-03 9.97226574e-01 -3.22247329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.487719420999999 meters 0.06120533382219072 Centerline is valid? [True, True] Translation: X:3.17, Y:-0.13, Z:-0.33 [[ 9.97161002e-01 -1.36603826e-02 7.40495133e-02 3.16978397e+00] [ 1.34578340e-02 9.99904211e-01 3.23360433e-03 -1.32441896e-01] [-7.40865924e-02 -2.22787808e-03 9.97249324e-01 -3.29473411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.547719420999999 meters 0.05806151632690187 Centerline is valid? [True, True] Translation: X:3.23, Y:-0.15, Z:-0.33 [[ 9.96895021e-01 -2.46774367e-02 7.47752701e-02 3.23134464e+00] [ 2.45042450e-02 9.99694499e-01 3.23285970e-03 -1.46591681e-01] [-7.48322049e-02 -1.39051020e-03 9.97195170e-01 -3.34224846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.607719420999999 meters 0.05604168322384077 Centerline is valid? [True, True] Translation: X:3.29, Y:-0.17, Z:-0.34 [[ 9.96025052e-01 -4.63038553e-02 7.60923752e-02 3.29345773e+00] [ 4.61875822e-02 9.98927373e-01 3.28810313e-03 -1.71551835e-01] [-7.61630083e-02 2.39489747e-04 9.97095351e-01 -3.39757516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.667719420999998 meters 0.058077967451244925 Centerline is valid? [True, True] Translation: X:3.35, Y:-0.19, Z:-0.35 [[ 9.94951484e-01 -6.35247743e-02 7.76926477e-02 3.35424254e+00] [ 6.34559589e-02 9.97978995e-01 3.35668622e-03 -1.92861725e-01] [-7.77488632e-02 1.59032153e-03 9.96971707e-01 -3.46565235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.727719420999999 meters 0.05888765935216339 Centerline is valid? [True, True] Translation: X:3.42, Y:-0.20, Z:-0.35 [[ 9.94818191e-01 -6.89948358e-02 7.46758325e-02 3.41528296e+00] [ 6.89470511e-02 9.97615122e-01 3.22073335e-03 -1.95621499e-01] [-7.47199537e-02 1.94463432e-03 9.97202661e-01 -3.52994634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.7877194209999985 meters 0.059235802039063847 Centerline is valid? [True, True] Translation: X:3.48, Y:-0.19, Z:-0.36 [[ 9.94845871e-01 -6.92281604e-02 7.40888259e-02 3.47651945e+00] [ 6.91815299e-02 9.97598960e-01 3.19861166e-03 -1.94860428e-01] [-7.41323697e-02 1.94345272e-03 9.97246517e-01 -3.61425832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.847719420999999 meters 0.057146832850480875 Centerline is valid? [True, True] Translation: X:3.54, Y:-0.18, Z:-0.36 [[ 9.95264252e-01 -6.19528594e-02 7.49060260e-02 3.53751407e+00] [ 6.18858562e-02 9.98078047e-01 3.21747992e-03 -1.84137397e-01] [-7.49613922e-02 1.43338080e-03 9.97185407e-01 -3.64205487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.907719420999999 meters 0.055545412288046395 Centerline is valid? [True, True] Translation: X:3.60, Y:-0.16, Z:-0.37 [[ 9.96082524e-01 -4.53443973e-02 7.59176592e-02 3.59622673e+00] [ 4.52277446e-02 9.98971396e-01 3.25602623e-03 -1.62217707e-01] [-7.59872125e-02 1.90313673e-04 9.97108774e-01 -3.68736421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.967719420999999 meters 0.05689737666824717 Centerline is valid? [True, True] Translation: X:3.66, Y:-0.14, Z:-0.37 [[ 9.96511430e-01 -2.78147020e-02 7.86848928e-02 3.65606706e+00] [ 2.76341447e-02 9.99612380e-01 3.38285227e-03 -1.35452804e-01] [-7.87484860e-02 -1.19666124e-03 9.96893798e-01 -3.74079378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.027719420999999 meters 0.06025715509668981 Centerline is valid? [True, True] Translation: X:3.72, Y:-0.12, Z:-0.38 [[ 9.97034668e-01 -1.39871045e-02 7.56718721e-02 3.71527714e+00] [ 1.37825483e-02 9.99899816e-01 3.22477497e-03 -1.22262409e-01] [-7.57093962e-02 -2.17226121e-03 9.97127559e-01 -3.84625939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.087719420999998 meters 0.062317529465903576 Centerline is valid? [True, True] Translation: X:3.78, Y:-0.11, Z:-0.39 [[ 9.97240573e-01 -8.11275648e-03 7.37931064e-02 3.77520379e+00] [ 7.90227833e-03 9.99963835e-01 3.14379648e-03 -1.11894715e-01] [-7.38159425e-02 -2.55198774e-03 9.97268617e-01 -3.91716931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.147719420999999 meters 0.0622789755464244 Centerline is valid? [True, True] Translation: X:3.83, Y:-0.12, Z:-0.41 [[ 9.97289868e-01 -1.37048786e-02 7.22848160e-02 3.83445851e+00] [ 1.35177049e-02 9.99903894e-01 3.07798096e-03 -1.16501692e-01] [-7.23200524e-02 -2.09251441e-03 9.97379282e-01 -4.05516412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.207719420999998 meters 0.05692014459929066 Centerline is valid? [True, True] Translation: X:3.90, Y:-0.13, Z:-0.40 [[ 9.96564947e-01 -2.82566593e-02 7.78451454e-02 3.89654343e+00] [ 2.80839567e-02 9.99600079e-01 3.31262738e-03 -1.33583607e-01] [-7.79076173e-02 -1.11504864e-03 9.96959959e-01 -4.03634181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.267719420999999 meters 0.055197298802251826 Centerline is valid? [True, True] Translation: X:3.96, Y:-0.14, Z:-0.41 [[ 9.95929444e-01 -4.19117286e-02 7.97994348e-02 3.95849801e+00] [ 4.17739845e-02 9.99121316e-01 3.39551735e-03 -1.44849977e-01] [-7.98716283e-02 -4.81553561e-05 9.96805157e-01 -4.05892719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.3277194209999985 meters 0.05574773346405366 Centerline is valid? [True, True] Translation: X:4.02, Y:-0.16, Z:-0.41 [[ 9.94830736e-01 -5.60321245e-02 8.46888927e-02 4.02128282e+00] [ 5.59278234e-02 9.98428305e-01 3.60544775e-03 -1.58746732e-01] [-8.47578084e-02 1.14965520e-03 9.96400919e-01 -4.09920747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.387719420999999 meters 0.05603006267582613 Centerline is valid? [True, True] Translation: X:4.08, Y:-0.16, Z:-0.42 [[ 9.95144439e-01 -5.56525419e-02 8.11809101e-02 4.08306994e+00] [ 5.55573444e-02 9.98449597e-01 3.43277329e-03 -1.57094967e-01] [-8.12460895e-02 1.09409053e-03 9.96693471e-01 -4.19947641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.447719420999999 meters 0.05679441079347106 Centerline is valid? [True, True] Translation: X:4.14, Y:-0.16, Z:-0.43 [[ 9.94852934e-01 -6.08643631e-02 8.10133904e-02 4.14492781e+00] [ 6.07892037e-02 9.98144849e-01 3.39614062e-03 -1.56245993e-01] [-8.10698022e-02 1.54607904e-03 9.96707227e-01 -4.25587357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.507719420999998 meters 0.057527975501677486 Centerline is valid? [True, True] Translation: X:4.21, Y:-0.16, Z:-0.43 [[ 9.94355479e-01 -6.64659053e-02 8.27010517e-02 4.20732697e+00] [ 6.64070504e-02 9.97786598e-01 3.46519292e-03 -1.59169918e-01] [-8.27483183e-02 2.04629934e-03 9.96568376e-01 -4.30669279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.567719420999999 meters 0.05688979320355301 Centerline is valid? [True, True] Translation: X:4.27, Y:-0.15, Z:-0.44 [[ 9.94670094e-01 -6.28402350e-02 8.17466109e-02 4.26909894e+00] [ 6.27725326e-02 9.98022067e-01 3.40051231e-03 -1.48010807e-01] [-8.17986106e-02 1.74905390e-03 9.96647344e-01 -4.36291560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.627719420999998 meters 0.05574223692685603 Centerline is valid? [True, True] Translation: X:4.33, Y:-0.12, Z:-0.45 [[ 9.96272966e-01 -3.95300033e-02 7.66652253e-02 4.32792974e+00] [ 3.94031696e-02 9.99218375e-01 3.16692563e-03 -1.15517279e-01] [-7.67304904e-02 -1.34269510e-04 9.97051861e-01 -4.49529363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.687719420999999 meters 0.06002854977980163 Centerline is valid? [True, True] Translation: X:4.39, Y:-0.09, Z:-0.46 [[ 9.97264737e-01 -1.63636121e-02 7.20782650e-02 4.38625306e+00] [ 1.61930907e-02 9.99864533e-01 2.94953059e-03 -8.62171201e-02] [-7.21167657e-02 -1.77429297e-03 9.97394618e-01 -4.63082771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.747719420999998 meters 0.06196798128054248 Centerline is valid? [True, True] Translation: X:4.45, Y:-0.07, Z:-0.47 [[ 9.97275090e-01 -1.03908348e-02 7.30371529e-02 4.44598367e+00] [ 1.01994645e-02 9.99943506e-01 2.99266686e-03 -7.38744989e-02] [-7.30641230e-02 -2.23957226e-03 9.97324731e-01 -4.70696744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.807719420999999 meters 0.06030863190809362 Centerline is valid? [True, True] Translation: X:4.51, Y:-0.08, Z:-0.48 [[ 9.97144892e-01 -1.63345076e-02 7.37241382e-02 4.50759092e+00] [ 1.61567816e-02 9.99864951e-01 3.00647028e-03 -8.19462408e-02] [-7.37632910e-02 -1.80674168e-03 9.97274141e-01 -4.77822545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.8677194209999985 meters 0.05943957043805024 Centerline is valid? [True, True] Translation: X:4.57, Y:-0.09, Z:-0.48 [[ 9.97045974e-01 -1.89843203e-02 7.44239247e-02 4.57017266e+00] [ 1.88106787e-02 9.99818462e-01 3.03346605e-03 -8.52559658e-02] [-7.44680022e-02 -1.62454058e-03 9.97222080e-01 -4.83722006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.927719420999998 meters 0.05734150341783739 Centerline is valid? [True, True] Translation: X:4.63, Y:-0.09, Z:-0.48 [[ 9.96587747e-01 -2.22831975e-02 7.94752916e-02 4.63257278e+00] [ 2.20970238e-02 9.99750641e-01 3.22135061e-03 -9.18529831e-02] [-7.95272557e-02 -1.45419113e-03 9.96831631e-01 -4.79460872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.987719420999999 meters 0.05916289826761992 Centerline is valid? [True, True] Translation: X:4.69, Y:-0.09, Z:-0.48 [[ 9.96462460e-01 -1.14859043e-02 8.32504635e-02 4.69402540e+00] [ 1.12440846e-02 9.99931094e-01 3.37301063e-03 -8.86884639e-02] [-8.32834692e-02 -2.42500322e-03 9.96522947e-01 -4.80701581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.047719420999998 meters 0.06525047977104084 Centerline is valid? [True, True] Translation: X:4.75, Y:-0.08, Z:-0.49 [[ 9.96397959e-01 4.44678743e-03 8.46837264e-02 4.75420377e+00] [-4.75404253e-03 9.99982827e-01 3.42695370e-03 -7.50978813e-02] [-8.46670332e-02 -3.81719971e-03 9.96401988e-01 -4.89340483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.107719420999999 meters 0.06783627911281638 Centerline is valid? [True, True] Translation: X:4.81, Y:-0.07, Z:-0.50 [[ 9.96700760e-01 9.30355706e-03 8.06290185e-02 4.81427601e+00] [-9.59759211e-03 9.99948628e-01 3.25997068e-03 -7.31079776e-02] [-8.05945471e-02 -4.02305969e-03 9.96738849e-01 -4.99693863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.167719420999998 meters 0.06652595563124711 Centerline is valid? [True, True] Translation: X:4.87, Y:-0.08, Z:-0.50 [[ 9.96576912e-01 5.06152732e-03 8.25156884e-02 4.87463321e+00] [-5.35498941e-03 9.99980099e-01 3.33551384e-03 -8.26700791e-02] [-8.24971634e-02 -3.76596672e-03 9.96584184e-01 -5.03640993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.227719420999999 meters 0.06247278048376012 Centerline is valid? [True, True] Translation: X:4.94, Y:-0.10, Z:-0.51 [[ 9.96784322e-01 -3.50555422e-03 8.00545271e-02 4.93584368e+00] [ 3.25688347e-03 9.99989458e-01 3.23662991e-03 -9.88343184e-02] [-8.00650294e-02 -2.96549368e-03 9.96785231e-01 -5.11734562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2877194209999985 meters 0.0594362201011242 Centerline is valid? [True, True] Translation: X:5.00, Y:-0.11, Z:-0.52 [[ 9.96509099e-01 -1.11067326e-02 8.27421087e-02 4.99709779e+00] [ 1.08673387e-02 9.99935360e-01 3.34307149e-03 -1.10138072e-01] [-8.27738908e-02 -2.43221464e-03 9.96565385e-01 -5.15781058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.347719420999998 meters 0.05784283321495284 Centerline is valid? [True, True] Translation: X:5.06, Y:-0.12, Z:-0.53 [[ 9.96797817e-01 -1.99293399e-02 7.74398650e-02 5.05908197e+00] [ 1.97460992e-02 9.99800123e-01 3.13130558e-03 -1.21954627e-01] [-7.74867914e-02 -1.59214331e-03 9.96992107e-01 -5.29642758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.407719420999999 meters 0.056700750940033635 Centerline is valid? [True, True] Translation: X:5.12, Y:-0.13, Z:-0.54 [[ 9.96834016e-01 -3.10340086e-02 7.32040684e-02 5.11977258e+00] [ 3.09005774e-02 9.99518095e-01 2.95484313e-03 -1.31412664e-01] [-7.32604916e-02 -6.83440170e-04 9.97312606e-01 -5.42133001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.467719420999998 meters 0.05490372221035634 Centerline is valid? [True, True] Translation: X:5.18, Y:-0.14, Z:-0.54 [[ 9.96312477e-01 -4.01635616e-02 7.58177881e-02 5.18163942e+00] [ 4.00481441e-02 9.99193119e-01 3.04267304e-03 -1.38782774e-01] [-7.58788168e-02 4.90858992e-06 9.97117047e-01 -5.40731761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.527719420999999 meters 0.054643102601071206 Centerline is valid? [True, True] Translation: X:5.24, Y:-0.14, Z:-0.55 [[ 9.95978532e-01 -4.26220589e-02 7.88043399e-02 5.24395170e+00] [ 4.25047415e-02 9.99091248e-01 3.16627167e-03 -1.38056035e-01] [-7.88676793e-02 1.96019487e-04 9.96885074e-01 -5.45108974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.587719420999998 meters 0.05364359678144506 Centerline is valid? [True, True] Translation: X:5.31, Y:-0.13, Z:-0.54 [[ 9.95727752e-01 -3.83043118e-02 8.40179982e-02 5.30605137e+00] [ 3.81583801e-02 9.99266113e-01 3.34265009e-03 -1.29408955e-01] [-8.40843764e-02 -1.22378752e-04 9.96458631e-01 -5.44832286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.647719420999999 meters 0.05554027121321426 Centerline is valid? [True, True] Translation: X:5.37, Y:-0.11, Z:-0.55 [[ 9.96185532e-01 -2.27575002e-02 8.42406244e-02 5.36652415e+00] [ 2.25553260e-02 9.99739980e-01 3.35103610e-03 -1.07356088e-01] [-8.42949813e-02 -1.43817894e-03 9.96439806e-01 -5.53254353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.707719420999998 meters 0.057958019742417384 Centerline is valid? [True, True] Translation: X:5.43, Y:-0.09, Z:-0.56 [[ 9.96350275e-01 -1.50415224e-02 8.40230987e-02 5.42545553e+00] [ 1.48156079e-02 9.99884759e-01 3.31163732e-03 -9.40042752e-02] [-8.40632279e-02 -2.05469748e-03 9.96458304e-01 -5.61552573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.767719420999998 meters 0.05811097506439454 Centerline is valid? [True, True] Translation: X:5.49, Y:-0.09, Z:-0.57 [[ 9.96329206e-01 -1.21947520e-02 8.47313431e-02 5.48729456e+00] [ 1.19541303e-02 9.99922946e-01 3.34661537e-03 -9.17574350e-02] [-8.47656254e-02 -2.32144112e-03 9.96398213e-01 -5.66939825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.8277194209999985 meters 0.05867996882194095 Centerline is valid? [True, True] Translation: X:5.55, Y:-0.09, Z:-0.57 [[ 9.96408680e-01 -9.81222635e-03 8.41038777e-02 5.54881063e+00] [ 9.56885076e-03 9.99948784e-01 3.29637423e-03 -8.95281238e-02] [-8.41319150e-02 -2.47975844e-03 9.96451540e-01 -5.74804317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.887719420999998 meters 0.05862719591525264 Centerline is valid? [True, True] Translation: X:5.61, Y:-0.09, Z:-0.59 [[ 9.96792474e-01 -1.29056921e-02 7.89823189e-02 5.61051745e+00] [ 1.27026212e-02 9.99914596e-01 3.07300102e-03 -9.32861751e-02] [-7.90152328e-02 -2.05986181e-03 9.96871281e-01 -5.88528888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.947719420999999 meters 0.05736237484138923 Centerline is valid? [True, True] Translation: X:5.67, Y:-0.10, Z:-0.59 [[ 9.96708904e-01 -1.60749461e-02 7.94541220e-02 5.67258609e+00] [ 1.58814361e-02 9.99869179e-01 3.06685574e-03 -9.66993986e-02] [-7.94930272e-02 -1.79491686e-03 9.96833806e-01 -5.92823730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.007719421 meters 0.057336642235724856 Centerline is valid? [True, True] Translation: X:5.73, Y:-0.09, Z:-0.60 [[ 9.96652739e-01 -1.60898496e-02 8.01525692e-02 5.73411611e+00] [ 1.58949927e-02 9.99868958e-01 3.06856253e-03 -9.15069049e-02] [-8.01914385e-02 -1.78426675e-03 9.96777884e-01 -5.96955990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.067719421 meters 0.0562985961323766 Centerline is valid? [True, True] Translation: X:5.80, Y:-0.09, Z:-0.60 [[ 9.96539539e-01 -1.73651917e-02 8.12858953e-02 5.79658575e+00] [ 1.71710306e-02 9.99847801e-01 3.08710196e-03 -9.17385285e-02] [-8.13271318e-02 -1.68065656e-03 9.96686045e-01 -6.01685702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.127719421 meters 0.0542653243215516 Centerline is valid? [True, True] Translation: X:5.86, Y:-0.09, Z:-0.61 [[ 9.96189285e-01 -2.84805836e-02 8.24364282e-02 5.85791648e+00] [ 2.83215142e-02 9.99594063e-01 3.09854907e-03 -9.48437659e-02] [-8.24912127e-02 -7.52016906e-04 9.96591508e-01 -6.08797096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.187719420999999 meters 0.053962061578206204 Centerline is valid? [True, True] Translation: X:5.92, Y:-0.11, Z:-0.61 [[ 9.94938415e-01 -4.97708806e-02 8.72949615e-02 5.92087357e+00] [ 4.96742844e-02 9.98760085e-01 3.27985836e-03 -1.11457735e-01] [-8.73499647e-02 1.07305767e-03 9.96177109e-01 -6.12185936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.247719421 meters 0.057918648822070075 Centerline is valid? [True, True] Translation: X:5.98, Y:-0.12, Z:-0.62 [[ 9.93785941e-01 -6.83756994e-02 8.78309001e-02 5.98172961e+00] [ 6.83531516e-02 9.97655836e-01 3.26780772e-03 -1.20727442e-01] [-8.78484488e-02 2.75601746e-03 9.96130039e-01 -6.16702426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.307719421 meters 0.05797358647098451 Centerline is valid? [True, True] Translation: X:6.04, Y:-0.11, Z:-0.62 [[ 9.93752332e-01 -6.86571101e-02 8.79915018e-02 6.04312332e+00] [ 6.86352533e-02 9.97636437e-01 3.27749552e-03 -1.11532203e-01] [-8.80085517e-02 2.78230020e-03 9.96115833e-01 -6.24181909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.367719420999999 meters 0.054665510590588474 Centerline is valid? [True, True] Translation: X:6.10, Y:-0.08, Z:-0.63 [[ 9.94444123e-01 -5.62291392e-02 8.89897139e-02 6.10264415e+00] [ 5.61600437e-02 9.98416385e-01 3.28204726e-03 -8.32222351e-02] [-8.90333351e-02 1.73385362e-03 9.96027138e-01 -6.28830165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.427719420999999 meters 0.05353584789715966 Centerline is valid? [True, True] Translation: X:6.16, Y:-0.05, Z:-0.64 [[ 9.95537871e-01 -3.77850852e-02 8.64675327e-02 6.16195460e+00] [ 3.76503473e-02 9.99285885e-01 3.18912393e-03 -5.22548478e-02] [-8.65262863e-02 8.06389942e-05 9.96249565e-01 -6.39878158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.487719421 meters 0.05536051210724486 Centerline is valid? [True, True] Translation: X:6.22, Y:-0.03, Z:-0.65 [[ 9.96429595e-01 -2.28786201e-02 8.12688855e-02 6.22077721e+00] [ 2.27104175e-02 9.99737603e-01 2.99357782e-03 -2.77505932e-02] [-8.13160498e-02 -1.13723921e-03 9.96687718e-01 -6.54239620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.547719421 meters 0.05913199826438656 Centerline is valid? [True, True] Translation: X:6.28, Y:-0.01, Z:-0.67 [[ 9.97454836e-01 -1.33564103e-02 7.00389686e-02 6.27814854e+00] [ 1.32080856e-02 9.99909440e-01 2.58044852e-03 -5.63027719e-03] [-7.00670914e-02 -1.64880016e-03 9.97540919e-01 -6.71543849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.607719420999999 meters 0.05795164680967417 Centerline is valid? [True, True] Translation: X:6.34, Y:-0.01, Z:-0.68 [[ 9.97413979e-01 -1.87457600e-02 6.93826396e-02 6.34021288e+00] [ 1.86134426e-02 9.99823495e-01 2.55313823e-03 -7.34684103e-03] [-6.94182537e-02 -1.25508598e-03 9.97586854e-01 -6.81632283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.667719421 meters 0.055447430334222905 Centerline is valid? [True, True] Translation: X:6.40, Y:-0.02, Z:-0.68 [[ 9.96933210e-01 -3.07402410e-02 7.19667414e-02 6.40119687e+00] [ 3.06299342e-02 9.99527317e-01 2.63610653e-03 -1.82202134e-02] [-7.20137585e-02 -4.23685591e-04 9.97403549e-01 -6.84379726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.727719421 meters 0.05422507837563131 Centerline is valid? [True, True] Translation: X:6.46, Y:-0.02, Z:-0.68 [[ 9.96308714e-01 -3.50979579e-02 7.83395144e-02 6.46248375e+00] [ 3.49806084e-02 9.99383870e-01 2.87017394e-03 -1.54724098e-02] [-7.83919843e-02 -1.19215435e-04 9.96922606e-01 -6.81884621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.787719420999998 meters 0.05428486908435849 Centerline is valid? [True, True] Translation: X:6.53, Y:-0.01, Z:-0.69 [[ 9.96336627e-01 -3.45837286e-02 7.82131146e-02 6.52521265e+00] [ 3.44645610e-02 9.99401790e-01 2.87337646e-03 -1.20380399e-02] [-7.82656988e-02 -1.67269552e-04 9.96932521e-01 -6.89089900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.847719420999999 meters 0.05472382720438678 Centerline is valid? [True, True] Translation: X:6.59, Y:-0.01, Z:-0.70 [[ 9.96602333e-01 -3.67269570e-02 7.37219074e-02 6.58592665e+00] [ 3.66288369e-02 9.99325337e-01 2.68297995e-03 -9.68711023e-03] [-7.37707076e-02 2.64836393e-05 9.97275229e-01 -7.02902156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.907719421 meters 0.05429865989490938 Centerline is valid? [True, True] Translation: X:6.65, Y:-0.01, Z:-0.71 [[ 9.95827304e-01 -4.50947598e-02 7.93375327e-02 6.64733754e+00] [ 4.50100936e-02 9.98982449e-01 2.85606855e-03 -7.03659231e-03] [-7.93855965e-02 7.26838733e-04 9.96843718e-01 -7.05641493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.967719421 meters 0.05546654728962199 Centerline is valid? [True, True] Translation: X:6.71, Y:-0.00, Z:-0.70 [[ 9.94660486e-01 -5.83341566e-02 8.51330939e-02 6.70986033e+00] [ 5.82848709e-02 9.98295282e-01 3.06643689e-03 -4.20430024e-03] [-8.51668440e-02 1.91190778e-03 9.96364870e-01 -7.03964033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.027719420999999 meters 0.05683712290254069 Centerline is valid? [True, True] Translation: X:6.77, Y:0.00, Z:-0.71 [[ 9.93954824e-01 -6.60284970e-02 8.77157136e-02 6.77078337e+00] [ 6.60088625e-02 9.97814135e-01 3.12760765e-03 3.32970816e-03] [-8.77304901e-02 2.68131377e-03 9.96140638e-01 -7.07746023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.087719421 meters 0.05614502980910157 Centerline is valid? [True, True] Translation: X:6.83, Y:0.03, Z:-0.71 [[ 9.94103666e-01 -6.27085030e-02 8.84621142e-02 6.83172905e+00] [ 6.26757313e-02 9.98028970e-01 3.15082302e-03 2.59909826e-02] [-8.84853361e-02 2.41218298e-03 9.96074559e-01 -7.13161062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.147719421 meters 0.05395348359027724 Centerline is valid? [True, True] Translation: X:6.89, Y:0.06, Z:-0.72 [[ 9.94769984e-01 -5.21190009e-02 8.78424120e-02 6.89081615e+00] [ 5.20460296e-02 9.98639806e-01 3.12241977e-03 6.05505221e-02] [-8.78856667e-02 1.46575931e-03 9.96129490e-01 -7.21425067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.207719420999998 meters 0.05486635887616595 Centerline is valid? [True, True] Translation: X:6.95, Y:0.07, Z:-0.74 [[ 9.94819467e-01 -5.44154737e-02 8.58672508e-02 6.95052550e+00] [ 5.43539580e-02 9.98517055e-01 3.05591526e-03 6.98026912e-02] [-8.59062034e-02 1.62714095e-03 9.96301900e-01 -7.35719503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.267719420999999 meters 0.05479014583505259 Centerline is valid? [True, True] Translation: X:7.01, Y:0.09, Z:-0.74 [[ 9.94676398e-01 -5.80008650e-02 8.51748919e-02 7.01242987e+00] [ 5.79557591e-02 9.98314632e-01 3.00424752e-03 8.50332679e-02] [-8.52055898e-02 1.94812142e-03 9.96361487e-01 -7.40384386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.327719421 meters 0.053866551313498934 Centerline is valid? [True, True] Translation: X:7.07, Y:0.11, Z:-0.75 [[ 9.95223803e-01 -4.95975873e-02 8.40812726e-02 7.07191504e+00] [ 4.95243737e-02 9.98768536e-01 2.95754468e-03 1.05311839e-01] [-8.41244167e-02 1.22065349e-03 9.96454511e-01 -7.51192109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.387719421 meters 0.05323716471484488 Centerline is valid? [True, True] Translation: X:7.13, Y:0.14, Z:-0.76 [[ 9.96135243e-01 -2.95608121e-02 8.27087407e-02 7.13305241e+00] [ 2.94211198e-02 9.99562877e-01 2.90750480e-03 1.39316287e-01] [-8.27585349e-02 -4.62884228e-04 9.96569521e-01 -7.59074887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.447719420999999 meters 0.05512249450817453 Centerline is valid? [True, True] Translation: X:7.19, Y:0.16, Z:-0.77 [[ 9.96326023e-01 -1.40694883e-02 8.44778355e-02 7.19277521e+00] [ 1.38689520e-02 9.99899439e-01 2.96025209e-03 1.62940731e-01] [-8.45109896e-02 -1.77775715e-03 9.96420961e-01 -7.68851467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.507719421 meters 0.054120242800620146 Centerline is valid? [True, True] Translation: X:7.25, Y:0.17, Z:-0.77 [[ 9.96046524e-01 -1.48104027e-02 8.75898101e-02 7.25395764e+00] [ 1.45977625e-02 9.99888741e-01 3.06775782e-03 1.70571794e-01] [-8.76254997e-02 -1.77701426e-03 9.96151903e-01 -7.69250348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.567719421 meters 0.053397361617021286 Centerline is valid? [True, True] Translation: X:7.31, Y:0.17, Z:-0.77 [[ 9.95457956e-01 -2.11505321e-02 9.28230209e-02 7.31411697e+00] [ 2.09420747e-02 9.99775507e-01 3.21934328e-03 1.70027071e-01] [-9.28702737e-02 -1.26081425e-03 9.95677419e-01 -7.71521276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.627719420999998 meters 0.054030127055807745 Centerline is valid? [True, True] Translation: X:7.37, Y:0.18, Z:-0.78 [[ 9.95867205e-01 -1.72976410e-02 8.91588605e-02 7.37478501e+00] [ 1.70895326e-02 9.99849167e-01 3.09702096e-03 1.80377609e-01] [-8.91989835e-02 -1.56053835e-03 9.96012603e-01 -7.81056993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.687719420999999 meters 0.0558829269957556 Centerline is valid? [True, True] Translation: X:7.43, Y:0.20, Z:-0.79 [[ 9.96215969e-01 -9.03392434e-03 8.64414923e-02 7.43390967e+00] [ 8.80949779e-03 9.99956763e-01 2.97740542e-03 1.96818909e-01] [-8.64646525e-02 -2.20463269e-03 9.96252480e-01 -7.90086132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.747719421 meters 0.05798300031722521 Centerline is valid? [True, True] Translation: X:7.49, Y:0.21, Z:-0.80 [[ 9.96277081e-01 -1.49225005e-03 8.61960066e-02 7.49433149e+00] [ 1.24156064e-03 9.99994843e-01 2.96189993e-03 2.07860181e-01] [-8.61999819e-02 -2.84385545e-03 9.96273796e-01 -7.97909152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.807719421 meters 0.05799751990868709 Centerline is valid? [True, True] Translation: X:7.56, Y:0.21, Z:-0.80 [[ 9.96073359e-01 4.64789256e-04 8.85304921e-02 7.55785238e+00] [-7.37333538e-04 9.99995090e-01 3.04585814e-03 2.12271936e-01] [-8.85286417e-02 -3.09917465e-03 9.96068810e-01 -8.01430824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.867719420999999 meters 0.054980658786643724 Centerline is valid? [True, True] Translation: X:7.62, Y:0.20, Z:-0.81 [[ 9.96111542e-01 -1.36756225e-02 8.70331760e-02 7.61787073e+00] [ 1.34688632e-02 9.99904902e-01 2.96245537e-03 1.95056508e-01] [-8.70654128e-02 -1.77869805e-03 9.96201009e-01 -8.11650086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.927719420999999 meters 0.05330132303149235 Centerline is valid? [True, True] Translation: X:7.68, Y:0.17, Z:-0.82 [[ 9.95610232e-01 -3.49169483e-02 8.68393518e-02 7.67956965e+00] [ 3.47917271e-02 9.99390214e-01 2.95553735e-03 1.74115492e-01] [-8.68895968e-02 7.87278048e-05 9.96217944e-01 -8.17271734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.987719421 meters 0.05560825721430372 Centerline is valid? [True, True] Translation: X:7.74, Y:0.15, Z:-0.83 [[ 9.94954670e-01 -5.44016243e-02 8.42951196e-02 7.74075078e+00] [ 5.43535492e-02 9.98517638e-01 2.86687722e-03 1.50832567e-01] [-8.43261265e-02 1.72932605e-03 9.96436708e-01 -8.26212329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.047719420999998 meters 0.057086676087223946 Centerline is valid? [True, True] Translation: X:7.80, Y:0.14, Z:-0.83 [[ 9.94508461e-01 -6.32021673e-02 8.34170686e-02 7.80189728e+00] [ 6.31860299e-02 9.97997737e-01 2.83609243e-03 1.41609532e-01] [-8.34292929e-02 2.45027548e-03 9.96510687e-01 -8.32954614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.107719420999999 meters 0.05716762556534731 Centerline is valid? [True, True] Translation: X:7.86, Y:0.15, Z:-0.84 [[ 9.94064516e-01 -6.22293049e-02 8.92370555e-02 7.86244447e+00] [ 6.22071246e-02 9.98058655e-01 3.03238473e-03 1.47530480e-01] [-8.92525188e-02 2.53679457e-03 9.96005799e-01 -8.35712088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.167719421 meters 0.056176999490806956 Centerline is valid? [True, True] Translation: X:7.92, Y:0.16, Z:-0.84 [[ 9.94610430e-01 -5.71624445e-02 8.65017181e-02 7.92365505e+00] [ 5.71223073e-02 9.98362856e-01 2.94119721e-03 1.59125448e-01] [-8.65282284e-02 2.01583230e-03 9.96247360e-01 -8.44847583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.227719421 meters 0.0563984961497543 Centerline is valid? [True, True] Translation: X:7.99, Y:0.16, Z:-0.85 [[ 9.93966612e-01 -5.88352561e-02 9.25677446e-02 7.98604561e+00] [ 5.87991653e-02 9.98264958e-01 3.11952395e-03 1.61858668e-01] [-9.25906737e-02 2.34220347e-03 9.95701502e-01 -8.48601325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.287719420999998 meters 0.060061511358997094 Centerline is valid? [True, True] Translation: X:8.05, Y:0.16, Z:-0.86 [[ 9.93319043e-01 -7.04598251e-02 9.13930678e-02 8.04587718e+00] [ 7.04762979e-02 9.97508788e-01 3.05106249e-03 1.57834052e-01] [-9.13803657e-02 3.41036661e-03 9.95810222e-01 -8.56371318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.347719420999999 meters 0.0626150302290452 Centerline is valid? [True, True] Translation: X:8.11, Y:0.15, Z:-0.87 [[ 9.93064587e-01 -7.74977175e-02 8.84128400e-02 8.10603042e+00] [ 7.75412258e-02 9.96984789e-01 2.94753851e-03 1.53726496e-01] [-8.83746841e-02 3.92854387e-03 9.96079556e-01 -8.67915250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.407719421 meters 0.06509417868331656 Centerline is valid? [True, True] Translation: X:8.17, Y:0.15, Z:-0.88 [[ 9.93244322e-01 -8.01247990e-02 8.39388729e-02 8.16511414e+00] [ 8.01735307e-02 9.96777001e-01 2.79551952e-03 1.54620127e-01] [-8.38923284e-02 3.95304192e-03 9.96466984e-01 -8.80505487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.467719420999998 meters 0.06347047750099051 Centerline is valid? [True, True] Translation: X:8.23, Y:0.17, Z:-0.89 [[ 9.93969462e-01 -7.51668070e-02 7.98414662e-02 8.22557526e+00] [ 7.51947107e-02 9.97165319e-01 2.66136112e-03 1.69771404e-01] [-7.98151871e-02 3.35834428e-03 9.96804022e-01 -8.92126095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.527719420999999 meters 0.05932527755376263 Centerline is valid? [True, True] Translation: X:8.29, Y:0.20, Z:-0.89 [[ 9.94519785e-01 -6.12159628e-02 8.47526036e-02 8.28514397e+00] [ 6.11977069e-02 9.98121692e-01 2.81584318e-03 1.96656507e-01] [-8.47657866e-02 2.38625324e-03 9.96398047e-01 -8.91685023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.587719421 meters 0.057311248096392264 Centerline is valid? [True, True] Translation: X:8.35, Y:0.21, Z:-0.89 [[ 9.94522030e-01 -5.55643038e-02 8.85355241e-02 8.34532316e+00] [ 5.55221631e-02 9.98453125e-01 2.94049632e-03 2.11151130e-01] [-8.85619574e-02 1.99129544e-03 9.96068680e-01 -8.92269831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.647719421 meters 0.05549378958953174 Centerline is valid? [True, True] Translation: X:8.41, Y:0.22, Z:-0.89 [[ 9.94194634e-01 -4.92034513e-02 9.56872564e-02 8.40623908e+00] [ 4.91248660e-02 9.98787588e-01 3.17825224e-03 2.23667560e-01] [-9.57276250e-02 1.54082233e-03 9.95406373e-01 -8.93141946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.707719420999998 meters 0.054907434735020764 Centerline is valid? [True, True] Translation: X:8.47, Y:0.23, Z:-0.90 [[ 9.94321557e-01 -4.53354734e-02 9.62773885e-02 8.46800346e+00] [ 4.52377303e-02 9.98971128e-01 3.19886729e-03 2.30004733e-01] [-9.63233536e-02 1.17466782e-03 9.95349402e-01 -8.99506419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.767719420999999 meters 0.054100861380980164 Centerline is valid? [True, True] Translation: X:8.53, Y:0.25, Z:-0.91 [[ 9.94936958e-01 -3.23216760e-02 9.51617526e-02 8.52969085e+00] [ 3.21691494e-02 9.99477516e-01 3.13689972e-03 2.45292527e-01] [-9.52134220e-02 -5.97448342e-05 9.95456880e-01 -9.06951380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.827719421 meters 0.054842322766201074 Centerline is valid? [True, True] Translation: X:8.59, Y:0.26, Z:-0.91 [[ 9.95710992e-01 -1.86452818e-02 9.06199452e-02 8.59007214e+00] [ 1.84528833e-02 9.99825348e-01 2.96056947e-03 2.60031495e-01] [-9.06593189e-02 -1.27567229e-03 9.95881148e-01 -9.14806077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.887719420999998 meters 0.0551551881182366 Centerline is valid? [True, True] Translation: X:8.65, Y:0.25, Z:-0.93 [[ 9.96081829e-01 -1.90100782e-02 8.63690154e-02 8.65131266e+00] [ 1.88365789e-02 9.99818589e-01 2.82341509e-03 2.54859522e-01] [-8.64070205e-02 -1.18545569e-03 9.96259214e-01 -9.27834377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.947719420999999 meters 0.05537885342927509 Centerline is valid? [True, True] Translation: X:8.71, Y:0.25, Z:-0.94 [[ 9.96233583e-01 -1.77381530e-02 8.48764120e-02 8.71253976e+00] [ 1.75681266e-02 9.99841887e-01 2.74976955e-03 2.49241355e-01] [-8.49117678e-02 -1.24829321e-03 9.96387692e-01 -9.38502186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.007719421 meters 0.055629700720659696 Centerline is valid? [True, True] Translation: X:8.77, Y:0.25, Z:-0.95 [[ 9.96295798e-01 -1.31938140e-02 8.49741533e-02 8.77427712e+00] [ 1.30076937e-02 9.99911632e-01 2.74362921e-03 2.49235887e-01] [-8.50028432e-02 -1.62814850e-03 9.96379378e-01 -9.45628699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.067719421 meters 0.05548829165377471 Centerline is valid? [True, True] Translation: X:8.84, Y:0.25, Z:-0.95 [[ 9.96075461e-01 -1.47827309e-02 8.72648044e-02 8.83540662e+00] [ 1.45946485e-02 9.99889592e-01 2.79296528e-03 2.48169512e-01] [-8.72964573e-02 -1.50840504e-03 9.96181235e-01 -9.51400570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.127719420999998 meters 0.05378039530707994 Centerline is valid? [True, True] Translation: X:8.90, Y:0.23, Z:-0.95 [[ 9.95738447e-01 -2.42899230e-02 8.89659782e-02 8.89762156e+00] [ 2.41345704e-02 9.99704737e-01 2.82165711e-03 2.31341228e-01] [-8.90082476e-02 -6.62476808e-04 9.96030669e-01 -9.54685437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.187719420999999 meters 0.0535662980152595 Centerline is valid? [True, True] Translation: X:8.96, Y:0.21, Z:-0.96 [[ 9.94942722e-01 -3.61041695e-02 9.37308272e-02 8.95844505e+00] [ 3.59845607e-02 9.99347943e-01 2.96648164e-03 2.13603827e-01] [-9.37768118e-02 4.21383322e-04 9.95593156e-01 -9.60033086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.247719421 meters 0.054262786564946236 Centerline is valid? [True, True] Translation: X:9.02, Y:0.21, Z:-0.97 [[ 9.95099360e-01 -4.09464751e-02 9.00036102e-02 9.01895321e+00] [ 4.08559388e-02 9.99160986e-01 2.84879622e-03 2.05169368e-01] [-9.00447441e-02 8.42346691e-04 9.95937365e-01 -9.70519646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.307719420999998 meters 0.054784261638321265 Centerline is valid? [True, True] Translation: X:9.08, Y:0.21, Z:-0.98 [[ 9.95826805e-01 -3.90206992e-02 8.25006695e-02 9.07824292e+00] [ 3.89390228e-02 9.99238208e-01 2.59938384e-03 2.09594597e-01] [-8.25392509e-02 6.23959351e-04 9.96587619e-01 -9.81825058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.367719420999999 meters 0.054759368812774545 Centerline is valid? [True, True] Translation: X:9.14, Y:0.22, Z:-0.99 [[ 9.96540660e-01 -2.82580253e-02 7.81549586e-02 9.13891962e+00] [ 2.81512462e-02 9.99600629e-01 2.46789777e-03 2.24940027e-01] [-7.81934837e-02 -2.59200992e-04 9.96938169e-01 -9.92265915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.427719420999999 meters 0.05479302230807051 Centerline is valid? [True, True] Translation: X:9.20, Y:0.24, Z:-0.99 [[ 9.96374878e-01 -1.77162699e-02 8.32059918e-02 9.20042546e+00] [ 1.75603312e-02 9.99842410e-01 2.60564324e-03 2.44909292e-01] [-8.32390417e-02 -1.13507269e-03 9.96528963e-01 -9.93934166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.487719421 meters 0.054370641518387615 Centerline is valid? [True, True] Translation: X:9.26, Y:0.25, Z:-0.99 [[ 9.95882395e-01 -1.58795563e-02 8.92529833e-02 9.26173871e+00] [ 1.56953726e-02 9.99872997e-01 2.76510952e-03 2.48425951e-01] [-8.92855565e-02 -1.35286506e-03 9.96005150e-01 -9.94255210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.547719420999998 meters 0.053554357047916 Centerline is valid? [True, True] Translation: X:9.32, Y:0.24, Z:-1.00 [[ 9.95314931e-01 -1.89477800e-02 9.48112369e-02 9.32370583e+00] [ 1.87540911e-02 9.99819823e-01 2.93360912e-03 2.44298683e-01] [-9.48497395e-02 -1.14176638e-03 9.95490946e-01 -9.97545916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.607719420999999 meters 0.05303733524845228 Centerline is valid? [True, True] Translation: X:9.39, Y:0.25, Z:-1.00 [[ 9.94833019e-01 -1.89462042e-02 9.97411967e-02 9.38572155e+00] [ 1.87322135e-02 9.99819788e-01 3.08162961e-03 2.46580903e-01] [-9.97816073e-02 -1.19733350e-03 9.95008642e-01 -9.97911896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.667719421 meters 0.05470556954339532 Centerline is valid? [True, True] Translation: X:9.45, Y:0.26, Z:-1.00 [[ 9.94816983e-01 -6.58618510e-03 1.01468180e-01 9.44672475e+00] [ 6.30356540e-03 9.99975310e-01 3.10568852e-03 2.60044570e-01] [-1.01486129e-01 -2.44998038e-03 9.94833937e-01 -1.00206543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.727719420999998 meters 0.05796251682764999 Centerline is valid? [True, True] Translation: X:9.51, Y:0.27, Z:-1.02 [[ 9.95501829e-01 4.85426835e-03 9.46178822e-02 9.50571678e+00] [-5.15102654e-03 9.99982550e-01 2.89239941e-03 2.69328504e-01] [-9.46021907e-02 -3.36676812e-03 9.95509463e-01 -1.01771762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.787719420999998 meters 0.06046018000753278 Centerline is valid? [True, True] Translation: X:9.57, Y:0.28, Z:-1.03 [[ 9.95978692e-01 8.88239328e-03 8.91490221e-02 9.56581382e+00] [-9.16170608e-03 9.99954319e-01 2.72438779e-03 2.79839261e-01] [-8.91207506e-02 -3.53018933e-03 9.96014573e-01 -1.02737668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.847719420999999 meters 0.06077477589358882 Centerline is valid? [True, True] Translation: X:9.63, Y:0.27, Z:-1.04 [[ 9.96641799e-01 7.10077625e-03 8.15763674e-02 9.62693330e+00] [-7.32855500e-03 9.99970038e-01 2.49313301e-03 2.74631209e-01] [-8.15562200e-02 -3.08259747e-03 9.96663976e-01 -1.04307232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.907719421 meters 0.06001375014450115 Centerline is valid? [True, True] Translation: X:9.69, Y:0.27, Z:-1.05 [[ 9.96221529e-01 7.30712243e-04 8.68454494e-02 9.68594261e+00] [-9.63984619e-04 9.99996040e-01 2.64415560e-03 2.70731134e-01] [-8.68431733e-02 -2.71788242e-03 9.96218288e-01 -1.04865660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.967719420999998 meters 0.054346654052186284 Centerline is valid? [True, True] Translation: X:9.75, Y:0.25, Z:-1.05 [[ 9.95798371e-01 -8.40951437e-03 9.11859836e-02 9.74821832e+00] [ 8.19024755e-03 9.99962599e-01 2.77854849e-03 2.48940816e-01] [-9.12059394e-02 -2.02003828e-03 9.95830004e-01 -1.04551702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.027719420999999 meters 0.052718152261141446 Centerline is valid? [True, True] Translation: X:9.81, Y:0.23, Z:-1.05 [[ 9.95498991e-01 -1.77877435e-02 9.30878909e-02 9.80977617e+00] [ 1.76001192e-02 9.99841083e-01 2.83619869e-03 2.34334053e-01] [-9.31235473e-02 -1.18507495e-03 9.95653856e-01 -1.05021168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.087719421 meters 0.052261305922767336 Centerline is valid? [True, True] Translation: X:9.87, Y:0.22, Z:-1.06 [[ 9.95461412e-01 -2.68021511e-02 9.13138686e-02 9.87204341e+00] [ 2.66592365e-02 9.99640701e-01 2.78467962e-03 2.21613511e-01] [-9.13556950e-02 -3.37683081e-04 9.95818268e-01 -1.05588589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.147719420999998 meters 0.05250872622032498 Centerline is valid? [True, True] Translation: X:9.93, Y:0.21, Z:-1.07 [[ 9.95802082e-01 -2.98730188e-02 8.65206168e-02 9.93259555e+00] [ 2.97583011e-02 9.99553701e-01 2.61565787e-03 2.14238535e-01] [-8.65601403e-02 -2.99709843e-05 9.96246627e-01 -1.06524388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.207719420999998 meters 0.05349603588125203 Centerline is valid? [True, True] Translation: X:9.99, Y:0.22, Z:-1.08 [[ 9.96268910e-01 -2.02838438e-02 8.38857860e-02 9.99376655e+00] [ 2.01441405e-02 9.99793932e-01 2.51154643e-03 2.18821782e-01] [-8.39194436e-02 -8.12368560e-04 9.96472211e-01 -1.07838946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.267719420999999 meters 0.05674987985530426 Centerline is valid? [True, True] Translation: X:10.05, Y:0.23, Z:-1.09 [[ 9.96624535e-01 -5.54499631e-03 8.19071953e-02 1.00531125e+01] [ 5.36280687e-03 9.99982633e-01 2.44416997e-03 2.33883535e-01] [-8.19193257e-02 -1.99666729e-03 9.96636964e-01 -1.08587007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.327719421 meters 0.05656107862646144 Centerline is valid? [True, True] Translation: X:10.12, Y:0.22, Z:-1.08 [[ 9.96331761e-01 -3.90688796e-03 8.54854254e-02 1.01165087e+01] [ 3.70192859e-03 9.99989881e-01 2.55598420e-03 2.22081029e-01] [-8.54945463e-02 -2.23014730e-03 9.96336143e-01 -1.08471947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.387719420999998 meters 0.05539549374898769 Centerline is valid? [True, True] Translation: X:10.18, Y:0.19, Z:-1.09 [[ 9.96248781e-01 -8.94548277e-03 8.60717431e-02 1.01784376e+01] [ 8.75919103e-03 9.99958407e-01 2.54180177e-03 1.94633654e-01] [-8.60909008e-02 -1.77834808e-03 9.96285699e-01 -1.08904885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.447719420999999 meters 0.0561933448000402 Centerline is valid? [True, True] Translation: X:10.24, Y:0.19, Z:-1.09 [[ 9.96298674e-01 -6.08676116e-03 8.57432462e-02 1.02404906e+01] [ 5.89120516e-03 9.99979437e-01 2.53356523e-03 1.86946297e-01] [-8.57569043e-02 -2.01905662e-03 9.96314045e-01 -1.09179076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.507719421 meters 0.058896982840377345 Centerline is valid? [True, True] Translation: X:10.30, Y:0.18, Z:-1.10 [[ 9.96445751e-01 1.83358755e-03 8.42170018e-02 1.03009587e+01] [-2.04797239e-03 9.99994879e-01 2.45930428e-03 1.84005362e-01] [-8.42120612e-02 -2.62303739e-03 9.96444403e-01 -1.09699175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.567719420999998 meters 0.060073650810602716 Centerline is valid? [True, True] Translation: X:10.36, Y:0.17, Z:-1.11 [[ 9.96429868e-01 5.57646427e-03 8.42402629e-02 1.03622016e+01] [-5.80440026e-03 9.99980126e-01 2.46110756e-03 1.74740532e-01] [-8.42248644e-02 -2.94128529e-03 9.96442432e-01 -1.10821345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.627719420999998 meters 0.060380119897166074 Centerline is valid? [True, True] Translation: X:10.42, Y:0.17, Z:-1.12 [[ 9.96881049e-01 4.85925253e-03 7.87690467e-02 1.04236482e+01] [-5.05539438e-03 9.99984597e-01 2.29086396e-03 1.72079962e-01] [-7.87567015e-02 -2.68192747e-03 9.96890259e-01 -1.11643542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.687719420999999 meters 0.05834815974454048 Centerline is valid? [True, True] Translation: X:10.48, Y:0.17, Z:-1.12 [[ 9.96901555e-01 8.22954800e-04 7.86550175e-02 1.04849880e+01] [-1.00486033e-03 9.99996912e-01 2.27314890e-03 1.66649817e-01] [-7.86529039e-02 -2.34514298e-03 9.96899303e-01 -1.11994820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.747719421 meters 0.05465639866108823 Centerline is valid? [True, True] Translation: X:10.54, Y:0.13, Z:-1.14 [[ 9.96599456e-01 -2.09114379e-02 7.97009121e-02 1.05436935e+01] [ 2.07944419e-02 9.99781132e-01 2.29773447e-03 1.31007789e-01] [-7.97315170e-02 -6.32584931e-04 9.96816174e-01 -1.13685835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.807719420999998 meters 0.0554488061980241 Centerline is valid? [True, True] Translation: X:10.61, Y:0.11, Z:-1.14 [[ 9.95794910e-01 -4.57585561e-02 7.93640441e-02 1.06063589e+01] [ 4.57207605e-02 9.98951625e-01 2.29427961e-03 1.06113536e-01] [-7.93858237e-02 1.34395249e-03 9.96843059e-01 -1.13919278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.867719420999999 meters 0.058206603362457365 Centerline is valid? [True, True] Translation: X:10.67, Y:0.09, Z:-1.14 [[ 9.95344303e-01 -5.83677581e-02 7.67002207e-02 1.06676979e+01] [ 5.83708088e-02 9.98292538e-01 2.20397566e-03 9.36483984e-02] [-7.66978991e-02 2.28333930e-03 9.97051763e-01 -1.14491327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.927719420999999 meters 0.059823517143195136 Centerline is valid? [True, True] Translation: X:10.73, Y:0.08, Z:-1.15 [[ 9.94832259e-01 -6.21148498e-02 8.03151445e-02 1.07291629e+01] [ 6.21299437e-02 9.98065388e-01 2.31350351e-03 7.82837829e-02] [-8.03034687e-02 2.68842748e-03 9.96766836e-01 -1.15078792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.987719420999998 meters 0.05440065686325382 Centerline is valid? [True, True] Translation: X:10.79, Y:0.11, Z:-1.14 [[ 9.95130734e-01 -4.78748942e-02 8.61557666e-02 1.07901913e+01] [ 4.78416963e-02 9.98851923e-01 2.45123158e-03 1.07473250e-01] [-8.61742055e-02 1.68254214e-03 9.96278664e-01 -1.14376837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.047719420999998 meters 0.053092099274731616 Centerline is valid? [True, True] Translation: X:10.85, Y:0.14, Z:-1.15 [[ 9.96103184e-01 -2.23795518e-02 8.53088633e-02 1.08488707e+01] [ 2.22537371e-02 9.99749412e-01 2.42560152e-03 1.40226227e-01] [-8.53417698e-02 -5.17708384e-04 9.96351602e-01 -1.15273694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.107719420999999 meters 0.059000260365535025 Centerline is valid? [True, True] Translation: X:10.91, Y:0.17, Z:-1.17 [[ 9.96673762e-01 8.21795190e-04 8.14907192e-02 1.09073211e+01] [-1.01386827e-03 9.99996805e-01 2.31564210e-03 1.72740880e-01] [-8.14885559e-02 -2.39056057e-03 9.96671410e-01 -1.16592969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.167719421 meters 0.06049064423394164 Centerline is valid? [True, True] Translation: X:10.97, Y:0.19, Z:-1.17 [[ 9.96398004e-01 9.06290093e-03 8.43141840e-02 1.09685542e+01] [-9.29779307e-03 9.99953910e-01 2.39365696e-03 1.86912261e-01] [-8.42886044e-02 -3.16897085e-03 9.96436345e-01 -1.16686710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.227719420999998 meters 0.06058686706286814 Centerline is valid? [True, True] Translation: X:11.03, Y:0.19, Z:-1.17 [[ 9.96463562e-01 7.88171755e-03 8.36555383e-02 1.10305844e+01] [-8.10900712e-03 9.99964295e-01 2.37753522e-03 1.87093256e-01] [-8.36338124e-02 -3.04749057e-03 9.96491896e-01 -1.17442878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.287719420999998 meters 0.06090560344998307 Centerline is valid? [True, True] Translation: X:11.09, Y:0.18, Z:-1.19 [[ 9.97279379e-01 5.52962560e-03 7.35068877e-02 1.10904375e+01] [-5.69655882e-03 9.99981649e-01 2.06152815e-03 1.80543024e-01] [-7.34941393e-02 -2.47465582e-03 9.97292579e-01 -1.19069765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.347719420999999 meters 0.0627909488397471 Centerline is valid? [True, True] Translation: X:11.15, Y:0.18, Z:-1.20 [[ 9.97248735e-01 6.46843504e-03 7.38452408e-02 1.11504748e+01] [-6.63968342e-03 9.99975807e-01 2.07376053e-03 1.81355721e-01] [-7.38300402e-02 -2.55836409e-03 9.97267557e-01 -1.20030042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.407719420999998 meters 0.06173470377947049 Centerline is valid? [True, True] Translation: X:11.21, Y:0.17, Z:-1.20 [[ 9.97081048e-01 8.60384652e-03 7.58640683e-02 1.12138508e+01] [-8.79034556e-03 9.99959107e-01 2.12475135e-03 1.73553645e-01] [-7.58426850e-02 -2.78542068e-03 9.97115905e-01 -1.20262608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.467719420999998 meters 0.06527089176916193 Centerline is valid? [True, True] Translation: X:11.27, Y:0.18, Z:-1.21 [[ 9.97092711e-01 1.26519375e-02 7.51402248e-02 1.12730440e+01] [-1.28438359e-02 9.99915369e-01 2.07117356e-03 1.76083783e-01] [-7.51076613e-02 -3.03024078e-03 9.97170826e-01 -1.21370264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.527719420999999 meters 0.06781125950183729 Centerline is valid? [True, True] Translation: X:11.33, Y:0.18, Z:-1.21 [[ 9.96590602e-01 2.48177325e-02 7.86845155e-02 1.13345592e+01] [-2.50652181e-02 9.99683487e-01 2.15904446e-03 1.79680710e-01] [-7.86060282e-02 -4.12392795e-03 9.96897229e-01 -1.20907784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.587719421 meters 0.0710383900606917 Centerline is valid? [True, True] Translation: X:11.40, Y:0.18, Z:-1.22 [[ 9.96414501e-01 2.92838177e-02 7.93763154e-02 1.13951901e+01] [-2.95494244e-02 9.99560958e-01 2.17336961e-03 1.76394676e-01] [-7.92778213e-02 -4.51110143e-03 9.96842353e-01 -1.21696712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.647719420999998 meters 0.06682255809200276 Centerline is valid? [True, True] Translation: X:11.46, Y:0.16, Z:-1.23 [[ 9.96634518e-01 1.94747390e-02 7.96264560e-02 1.14551673e+01] [-1.97106590e-02 9.99803354e-01 2.17784095e-03 1.55628182e-01] [-7.95683849e-02 -3.74000139e-03 9.96822394e-01 -1.22610306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.707719420999998 meters 0.06229920731738784 Centerline is valid? [True, True] Translation: X:11.51, Y:0.14, Z:-1.24 [[ 9.96930835e-01 7.08359161e-03 7.79662331e-02 1.15148226e+01] [-7.27197722e-03 9.99971285e-01 2.13259132e-03 1.37967528e-01] [-7.79488879e-02 -2.69301472e-03 9.96953719e-01 -1.23564510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.767719420999999 meters 0.06033991665559359 Centerline is valid? [True, True] Translation: X:11.58, Y:0.13, Z:-1.25 [[ 9.97115348e-01 1.24817295e-03 7.58908724e-02 1.15755807e+01] [-1.40988372e-03 9.99996849e-01 2.07729426e-03 1.29408119e-01] [-7.58880404e-02 -2.17829929e-03 9.97113966e-01 -1.24536843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.827719420999998 meters 0.05687165171482337 Centerline is valid? [True, True] Translation: X:11.64, Y:0.12, Z:-1.25 [[ 9.96762282e-01 -5.92578631e-03 8.01862701e-02 1.16363956e+01] [ 5.76871497e-03 9.99980962e-01 2.19034999e-03 1.20571515e-01] [-8.01977231e-02 -1.72068652e-03 9.96777490e-01 -1.24509890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.887719420999998 meters 0.05506008854580853 Centerline is valid? [True, True] Translation: X:11.70, Y:0.11, Z:-1.25 [[ 9.96548120e-01 -1.30976560e-02 8.19774100e-02 1.16975024e+01] [ 1.29576500e-02 9.99913538e-01 2.23966254e-03 1.13342835e-01] [-8.19996564e-02 -1.16969690e-03 9.96631671e-01 -1.24992711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.947719420999999 meters 0.053412965184911475 Centerline is valid? [True, True] Translation: X:11.76, Y:0.11, Z:-1.25 [[ 9.96310755e-01 -1.63091233e-02 8.42549218e-02 1.17602979e+01] [ 1.61724324e-02 9.99866562e-01 2.30465725e-03 1.10625307e-01] [-8.42812659e-02 -9.33547771e-04 9.96441567e-01 -1.25036092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.007719421 meters 0.053300450112852164 Centerline is valid? [True, True] Translation: X:11.82, Y:0.11, Z:-1.26 [[ 9.96184047e-01 -1.64143358e-02 8.57199718e-02 1.18222158e+01] [ 1.62755181e-02 9.99864858e-01 2.31808235e-03 1.12052132e-01] [-8.57464372e-02 -9.14099701e-04 9.96316573e-01 -1.25730272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.067719420999998 meters 0.05446738240098584 Centerline is valid? [True, True] Translation: X:11.88, Y:0.12, Z:-1.27 [[ 9.96267698e-01 -1.35903643e-02 8.52406961e-02 1.18821440e+01] [ 1.34450153e-02 9.99907014e-01 2.27903043e-03 1.20401229e-01] [-8.52637428e-02 -1.12446193e-03 9.96357782e-01 -1.26840780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.127719420999998 meters 0.05420451716379521 Centerline is valid? [True, True] Translation: X:11.95, Y:0.11, Z:-1.28 [[ 9.96265757e-01 -1.34562128e-02 8.52846459e-02 1.19452420e+01] [ 1.33121163e-02 9.99908840e-01 2.25809096e-03 1.13609969e-01] [-8.53072567e-02 -1.11433957e-03 9.96354069e-01 -1.27652749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.187719420999999 meters 0.05642168670692059 Centerline is valid? [True, True] Translation: X:12.01, Y:0.13, Z:-1.28 [[ 9.96686222e-01 -6.11034084e-03 8.11125048e-02 1.20054482e+01] [ 5.95844425e-03 9.99980013e-01 2.11458658e-03 1.32988764e-01] [-8.11238044e-02 -1.62427497e-03 9.96702709e-01 -1.28181339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.247719420999998 meters 0.06452129945015858 Centerline is valid? [True, True] Translation: X:12.06, Y:0.16, Z:-1.29 [[ 9.96650353e-01 1.25091977e-02 8.08182778e-02 1.20638516e+01] [-1.27208356e-02 9.99916873e-01 2.10431856e-03 1.58305270e-01] [-8.07852362e-02 -3.12534586e-03 9.96726631e-01 -1.29154063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.307719420999998 meters 0.06805207032167644 Centerline is valid? [True, True] Translation: X:12.12, Y:0.17, Z:-1.30 [[ 9.96464965e-01 2.59396078e-02 7.99043771e-02 1.21233601e+01] [-2.61896212e-02 9.99654824e-01 2.08231298e-03 1.70318528e-01] [-7.98227817e-02 -4.16761731e-03 9.96800358e-01 -1.29835619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.367719420999999 meters 0.06696782425297722 Centerline is valid? [True, True] Translation: X:12.19, Y:0.18, Z:-1.30 [[ 9.96075890e-01 2.86528510e-02 8.37367077e-02 1.21860898e+01] [-2.89376083e-02 9.99578824e-01 2.18865631e-03 1.78533908e-01] [-8.36387286e-02 -4.60320783e-03 9.96485511e-01 -1.29659986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.427719420999999 meters 0.06473894858379863 Centerline is valid? [True, True] Translation: X:12.25, Y:0.16, Z:-1.32 [[ 9.96920893e-01 1.89934868e-02 7.60787735e-02 1.22458204e+01] [-1.91980178e-02 9.99813784e-01 1.95790690e-03 1.60482005e-01] [-7.60274189e-02 -3.41243995e-03 9.97099888e-01 -1.31680641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.487719420999998 meters 0.0630587003488022 Centerline is valid? [True, True] Translation: X:12.31, Y:0.15, Z:-1.33 [[ 9.97081984e-01 1.37377240e-02 7.50918969e-02 1.23066258e+01] [-1.39220385e-02 9.99901218e-01 1.93159150e-03 1.53358955e-01] [-7.50579435e-02 -2.97138737e-03 9.97174747e-01 -1.32646647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.547719420999998 meters 0.05643437172671831 Centerline is valid? [True, True] Translation: X:12.37, Y:0.14, Z:-1.32 [[ 9.96885216e-01 -6.76861379e-03 7.85751392e-02 1.23679463e+01] [ 6.63068403e-03 9.99975984e-01 2.01616388e-03 1.37677682e-01] [-7.85868988e-02 -1.48887704e-03 9.96906155e-01 -1.32363108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.607719420999999 meters 0.05461698563005312 Centerline is valid? [True, True] Translation: X:12.43, Y:0.10, Z:-1.34 [[ 9.96553929e-01 -2.94037368e-02 7.75608614e-02 1.24298431e+01] [ 2.93376282e-02 9.99567574e-01 1.99189627e-03 1.00710245e-01] [-7.75858913e-02 2.90419660e-04 9.96985629e-01 -1.33571101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.667719420999997 meters 0.05549914742634829 Centerline is valid? [True, True] Translation: X:12.49, Y:0.08, Z:-1.34 [[ 9.95778593e-01 -4.25346537e-02 8.13375463e-02 1.24923024e+01] [ 4.25056010e-02 9.99094044e-01 2.08946085e-03 7.75712452e-02] [-8.13527325e-02 1.37666091e-03 9.96684422e-01 -1.34143113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.727719420999998 meters 0.05832512430671005 Centerline is valid? [True, True] Translation: X:12.55, Y:0.07, Z:-1.35 [[ 9.95755086e-01 -5.03234858e-02 7.70672116e-02 1.25512530e+01] [ 5.03230189e-02 9.98731092e-01 1.94931092e-03 7.07814110e-02] [-7.70675165e-02 1.93721848e-03 9.97023994e-01 -1.35112345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.787719420999998 meters 0.057477182574772766 Centerline is valid? [True, True] Translation: X:12.61, Y:0.07, Z:-1.36 [[ 9.95806426e-01 -4.70751689e-02 7.84441846e-02 1.26120288e+01] [ 4.70644475e-02 9.98889880e-01 1.98651569e-03 7.28988482e-02] [-7.84506177e-02 1.71374712e-03 9.96916528e-01 -1.35706581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.847719420999999 meters 0.05536731922702504 Centerline is valid? [True, True] Translation: X:12.67, Y:0.08, Z:-1.36 [[ 9.95748220e-01 -4.12687971e-02 8.23551397e-02 1.26730177e+01] [ 4.12374974e-02 9.99147204e-01 2.08169999e-03 8.15379547e-02] [-8.23708168e-02 1.32327080e-03 9.96600872e-01 -1.36031058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.907719420999998 meters 0.05501182142184361 Centerline is valid? [True, True] Translation: X:12.73, Y:0.09, Z:-1.37 [[ 9.95885318e-01 -3.73016596e-02 8.25894693e-02 1.27342296e+01] [ 3.72562173e-02 9.99303557e-01 2.09180801e-03 9.19375807e-02] [-8.26099783e-02 9.93770328e-04 9.96581459e-01 -1.36791189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.967719420999998 meters 0.05501730366927894 Centerline is valid? [True, True] Translation: X:12.80, Y:0.09, Z:-1.37 [[ 9.96032756e-01 -3.58930895e-02 8.14274887e-02 1.27959061e+01] [ 3.58459797e-02 9.99355243e-01 2.04080063e-03 9.35081008e-02] [-8.14482383e-02 8.86143827e-04 9.96677179e-01 -1.37486965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.027719420999999 meters 0.05444015235786803 Centerline is valid? [True, True] Translation: X:12.86, Y:0.10, Z:-1.38 [[ 9.96185508e-01 -3.28825209e-02 8.08280499e-02 1.28585611e+01] [ 3.28279726e-02 9.99459008e-01 2.00402200e-03 9.52217752e-02] [-8.08502198e-02 6.57043336e-04 9.96726046e-01 -1.38291842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.087719420999997 meters 0.05459475369567593 Centerline is valid? [True, True] Translation: X:12.92, Y:0.11, Z:-1.39 [[ 9.96731070e-01 -2.64243980e-02 7.63473965e-02 1.29201650e+01] [ 2.63592792e-02 9.99650802e-01 1.86068009e-03 1.05395778e-01] [-7.63699036e-02 1.57864678e-04 9.97079542e-01 -1.39158014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.147719420999998 meters 0.056296939905521856 Centerline is valid? [True, True] Translation: X:12.98, Y:0.12, Z:-1.40 [[ 9.97201020e-01 -1.11310268e-02 7.39339282e-02 1.29802068e+01] [ 1.10285269e-02 9.99937574e-01 1.79448926e-03 1.23836139e-01] [-7.39492873e-02 -9.74084203e-04 9.97261527e-01 -1.40118896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.207719420999998 meters 0.05991129162679704 Centerline is valid? [True, True] Translation: X:13.04, Y:0.14, Z:-1.41 [[ 9.97173314e-01 3.90492956e-03 7.50342108e-02 1.30407185e+01] [-4.05269730e-03 9.99990137e-01 1.81717854e-03 1.41460767e-01] [-7.50263748e-02 -2.11613289e-03 9.97179304e-01 -1.40718194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.267719420999999 meters 0.06205791078282287 Centerline is valid? [True, True] Translation: X:13.10, Y:0.15, Z:-1.42 [[ 9.97500995e-01 9.18110103e-03 7.00533562e-02 1.31003088e+01] [-9.32270528e-03 9.99955107e-01 1.69469298e-03 1.48203124e-01] [-7.00346521e-02 -2.34354473e-03 9.97541806e-01 -1.41551625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.327719420999998 meters 0.05978385268119426 Centerline is valid? [True, True] Translation: X:13.16, Y:0.14, Z:-1.41 [[ 9.96762989e-01 6.60811525e-03 8.01241377e-02 1.31612831e+01] [-6.78515911e-03 9.99975103e-01 1.93755273e-03 1.37205588e-01] [-8.01093393e-02 -2.47493587e-03 9.96783010e-01 -1.41407356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.387719420999998 meters 0.05677432880352385 Centerline is valid? [True, True] Translation: X:13.22, Y:0.11, Z:-1.42 [[ 9.96704906e-01 -3.63129989e-03 8.10317484e-02 1.32220238e+01] [ 3.48389602e-03 9.99992010e-01 1.96039969e-03 1.13899944e-01] [-8.10382197e-02 -1.67163380e-03 9.96709593e-01 -1.42316332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.447719420999999 meters 0.05559623616110915 Centerline is valid? [True, True] Translation: X:13.28, Y:0.11, Z:-1.43 [[ 9.97055313e-01 -1.29548243e-02 7.55835714e-02 1.32844421e+01] [ 1.28527649e-02 9.99915713e-01 1.83657352e-03 1.06072117e-01] [-7.56009932e-02 -8.59707507e-04 9.97137779e-01 -1.43028372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.507719420999997 meters 0.05533865042581037 Centerline is valid? [True, True] Translation: X:13.35, Y:0.09, Z:-1.44 [[ 9.97086729e-01 -1.96656634e-02 7.36974678e-02 1.33469355e+01] [ 1.95887294e-02 9.99806562e-01 1.76664277e-03 9.10540122e-02] [-7.37179541e-02 -3.17856301e-04 9.97279079e-01 -1.44035317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.567719420999998 meters 0.05520179919544747 Centerline is valid? [True, True] Translation: X:13.41, Y:0.07, Z:-1.45 [[ 9.96826152e-01 -2.96701850e-02 7.38735595e-02 1.34088946e+01] [ 2.96223125e-02 9.99559642e-01 1.74384028e-03 7.24523634e-02] [-7.38927688e-02 4.50000068e-04 9.97266091e-01 -1.45128588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.627719420999998 meters 0.05609901656829443 Centerline is valid? [True, True] Translation: X:13.47, Y:0.07, Z:-1.45 [[ 9.96415765e-01 -3.84537514e-02 7.53454164e-02 1.34713324e+01] [ 3.84309888e-02 9.99259720e-01 1.75248544e-03 7.23966934e-02] [-7.53570294e-02 1.14939473e-03 9.97155954e-01 -1.45295469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.687719420999999 meters 0.05694390677507552 Centerline is valid? [True, True] Translation: X:13.53, Y:0.07, Z:-1.46 [[ 9.96138675e-01 -4.36942775e-02 7.61482068e-02 1.35332661e+01] [ 4.36880145e-02 9.99043692e-01 1.74884536e-03 7.07600709e-02] [-7.61518003e-02 1.58467146e-03 9.97094976e-01 -1.45716246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.747719420999998 meters 0.057769710418430896 Centerline is valid? [True, True] Translation: X:13.59, Y:0.07, Z:-1.47 [[ 9.96126889e-01 -4.53112980e-02 7.53532113e-02 1.35939453e+01] [ 4.53115321e-02 9.98971446e-01 1.70739009e-03 7.29872542e-02] [-7.53530705e-02 1.71359228e-03 9.97155443e-01 -1.46660237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.807719420999998 meters 0.05838329014563941 Centerline is valid? [True, True] Translation: X:13.66, Y:0.08, Z:-1.47 [[ 9.95441333e-01 -5.13772699e-02 8.03550182e-02 1.36566850e+01] [ 5.13991558e-02 9.98676572e-01 1.79741859e-03 8.17791363e-02] [-8.03410206e-02 2.34095534e-03 9.96764687e-01 -1.46552495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.867719420999999 meters 0.061012157286064725 Centerline is valid? [True, True] Translation: X:13.72, Y:0.07, Z:-1.48 [[ 9.95088757e-01 -5.82328212e-02 8.00456430e-02 1.37176492e+01] [ 5.82791357e-02 9.98298776e-01 1.75951355e-03 7.24348028e-02] [-8.00119289e-02 2.91411875e-03 9.96789646e-01 -1.47610915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.927719420999997 meters 0.06775356003143866 Centerline is valid? [True, True] Translation: X:13.78, Y:0.06, Z:-1.48 [[ 9.94102491e-01 -7.35171350e-02 7.97211957e-02 1.37777595e+01] [ 7.36123291e-02 9.97285400e-01 1.74816347e-03 6.11194246e-02] [-7.96333045e-02 4.13060923e-03 9.96815667e-01 -1.48402655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.987719420999998 meters 0.07291100870585328 Centerline is valid? [True, True] Translation: X:13.84, Y:0.07, Z:-1.49 [[ 9.93574967e-01 -8.31258961e-02 7.68041025e-02 1.38377179e+01] [ 8.32428218e-02 9.96527872e-01 1.68335327e-03 6.52736339e-02] [-7.66773590e-02 4.72085254e-03 9.97044781e-01 -1.49003723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.047719420999996 meters 0.07019186618544598 Centerline is valid? [True, True] Translation: X:13.90, Y:0.08, Z:-1.49 [[ 9.93730027e-01 -7.60854048e-02 8.19246315e-02 1.38972899e+01] [ 7.61947852e-02 9.97091336e-01 1.79496710e-03 7.83526172e-02] [-8.18229111e-02 4.45851700e-03 9.96636911e-01 -1.49383993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.107719421 meters 0.061559010982649695 Centerline is valid? [True, True] Translation: X:13.96, Y:0.12, Z:-1.50 [[ 9.95034492e-01 -5.58562071e-02 8.23798803e-02 1.39551940e+01] [ 5.58977923e-02 9.98434868e-01 1.80327341e-03 1.19587266e-01] [-8.23516689e-02 2.81053420e-03 9.96599370e-01 -1.50217413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.167719420999997 meters 0.05516084674630986 Centerline is valid? [True, True] Translation: X:14.01, Y:0.16, Z:-1.51 [[ 9.96285191e-01 -3.48866537e-02 7.87320761e-02 1.40148863e+01] [ 3.48590682e-02 9.99390749e-01 1.72516130e-03 1.64258477e-01] [-7.87442936e-02 1.02577416e-03 9.96894319e-01 -1.50853082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.227719421 meters 0.055498777079402394 Centerline is valid? [True, True] Translation: X:14.07, Y:0.18, Z:-1.53 [[ 9.96804412e-01 -3.02693334e-02 7.39238203e-02 1.40743932e+01] [ 3.02317132e-02 9.99541591e-01 1.62806254e-03 1.75082298e-01] [-7.39392133e-02 6.11983809e-04 9.97262562e-01 -1.52506716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.287719421 meters 0.054751212301553394 Centerline is valid? [True, True] Translation: X:14.14, Y:0.19, Z:-1.52 [[ 9.96471292e-01 -3.08794284e-02 7.80475869e-02 1.41365476e+01] [ 3.08416147e-02 9.99522855e-01 1.69013374e-03 1.85385633e-01] [-7.80625372e-02 7.22943851e-04 9.96948202e-01 -1.52415203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.347719420999997 meters 0.05467196053328999 Centerline is valid? [True, True] Translation: X:14.20, Y:0.19, Z:-1.52 [[ 9.96208158e-01 -3.16496769e-02 8.10407603e-02 1.41991912e+01] [ 3.16113706e-02 9.99498693e-01 1.75597383e-03 1.92657212e-01] [-8.10557100e-02 8.12494053e-04 9.96709241e-01 -1.52373421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.407719421 meters 0.055180773828317715 Centerline is valid? [True, True] Translation: X:14.26, Y:0.19, Z:-1.54 [[ 9.96246195e-01 -3.21703286e-02 8.03653453e-02 1.42595989e+01] [ 3.21365395e-02 9.99482018e-01 1.71416901e-03 1.90894243e-01] [-8.03788629e-02 8.74929738e-04 9.96764001e-01 -1.53563382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.467719420999998 meters 0.05519092137743084 Centerline is valid? [True, True] Translation: X:14.32, Y:0.19, Z:-1.54 [[ 9.95920329e-01 -3.49730243e-02 8.31840527e-02 1.43211204e+01] [ 3.49474630e-02 9.99387594e-01 1.76377293e-03 1.89723032e-01] [-8.31947948e-02 1.15049429e-03 9.96532640e-01 -1.54253769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.527719420999997 meters 0.05657831071605947 Centerline is valid? [True, True] Translation: X:14.38, Y:0.18, Z:-1.55 [[ 9.95748354e-01 -4.26997471e-02 8.16207461e-02 1.43822478e+01] [ 4.27033916e-02 9.99086345e-01 1.70180164e-03 1.84179351e-01] [-8.16188394e-02 1.79091650e-03 9.96662008e-01 -1.54992333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.587719421 meters 0.0589084496967414 Centerline is valid? [True, True] Translation: X:14.44, Y:0.18, Z:-1.56 [[ 9.95680944e-01 -5.00800427e-02 7.81757509e-02 1.44430077e+01] [ 5.01063725e-02 9.98742563e-01 1.62595179e-03 1.79080828e-01] [-7.81588776e-02 2.29817408e-03 9.96938267e-01 -1.55790399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.647719420999998 meters 0.06162973353637308 Centerline is valid? [True, True] Translation: X:14.50, Y:0.17, Z:-1.56 [[ 9.94831506e-01 -5.75445570e-02 8.36594211e-02 1.45040142e+01] [ 5.76011071e-02 9.98338162e-01 1.73956618e-03 1.68108696e-01] [-8.36204953e-02 3.08830003e-03 9.96492888e-01 -1.56176062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.707719420999997 meters 0.06311349607907285 Centerline is valid? [True, True] Translation: X:14.56, Y:0.17, Z:-1.57 [[ 9.94561189e-01 -6.43343312e-02 8.19093115e-02 1.45649765e+01] [ 6.44117833e-02 9.97921958e-01 1.69922097e-03 1.67325139e-01] [-8.18484188e-02 3.58594559e-03 9.96638338e-01 -1.56636639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.767719421 meters 0.06125921714180359 Centerline is valid? [True, True] Translation: X:14.63, Y:0.18, Z:-1.58 [[ 9.95114379e-01 -5.78166605e-02 8.00287906e-02 1.46252058e+01] [ 5.78696344e-02 9.98322770e-01 1.65919549e-03 1.76176653e-01] [-7.99904931e-02 2.98014756e-03 9.96791172e-01 -1.57692826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.827719420999998 meters 0.05504810547490634 Centerline is valid? [True, True] Translation: X:14.69, Y:0.20, Z:-1.58 [[ 9.96076765e-01 -3.37345135e-02 8.18111241e-02 1.46851985e+01] [ 3.37089371e-02 9.99430256e-01 1.69420026e-03 2.04128817e-01] [-8.18216657e-02 1.07021252e-03 9.96646412e-01 -1.58103830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.887719420999996 meters 0.054495485510485164 Centerline is valid? [True, True] Translation: X:14.75, Y:0.24, Z:-1.58 [[ 9.95986911e-01 -9.52020497e-03 8.89912327e-02 1.47455337e+01] [ 9.39359697e-03 9.99954184e-01 1.84140789e-03 2.41875607e-01] [-8.90046861e-02 -9.98070384e-04 9.96030707e-01 -1.57748686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.947719421 meters 0.05546957830854604 Centerline is valid? [True, True] Translation: X:14.81, Y:0.25, Z:-1.59 [[ 9.96369898e-01 -4.45381661e-03 8.50128860e-02 1.48059435e+01] [ 4.31982186e-03 9.99989121e-01 1.76005896e-03 2.46662254e-01] [-8.50198000e-02 -1.38642924e-03 9.96378297e-01 -1.59023358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.007719420999997 meters 0.0549920760785936 Centerline is valid? [True, True] Translation: X:14.87, Y:0.26, Z:-1.59 [[ 9.96493031e-01 -8.02795520e-03 8.32898046e-02 1.48676620e+01] [ 7.91156433e-03 9.99967211e-01 1.72738139e-03 2.56005835e-01] [-8.33009409e-02 -1.06237087e-03 9.96523871e-01 -1.59493805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.067719421 meters 0.05672922835364732 Centerline is valid? [True, True] Translation: X:14.93, Y:0.27, Z:-1.61 [[ 9.96875530e-01 -1.37291147e-03 7.89765391e-02 1.49280100e+01] [ 1.24982513e-03 9.99997926e-01 1.60792725e-03 2.67963373e-01] [-7.89785828e-02 -1.50419646e-03 9.96875178e-01 -1.60649699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.127719421 meters 0.05717054518855218 Centerline is valid? [True, True] Translation: X:14.99, Y:0.28, Z:-1.61 [[ 9.96275910e-01 3.66864141e-03 8.61443729e-02 1.49899829e+01] [-3.83409301e-03 9.99991109e-01 1.75525926e-03 2.75737835e-01] [-8.61371676e-02 -2.07900805e-03 9.96281118e-01 -1.60923477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.187719420999997 meters 0.058261884069356284 Centerline is valid? [True, True] Translation: X:15.05, Y:0.27, Z:-1.63 [[ 9.96867286e-01 2.96329396e-03 7.90369120e-02 1.50489669e+01] [-3.09798388e-03 9.99993951e-01 1.58157427e-03 2.74086678e-01] [-7.90317472e-02 -1.82147473e-03 9.96870435e-01 -1.62529630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.247719421 meters 0.057576021109060974 Centerline is valid? [True, True] Translation: X:15.11, Y:0.27, Z:-1.63 [[ 9.96852148e-01 2.80753775e-04 7.92825058e-02 1.51104936e+01] [-4.08240327e-04 9.99998650e-01 1.59179947e-03 2.72865688e-01] [-7.92819519e-02 -1.61915503e-03 9.96850917e-01 -1.62991222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.307719420999998 meters 0.0555225782592149 Centerline is valid? [True, True] Translation: X:15.17, Y:0.27, Z:-1.63 [[ 9.96124625e-01 -4.35251354e-03 8.78452466e-02 1.51716660e+01] [ 4.21664399e-03 9.99989610e-01 1.73219849e-03 2.66029677e-01] [-8.78518733e-02 -1.35507344e-03 9.96132628e-01 -1.63065379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.367719420999997 meters 0.05397906816072175 Centerline is valid? [True, True] Translation: X:15.23, Y:0.26, Z:-1.64 [[ 9.95838387e-01 -1.20267977e-02 9.03397081e-02 1.52328733e+01] [ 1.19145969e-02 9.99927432e-01 1.78118775e-03 2.56957376e-01] [-9.03545743e-02 -6.97413928e-04 9.95909416e-01 -1.63708424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.427719421 meters 0.05470634463277715 Centerline is valid? [True, True] Translation: X:15.29, Y:0.24, Z:-1.65 [[ 9.96177039e-01 -2.85370013e-02 8.25648058e-02 1.52934272e+01] [ 2.85001598e-02 9.99592467e-01 1.62498704e-03 2.41078569e-01] [-8.25775302e-02 7.34335382e-04 9.96584373e-01 -1.64957837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.487719420999998 meters 0.05492840586901449 Centerline is valid? [True, True] Translation: X:15.35, Y:0.24, Z:-1.66 [[ 9.96734459e-01 -2.28456840e-02 7.74499369e-02 1.53538502e+01] [ 2.27958103e-02 9.99738974e-01 1.52809693e-03 2.37633433e-01] [-7.74646309e-02 2.42427205e-04 9.96995071e-01 -1.66399561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.547719420999996 meters 0.055239094169546823 Centerline is valid? [True, True] Translation: X:15.42, Y:0.26, Z:-1.66 [[ 9.96257194e-01 -4.08956274e-03 8.63416425e-02 1.54159110e+01] [ 3.95989598e-03 9.99990760e-01 1.67300616e-03 2.61697050e-01] [-8.63476866e-02 -1.32484050e-03 9.96264183e-01 -1.65684746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.607719421 meters 0.05875649597592839 Centerline is valid? [True, True] Translation: X:15.48, Y:0.27, Z:-1.66 [[ 9.95912545e-01 1.09605172e-02 8.96552842e-02 1.54763169e+01] [-1.11608220e-02 9.99936214e-01 1.73313343e-03 2.74122033e-01] [-8.96305694e-02 -2.72667599e-03 9.95971348e-01 -1.65885563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.667719420999997 meters 0.062466612953051254 Centerline is valid? [True, True] Translation: X:15.53, Y:0.27, Z:-1.68 [[ 9.96589512e-01 1.66769665e-02 8.08159855e-02 1.55340406e+01] [-1.68582314e-02 9.99856671e-01 1.56108177e-03 2.74022393e-01] [-8.07783681e-02 -2.91817230e-03 9.96727816e-01 -1.67918787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.727719420999996 meters 0.061070894918964426 Centerline is valid? [True, True] Translation: X:15.60, Y:0.26, Z:-1.69 [[ 9.97052655e-01 1.09566340e-02 7.59338926e-02 1.55956978e+01] [-1.11004897e-02 9.99937303e-01 1.47267130e-03 2.62198094e-01] [-7.59129963e-02 -2.31123422e-03 9.97111767e-01 -1.69053579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.787719421 meters 0.055471203316841 Centerline is valid? [True, True] Translation: X:15.66, Y:0.23, Z:-1.69 [[ 9.96638355e-01 -5.33275679e-03 8.17529887e-02 1.56568377e+01] [ 5.22328207e-03 9.99985153e-01 1.55290181e-03 2.34817723e-01] [-8.17600562e-02 -1.12066259e-03 9.96651412e-01 -1.68933039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.847719420999997 meters 0.052722197765867604 Centerline is valid? [True, True] Translation: X:15.72, Y:0.21, Z:-1.69 [[ 9.95941819e-01 -2.12473672e-02 8.74553786e-02 1.57183798e+01] [ 2.11834155e-02 9.99774229e-01 1.65936946e-03 2.10840764e-01] [-8.74708910e-02 1.99968184e-04 9.96167056e-01 -1.68590309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.907719421 meters 0.05348234986480832 Centerline is valid? [True, True] Translation: X:15.78, Y:0.20, Z:-1.70 [[ 9.95714607e-01 -2.86405794e-02 8.79325806e-02 1.57801020e+01] [ 2.86041977e-02 9.99589414e-01 1.67403813e-03 1.99973120e-01] [-8.79444222e-02 8.48376702e-04 9.96125022e-01 -1.69628084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.967719420999998 meters 0.053203131361140375 Centerline is valid? [True, True] Translation: X:15.84, Y:0.21, Z:-1.71 [[ 9.95887431e-01 -2.71459987e-02 8.64367982e-02 1.58418603e+01] [ 2.71072909e-02 9.99631214e-01 1.62173134e-03 2.05209122e-01] [-8.64489451e-02 7.28005584e-04 9.96256016e-01 -1.70524511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.027719420999997 meters 0.05306615982509262 Centerline is valid? [True, True] Translation: X:15.90, Y:0.21, Z:-1.71 [[ 9.96305100e-01 -2.33086059e-02 8.26610895e-02 1.59036627e+01] [ 2.32618405e-02 9.99728238e-01 1.52890753e-03 2.06685726e-01] [-8.26742621e-02 3.99590706e-04 9.96576543e-01 -1.71450419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.087719421 meters 0.052290123837608365 Centerline is valid? [True, True] Translation: X:15.97, Y:0.21, Z:-1.71 [[ 9.96342274e-01 -1.82783129e-02 8.34744016e-02 1.59666142e+01] [ 1.82150263e-02 9.99832938e-01 1.51973002e-03 2.12171442e-01] [-8.34882343e-02 6.31715295e-06 9.96508763e-01 -1.71453890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.147719420999998 meters 0.05329391470246528 Centerline is valid? [True, True] Translation: X:16.03, Y:0.22, Z:-1.72 [[ 9.96679800e-01 -1.14461487e-02 8.06124194e-02 1.60270313e+01] [ 1.13667887e-02 9.99934354e-01 1.44330873e-03 2.22886451e-01] [-8.06236479e-02 -5.22212312e-04 9.96744478e-01 -1.72326935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.207719420999997 meters 0.05405519525119755 Centerline is valid? [True, True] Translation: X:16.09, Y:0.23, Z:-1.73 [[ 9.96483278e-01 -1.10708348e-03 8.37845524e-02 1.60890716e+01] [ 9.86901704e-04 9.99998424e-01 1.47581729e-03 2.26892390e-01] [-8.37860542e-02 -1.38794014e-03 9.96482800e-01 -1.72945383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.267719421 meters 0.05400431860515139 Centerline is valid? [True, True] Translation: X:16.15, Y:0.23, Z:-1.73 [[ 9.96202495e-01 1.32482795e-03 8.70564938e-02 1.61515168e+01] [-1.46149078e-03 9.99997798e-01 1.50609939e-03 2.28706659e-01] [-8.70543068e-02 -1.62761223e-03 9.96202238e-01 -1.73333411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.327719420999998 meters 0.05401427913495866 Centerline is valid? [True, True] Translation: X:16.21, Y:0.23, Z:-1.74 [[ 9.96288227e-01 1.39346628e-03 8.60687297e-02 1.62136346e+01] [-1.52512155e-03 9.99997765e-01 1.46391699e-03 2.29728067e-01] [-8.60664974e-02 -1.58974854e-03 9.96288126e-01 -1.73971184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.387719420999996 meters 0.055648014636186155 Centerline is valid? [True, True] Translation: X:16.27, Y:0.22, Z:-1.76 [[ 9.96948519e-01 2.58106935e-03 7.80191590e-02 1.62725572e+01] [-2.69072207e-03 9.99995535e-01 1.30036726e-03 2.23515790e-01] [-7.80154543e-02 -1.50632709e-03 9.96951012e-01 -1.75603400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.447719421 meters 0.05463700159492941 Centerline is valid? [True, True] Translation: X:16.33, Y:0.22, Z:-1.76 [[ 9.96822599e-01 1.99503207e-04 7.96534129e-02 1.63336528e+01] [-3.06114201e-04 9.99999074e-01 1.32622731e-03 2.16109534e-01] [-7.96530745e-02 -1.34639640e-03 9.96821737e-01 -1.75866813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.507719420999997 meters 0.05208270864885843 Centerline is valid? [True, True] Translation: X:16.40, Y:0.20, Z:-1.76 [[ 9.96291749e-01 -9.01897516e-03 8.55652328e-02 1.63953204e+01] [ 8.93239822e-03 9.99959133e-01 1.39463111e-03 2.00897985e-01] [-8.55743142e-02 -6.25156737e-04 9.96331594e-01 -1.75777277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.567719420999996 meters 0.05210533164857086 Centerline is valid? [True, True] Translation: X:16.46, Y:0.17, Z:-1.76 [[ 9.95835181e-01 -2.73532060e-02 8.69718049e-02 1.64588094e+01] [ 2.73330881e-02 9.99625369e-01 1.42239015e-03 1.68780473e-01] [-8.69781295e-02 9.60741856e-04 9.96209758e-01 -1.76407185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.627719421 meters 0.05521415179429938 Centerline is valid? [True, True] Translation: X:16.52, Y:0.15, Z:-1.78 [[ 9.96506472e-01 -3.64168728e-02 7.51575836e-02 1.65177478e+01] [ 3.64298135e-02 9.99335495e-01 1.19919576e-03 1.53120890e-01] [-7.51513119e-02 1.54297041e-03 9.97170948e-01 -1.78179792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.687719420999997 meters 0.05367575146663528 Centerline is valid? [True, True] Translation: X:16.58, Y:0.16, Z:-1.79 [[ 9.96739692e-01 -2.87449860e-02 7.53904011e-02 1.65785972e+01] [ 2.87363361e-02 9.99586306e-01 1.19972270e-03 1.57477261e-01] [-7.53936985e-02 9.70632672e-04 9.97153372e-01 -1.78669540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.747719421 meters 0.05207271465063994 Centerline is valid? [True, True] Translation: X:16.64, Y:0.17, Z:-1.79 [[ 9.96960594e-01 -1.39866901e-02 7.66416696e-02 1.66396358e+01] [ 1.39344352e-02 9.99902171e-01 1.21655673e-03 1.71275986e-01] [-7.66511874e-02 -1.44900737e-04 9.97057959e-01 -1.78788599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.807719420999998 meters 0.05323523782680309 Centerline is valid? [True, True] Translation: X:16.70, Y:0.19, Z:-1.79 [[ 9.96770067e-01 1.28159049e-04 8.03082643e-02 1.67020716e+01] [-2.31592013e-04 9.99999156e-01 1.27863609e-03 1.85864834e-01] [-8.03080326e-02 -1.29310493e-03 9.96769255e-01 -1.79035662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.867719420999997 meters 0.056232299127228436 Centerline is valid? [True, True] Translation: X:16.76, Y:0.19, Z:-1.80 [[ 9.96620735e-01 1.04848218e-02 8.14688876e-02 1.67626239e+01] [-1.06230616e-02 9.99942775e-01 1.26357004e-03 1.93176801e-01] [-8.14509772e-02 -2.12474911e-03 9.96675084e-01 -1.79977202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.927719421 meters 0.05894954858436049 Centerline is valid? [True, True] Translation: X:16.82, Y:0.20, Z:-1.81 [[ 9.96615592e-01 1.64384347e-02 8.05427782e-02 1.68228862e+01] [-1.65926145e-02 9.99861558e-01 1.24529296e-03 2.02014150e-01] [-8.05111570e-02 -2.57749365e-03 9.96750375e-01 -1.80718858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.987719420999998 meters 0.055810078461902786 Centerline is valid? [True, True] Translation: X:16.88, Y:0.19, Z:-1.81 [[ 9.96749702e-01 1.05350953e-02 7.98689119e-02 1.68844421e+01] [-1.06677118e-02 9.99942337e-01 1.23390596e-03 1.86778561e-01] [-7.98513071e-02 -2.08191393e-03 9.96804612e-01 -1.81219148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.047719420999996 meters 0.053018393603108095 Centerline is valid? [True, True] Translation: X:16.95, Y:0.16, Z:-1.82 [[ 9.97147582e-01 -3.92818628e-03 7.53741976e-02 1.69453065e+01] [ 3.85160226e-03 9.99991908e-01 1.16138703e-03 1.64765019e-01] [-7.53781498e-02 -8.67762836e-04 9.97154643e-01 -1.82375203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.107719421 meters 0.05241803328438297 Centerline is valid? [True, True] Translation: X:17.01, Y:0.15, Z:-1.83 [[ 9.97027226e-01 -1.11323509e-02 7.62415986e-02 1.70061208e+01] [ 1.10747179e-02 9.99937979e-01 1.17868945e-03 1.52067900e-01] [-7.62499916e-02 -3.30831281e-04 9.97088677e-01 -1.83179445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.167719420999997 meters 0.051552827638916346 Centerline is valid? [True, True] Translation: X:17.07, Y:0.15, Z:-1.83 [[ 9.96788657e-01 -1.32751990e-02 7.89692497e-02 1.70691525e+01] [ 1.32218401e-02 9.99911869e-01 1.19855346e-03 1.46262689e-01] [-7.89782012e-02 -1.50585703e-04 9.96876332e-01 -1.83153868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.227719420999996 meters 0.051544295934786384 Centerline is valid? [True, True] Translation: X:17.13, Y:0.14, Z:-1.84 [[ 9.96552946e-01 -1.89983286e-02 8.07544973e-02 1.71299629e+01] [ 1.89632942e-02 9.99819459e-01 1.20082336e-03 1.35855134e-01] [-8.07627315e-02 3.34687239e-04 9.96733299e-01 -1.84127609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.287719421 meters 0.05154326767181124 Centerline is valid? [True, True] Translation: X:17.19, Y:0.13, Z:-1.85 [[ 9.96787144e-01 -2.29939858e-02 7.67246178e-02 1.71914936e+01] [ 2.29756002e-02 9.99735396e-01 1.12243697e-03 1.29990794e-01] [-7.67301255e-02 6.43963409e-04 9.97051690e-01 -1.84558869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.347719420999997 meters 0.05125301232226252 Centerline is valid? [True, True] Translation: X:17.25, Y:0.14, Z:-1.85 [[ 9.96659753e-01 -2.09191075e-02 7.89412977e-02 1.72542810e+01] [ 2.08953419e-02 9.99781033e-01 1.12717468e-03 1.40433701e-01] [-7.89475916e-02 5.26095766e-04 9.96878629e-01 -1.84685463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.407719420999996 meters 0.052448621985868756 Centerline is valid? [True, True] Translation: X:17.31, Y:0.16, Z:-1.86 [[ 9.96944970e-01 -2.70917888e-03 7.80601472e-02 1.73142435e+01] [ 2.63045301e-03 9.99995923e-01 1.11133450e-03 1.56620327e-01] [-7.80628398e-02 -9.02605791e-04 9.96948032e-01 -1.86025098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.467719420999998 meters 0.05578445411124964 Centerline is valid? [True, True] Translation: X:17.38, Y:0.18, Z:-1.86 [[ 9.96584216e-01 1.09807096e-02 8.18493951e-02 1.73754600e+01] [-1.11114291e-02 9.99937614e-01 1.14173418e-03 1.81768530e-01] [-8.18317518e-02 -2.04729801e-03 9.96644055e-01 -1.85931425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.527719420999997 meters 0.05830809857479202 Centerline is valid? [True, True] Translation: X:17.44, Y:0.18, Z:-1.87 [[ 9.96448241e-01 1.63394997e-02 8.26070457e-02 1.74365853e+01] [-1.64892018e-02 9.99863405e-01 1.13027009e-03 1.82849867e-01] [-8.25772940e-02 -2.48837989e-03 9.96581556e-01 -1.86805791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.587719421 meters 0.06044584238957664 Centerline is valid? [True, True] Translation: X:17.50, Y:0.18, Z:-1.89 [[ 9.97134865e-01 1.74658165e-02 7.36003132e-02 1.74958748e+01] [-1.75857898e-02 9.99844876e-01 9.82291887e-04 1.77200025e-01] [-7.35717394e-02 -2.27379712e-03 9.97287335e-01 -1.88708043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.647719420999998 meters 0.05870292919530347 Centerline is valid? [True, True] Translation: X:17.56, Y:0.17, Z:-1.89 [[ 9.97211837e-01 1.66366919e-02 7.27445778e-02 1.75590806e+01] [-1.67524969e-02 9.99859185e-01 9.82052773e-04 1.65911753e-01] [-7.27179961e-02 -2.19796796e-03 9.97350120e-01 -1.89138630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.707719420999997 meters 0.05641266070121962 Centerline is valid? [True, True] Translation: X:17.62, Y:0.15, Z:-1.89 [[ 9.96728890e-01 1.32017156e-02 7.97322697e-02 1.76204538e+01] [-1.33267958e-02 9.99910657e-01 1.03679774e-03 1.51992401e-01] [-7.97114587e-02 -2.09598194e-03 9.96815775e-01 -1.88857290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.767719421 meters 0.05605553485774006 Centerline is valid? [True, True] Translation: X:17.68, Y:0.14, Z:-1.89 [[ 9.96271711e-01 1.67306961e-02 8.46331055e-02 1.76829238e+01] [-1.68849482e-02 9.99856826e-01 1.10707883e-03 1.42115215e-01] [-8.46024660e-02 -2.53197692e-03 9.96411567e-01 -1.89037332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.827719420999998 meters 0.058951599748048505 Centerline is valid? [True, True] Translation: X:17.74, Y:0.15, Z:-1.90 [[ 9.96632677e-01 2.12317888e-02 7.91992303e-02 1.77423388e+01] [-2.13785953e-02 9.99770945e-01 1.00608479e-03 1.47794599e-01] [-7.91597284e-02 -2.69586527e-03 9.96858300e-01 -1.90373441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.887719420999996 meters 0.0565326960991615 Centerline is valid? [True, True] Translation: X:17.80, Y:0.14, Z:-1.91 [[ 9.96871597e-01 1.43480422e-02 7.77248587e-02 1.78033206e+01] [-1.44684724e-02 9.99894840e-01 9.86503589e-04 1.41393608e-01] [-7.77025308e-02 -2.10797738e-03 9.96974359e-01 -1.91177641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.947719421 meters 0.05136955151332467 Centerline is valid? [True, True] Translation: X:17.86, Y:0.12, Z:-1.92 [[ 9.96900483e-01 -5.63134504e-03 7.84711055e-02 1.78642389e+01] [ 5.57068003e-03 9.99983992e-01 9.91973743e-04 1.19243230e-01] [-7.84754355e-02 -5.51761683e-04 9.96915895e-01 -1.91801162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.007719420999997 meters 0.05104925381378316 Centerline is valid? [True, True] Translation: X:17.93, Y:0.10, Z:-1.92 [[ 9.96438724e-01 -2.07670727e-02 8.17226902e-02 1.79263034e+01] [ 2.07516521e-02 9.99784122e-01 1.03814229e-03 1.02020860e-01] [-8.17266072e-02 6.61435664e-04 9.96654566e-01 -1.92279155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.067719420999996 meters 0.05108376476689554 Centerline is valid? [True, True] Translation: X:17.99, Y:0.11, Z:-1.93 [[ 9.96423760e-01 -2.04444341e-02 8.19860734e-02 1.79879944e+01] [ 2.04297385e-02 9.99790773e-01 1.01821813e-03 1.06905751e-01] [-8.19897366e-02 6.60377307e-04 9.96632955e-01 -1.93137389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.127719421 meters 0.050752847899201356 Centerline is valid? [True, True] Translation: X:18.05, Y:0.13, Z:-1.93 [[ 9.96671795e-01 -6.39893415e-03 8.12673726e-02 1.80508723e+01] [ 6.33977031e-03 9.99979417e-01 9.86031521e-04 1.30542873e-01] [-8.12720095e-02 -4.67533330e-04 9.96691849e-01 -1.93467559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.187719420999997 meters 0.05275169413809418 Centerline is valid? [True, True] Translation: X:18.11, Y:0.15, Z:-1.94 [[ 9.96481130e-01 7.26495447e-03 8.35019666e-02 1.81122862e+01] [-7.37238664e-03 9.99972345e-01 9.78307628e-04 1.47112457e-01] [-8.34925499e-02 -1.59047387e-03 9.96507132e-01 -1.94096588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.247719420999996 meters 0.05971896725875361 Centerline is valid? [True, True] Translation: X:18.17, Y:0.17, Z:-1.95 [[ 9.96342879e-01 2.51186633e-02 8.16695827e-02 1.81720248e+01] [-2.52805036e-02 9.99679947e-01 9.48035586e-04 1.74037341e-01] [-8.16196308e-02 -3.00921668e-03 9.96659009e-01 -1.95146328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.307719420999998 meters 0.06131004088668411 Centerline is valid? [True, True] Translation: X:18.23, Y:0.17, Z:-1.96 [[ 9.96500827e-01 3.02673825e-02 7.79101294e-02 1.82320204e+01] [-3.04302626e-02 9.99536484e-01 9.03973138e-04 1.73534217e-01] [-7.78466559e-02 -3.27163567e-03 9.96959976e-01 -1.96173555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.367719420999997 meters 0.061179975160705176 Centerline is valid? [True, True] Translation: X:18.29, Y:0.18, Z:-1.96 [[ 9.96306753e-01 3.00310599e-02 8.04424585e-02 1.82947858e+01] [-3.02041481e-02 9.99543313e-01 9.35471804e-04 1.76015184e-01] [-8.03776283e-02 -3.36171281e-03 9.96758815e-01 -1.96479715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.427719421 meters 0.06224432497632868 Centerline is valid? [True, True] Translation: X:18.36, Y:0.17, Z:-1.98 [[ 9.96614930e-01 3.03311086e-02 7.64114167e-02 1.83556663e+01] [-3.04879155e-02 9.99534743e-01 8.86189541e-04 1.65054531e-01] [-7.63489866e-02 -3.21281455e-03 9.97075980e-01 -1.97795079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.487719420999998 meters 0.05918640667588894 Centerline is valid? [True, True] Translation: X:18.41, Y:0.15, Z:-1.98 [[ 9.96653018e-01 2.33715305e-02 7.83360234e-02 1.84149147e+01] [-2.35124620e-02 9.99723159e-01 8.77066860e-04 1.51540807e-01] [-7.82938384e-02 -2.71600411e-03 9.96926626e-01 -1.98197397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.547719420999996 meters 0.0525954127881563 Centerline is valid? [True, True] Translation: X:18.47, Y:0.11, Z:-1.99 [[ 9.96810204e-01 3.11372860e-03 7.97478658e-02 1.84746831e+01] [-3.19525178e-03 9.99994495e-01 8.94671249e-04 1.14977146e-01] [-7.97446410e-02 -1.14663194e-03 9.96814666e-01 -1.98977056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.607719421 meters 0.05062104272309948 Centerline is valid? [True, True] Translation: X:18.54, Y:0.08, Z:-1.99 [[ 9.96514917e-01 -1.45763491e-02 8.21312977e-02 1.85373825e+01] [ 1.45496695e-02 9.99893722e-01 9.23366710e-04 8.12075130e-02] [-8.21360282e-02 2.74834535e-04 9.96621090e-01 -1.99016336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.667719420999997 meters 0.05158314966304772 Centerline is valid? [True, True] Translation: X:18.60, Y:0.07, Z:-2.00 [[ 9.96502496e-01 -2.33750659e-02 8.02270613e-02 1.85994612e+01] [ 2.33784438e-02 9.99726284e-01 8.97329657e-04 6.97145651e-02] [-8.02260770e-02 9.81392602e-04 9.96776210e-01 -1.99733962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.727719420999996 meters 0.05195924380197503 Centerline is valid? [True, True] Translation: X:18.66, Y:0.07, Z:-2.00 [[ 9.96205693e-01 -2.63135814e-02 8.29566899e-02 1.86620233e+01] [ 2.63275524e-02 9.99652941e-01 9.25680458e-04 6.95630782e-02] [-8.29522570e-02 1.26187846e-03 9.96552724e-01 -2.00095035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.787719421 meters 0.05311894845726859 Centerline is valid? [True, True] Translation: X:18.72, Y:0.06, Z:-2.01 [[ 9.96031303e-01 -3.03352044e-02 8.36744812e-02 1.87230531e+01] [ 3.03660320e-02 9.99538436e-01 9.04509892e-04 6.40156554e-02] [-8.36632986e-02 1.63994181e-03 9.96492731e-01 -2.00791962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.847719420999997 meters 0.054476853206935065 Centerline is valid? [True, True] Translation: X:18.78, Y:0.07, Z:-2.02 [[ 9.96168040e-01 -3.31559924e-02 8.09315537e-02 1.87837565e+01] [ 3.31951405e-02 9.99448518e-01 8.62079111e-04 6.88419364e-02] [-8.09155045e-02 1.82775864e-03 9.96719289e-01 -2.01995211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.907719420999996 meters 0.054413330229569394 Centerline is valid? [True, True] Translation: X:18.84, Y:0.08, Z:-2.03 [[ 9.96619897e-01 -2.99812627e-02 7.64846748e-02 1.88445991e+01] [ 3.00072346e-02 9.99549353e-01 8.09896131e-04 7.93757972e-02] [-7.64744889e-02 1.48793498e-03 9.97070428e-01 -2.03263147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.967719420999998 meters 0.05455171705639269 Centerline is valid? [True, True] Translation: X:18.91, Y:0.09, Z:-2.03 [[ 9.96138246e-01 -3.36908587e-02 8.10772529e-02 1.89068509e+01] [ 3.37343673e-02 9.99430487e-01 8.33499867e-04 8.60966175e-02] [-8.10591597e-02 1.90480873e-03 9.96707472e-01 -2.03305034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.027719420999997 meters 0.058375847857000826 Centerline is valid? [True, True] Translation: X:18.97, Y:0.08, Z:-2.04 [[ 9.95644132e-01 -4.45593594e-02 8.18976609e-02 1.89675672e+01] [ 4.46430463e-02 9.99002674e-01 8.09939411e-04 8.01108970e-02] [-8.18520726e-02 2.84974965e-03 9.96640415e-01 -2.04143964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.087719420999996 meters 0.06510697838859028 Centerline is valid? [True, True] Translation: X:19.03, Y:0.08, Z:-2.05 [[ 9.95022930e-01 -6.12703075e-02 7.85831955e-02 1.90274929e+01] [ 6.13993986e-02 9.98112976e-01 7.74713254e-04 7.83137117e-02] [-7.84823740e-02 4.05410349e-03 9.96907258e-01 -2.04792716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.147719420999998 meters 0.065707968599061 Centerline is valid? [True, True] Translation: X:19.09, Y:0.09, Z:-2.05 [[ 9.94368222e-01 -6.25222675e-02 8.55733944e-02 1.90892873e+01] [ 6.26802610e-02 9.98033304e-01 8.41915605e-04 8.53752073e-02] [-8.54577360e-02 4.52658857e-03 9.96331514e-01 -2.04793380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.207719420999997 meters 0.06255153125082877 Centerline is valid? [True, True] Translation: X:19.15, Y:0.11, Z:-2.06 [[ 9.95127494e-01 -5.44245187e-02 8.22146065e-02 1.91488336e+01] [ 5.45430841e-02 9.98511094e-01 8.04760323e-04 1.14518376e-01] [-8.21359953e-02 3.68339907e-03 9.96614324e-01 -2.05914813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.267719421 meters 0.05980193836124228 Centerline is valid? [True, True] Translation: X:19.21, Y:0.14, Z:-2.07 [[ 9.95534341e-01 -4.88753746e-02 8.07624480e-02 1.92089449e+01] [ 4.89716242e-02 9.98799858e-01 7.89767314e-04 1.39849789e-01] [-8.07041217e-02 3.16882777e-03 9.96733065e-01 -2.06578812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.327719420999998 meters 0.06001486912304886 Centerline is valid? [True, True] Translation: X:19.27, Y:0.16, Z:-2.07 [[ 9.95674128e-01 -4.70717019e-02 8.01079629e-02 1.92696158e+01] [ 4.71603787e-02 9.98887021e-01 7.85728868e-04 1.62839828e-01] [-8.00557900e-02 2.99559196e-03 9.96785883e-01 -2.07339673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.387719420999996 meters 0.05868469050737946 Centerline is valid? [True, True] Translation: X:19.33, Y:0.18, Z:-2.08 [[ 9.96122105e-01 -4.36784288e-02 7.63737293e-02 1.93312353e+01] [ 4.37501015e-02 9.99042235e-01 7.35226557e-04 1.81179539e-01] [-7.63326948e-02 2.60898298e-03 9.97078990e-01 -2.08498491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.447719421 meters 0.0546867954855152 Centerline is valid? [True, True] Translation: X:19.39, Y:0.21, Z:-2.09 [[ 9.96326990e-01 -3.17470833e-02 7.95276743e-02 1.93913410e+01] [ 3.17878231e-02 9.99494355e-01 7.54006693e-04 2.10252914e-01] [-7.95113991e-02 1.77677443e-03 9.96832373e-01 -2.08769708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.507719420999997 meters 0.05258505023588422 Centerline is valid? [True, True] Translation: X:19.45, Y:0.24, Z:-2.09 [[ 9.96252774e-01 -2.03173869e-02 8.40691090e-02 1.94508371e+01] [ 2.03224402e-02 9.99793161e-01 7.95738995e-04 2.41993154e-01] [-8.40678876e-02 9.15732255e-04 9.96459609e-01 -2.08961225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.567719420999996 meters 0.05154910940242745 Centerline is valid? [True, True] Translation: X:19.51, Y:0.25, Z:-2.09 [[ 9.95996345e-01 -1.79782173e-02 8.75674872e-02 1.95125016e+01] [ 1.79744668e-02 9.99838101e-01 8.31397999e-04 2.54021523e-01] [-8.75682572e-02 7.45909521e-04 9.96158242e-01 -2.09269989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.627719421 meters 0.051356300498160784 Centerline is valid? [True, True] Translation: X:19.57, Y:0.27, Z:-2.10 [[ 9.96259605e-01 -1.42849134e-02 8.52217185e-02 1.95739963e+01] [ 1.42678555e-02 9.99897881e-01 8.09260563e-04 2.70789444e-01] [-8.52245760e-02 4.09697554e-04 9.96361683e-01 -2.10111673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.687719420999997 meters 0.05188115424652415 Centerline is valid? [True, True] Translation: X:19.64, Y:0.30, Z:-2.11 [[ 9.96479674e-01 1.48470254e-03 8.38215652e-02 1.96358574e+01] [-1.55483082e-03 9.99998494e-01 7.71364810e-04 2.96927770e-01] [-8.38202937e-02 -8.98977707e-04 9.96480482e-01 -2.10608443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.747719420999996 meters 0.05666939599780875 Centerline is valid? [True, True] Translation: X:19.69, Y:0.32, Z:-2.12 [[ 9.96779940e-01 1.62327231e-02 7.85254736e-02 1.96940325e+01] [-1.63377520e-02 9.99866288e-01 6.95199115e-04 3.19414754e-01] [-7.85036889e-02 -1.97589024e-03 9.96911865e-01 -2.12085320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.807719420999998 meters 0.05655231319573399 Centerline is valid? [True, True] Translation: X:19.76, Y:0.32, Z:-2.12 [[ 9.96439003e-01 2.11841881e-02 8.16121493e-02 1.97561062e+01] [-2.13139748e-02 9.99772573e-01 7.19323724e-04 3.23791834e-01] [-8.15783502e-02 -2.45624151e-03 9.96663905e-01 -2.12133556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.867719420999997 meters 0.055851795261535726 Centerline is valid? [True, True] Translation: X:19.82, Y:0.32, Z:-2.13 [[ 9.96443471e-01 1.94803850e-02 8.19812418e-02 1.98186276e+01] [-1.96033693e-02 9.99807594e-01 6.95433706e-04 3.22485052e-01] [-8.19519208e-02 -2.30006893e-03 9.96633630e-01 -2.12658410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.927719420999995 meters 0.05477239456782818 Centerline is valid? [True, True] Translation: X:19.88, Y:0.31, Z:-2.14 [[ 9.96999540e-01 1.28166013e-02 7.63390560e-02 1.98806084e+01] [-1.29036907e-02 9.99916534e-01 6.47664879e-04 3.08941427e-01] [-7.63243834e-02 -1.63077715e-03 9.97081706e-01 -2.13936526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.987719420999998 meters 0.05400039278163957 Centerline is valid? [True, True] Translation: X:19.94, Y:0.30, Z:-2.14 [[ 9.96694504e-01 8.57545362e-03 8.07869263e-02 1.99405791e+01] [-8.65591317e-03 9.99962328e-01 6.45779242e-04 3.03313743e-01] [-8.07783451e-02 -1.34292924e-03 9.96731185e-01 -2.14436510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.047719420999996 meters 0.052257418551791474 Centerline is valid? [True, True] Translation: X:20.00, Y:0.29, Z:-2.15 [[ 9.96662251e-01 5.42306628e-04 8.16337197e-02 2.00024362e+01] [-5.97757873e-04 9.99999607e-01 6.54831029e-04 2.91743729e-01] [-8.16333325e-02 -7.01442566e-04 9.96662183e-01 -2.14954758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.107719421 meters 0.0521085494895643 Centerline is valid? [True, True] Translation: X:20.06, Y:0.29, Z:-2.16 [[ 9.96828518e-01 -5.03742436e-03 7.94199633e-02 2.00645418e+01] [ 5.00272138e-03 9.99987284e-01 6.35922789e-04 2.85393739e-01] [-7.94221568e-02 -2.36590023e-04 9.96841043e-01 -2.15914617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.167719420999997 meters 0.05171038756465489 Centerline is valid? [True, True] Translation: X:20.13, Y:0.28, Z:-2.16 [[ 9.96639115e-01 -6.89856840e-03 8.16264944e-02 2.01270573e+01] [ 6.87005491e-03 9.99976202e-01 6.30172717e-04 2.81257075e-01] [-8.16288992e-02 -6.72762803e-05 9.96662791e-01 -2.16252703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.227719420999996 meters 0.05328847308829698 Centerline is valid? [True, True] Translation: X:20.19, Y:0.29, Z:-2.17 [[ 9.97025248e-01 4.35565271e-03 7.69524790e-02 2.01869007e+01] [-4.41218511e-03 9.99990107e-01 5.64638406e-04 2.92375756e-01] [-7.69492583e-02 -9.02487328e-04 9.97034602e-01 -2.17227125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.287719421 meters 0.05649219516819764 Centerline is valid? [True, True] Translation: X:20.25, Y:0.31, Z:-2.18 [[ 9.96614269e-01 1.92483037e-02 7.99343547e-02 2.02479842e+01] [-1.93570161e-02 9.99812464e-01 5.85287160e-04 3.05680134e-01] [-7.99080984e-02 -2.13059613e-03 9.96799958e-01 -2.17687918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.347719420999997 meters 0.060492992029790596 Centerline is valid? [True, True] Translation: X:20.31, Y:0.31, Z:-2.19 [[ 9.96428749e-01 2.88091550e-02 7.93711526e-02 2.03069371e+01] [-2.89461763e-02 9.99580806e-01 5.76076777e-04 3.09490052e-01] [-7.93212844e-02 -2.87151084e-03 9.96844967e-01 -2.18523372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.407719420999996 meters 0.059705220270737894 Centerline is valid? [True, True] Translation: X:20.37, Y:0.30, Z:-2.19 [[ 9.96331666e-01 2.96856424e-02 8.02619132e-02 2.03700346e+01] [-2.98295288e-02 9.99554824e-01 5.94018552e-04 3.01563816e-01] [-8.02085487e-02 -2.98601455e-03 9.96773631e-01 -2.18832751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.467719420999998 meters 0.05982806527733831 Centerline is valid? [True, True] Translation: X:20.43, Y:0.29, Z:-2.19 [[ 9.96122823e-01 2.74660603e-02 8.35759375e-02 2.04306185e+01] [-2.76111241e-02 9.99618572e-01 5.80153815e-04 2.93870515e-01] [-8.35281247e-02 -2.88553004e-03 9.96501242e-01 -2.19476088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.527719420999997 meters 0.05789063964363059 Centerline is valid? [True, True] Translation: X:20.49, Y:0.27, Z:-2.21 [[ 9.96409526e-01 2.01256540e-02 8.22375505e-02 2.04899601e+01] [-2.02407691e-02 9.99794974e-01 5.66254565e-04 2.70633454e-01] [-8.22092934e-02 -2.22877271e-03 9.96612595e-01 -2.20584691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.587719420999996 meters 0.056727052157992626 Centerline is valid? [True, True] Translation: X:20.55, Y:0.26, Z:-2.21 [[ 9.96787215e-01 1.49520897e-02 7.86872488e-02 2.05515866e+01] [-1.50419977e-02 9.99886712e-01 5.49964529e-04 2.63179172e-01] [-7.86701113e-02 -1.73181102e-03 9.96899200e-01 -2.21335149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.647719420999998 meters 0.05416696112297555 Centerline is valid? [True, True] Translation: X:20.61, Y:0.24, Z:-2.22 [[ 9.96786302e-01 8.57651788e-03 7.96461583e-02 2.06134522e+01] [-8.64602686e-03 9.99962483e-01 5.27897771e-04 2.43829236e-01] [-7.96386427e-02 -1.21482409e-03 9.96823059e-01 -2.21602927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.707719420999997 meters 0.05255908335067713 Centerline is valid? [True, True] Translation: X:20.68, Y:0.23, Z:-2.22 [[ 9.96819755e-01 1.76822505e-03 7.96696279e-02 2.06760121e+01] [-1.81576897e-03 9.99998214e-01 5.24321432e-04 2.27951633e-01] [-7.96685585e-02 -6.67315600e-04 9.96821185e-01 -2.22201735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.767719420999995 meters 0.05299161636083606 Centerline is valid? [True, True] Translation: X:20.74, Y:0.22, Z:-2.23 [[ 9.97163660e-01 -4.75369633e-03 7.51135016e-02 2.07377079e+01] [ 4.73055597e-03 9.99988693e-01 4.85985459e-04 2.20647496e-01] [-7.51149625e-02 -1.29278415e-04 9.97174872e-01 -2.23325020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.827719420999998 meters 0.054313758352210945 Centerline is valid? [True, True] Translation: X:20.80, Y:0.21, Z:-2.25 [[ 9.97523706e-01 -6.86665637e-03 6.99950401e-02 2.07967455e+01] [ 6.85231514e-03 9.99976424e-01 4.44998586e-04 2.12765287e-01] [-6.99964455e-02 3.57314343e-05 9.97547240e-01 -2.25115333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.887719420999996 meters 0.053545686664969026 Centerline is valid? [True, True] Translation: X:20.86, Y:0.21, Z:-2.25 [[ 9.97559532e-01 -6.04025095e-03 6.95593019e-02 2.08592512e+01] [ 6.02341609e-03 9.99981757e-01 4.51767387e-04 2.13262461e-01] [-6.95607617e-02 -3.16802443e-05 9.97577716e-01 -2.24979019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.947719421 meters 0.05350633099667507 Centerline is valid? [True, True] Translation: X:20.92, Y:0.22, Z:-2.26 [[ 9.97011353e-01 -3.26490175e-03 7.71861581e-02 2.09186483e+01] [ 3.23872085e-03 9.99994648e-01 4.64368379e-04 2.17602535e-01] [-7.71872610e-02 -2.12996126e-04 9.97016590e-01 -2.25713688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.007719420999997 meters 0.05360357292274913 Centerline is valid? [True, True] Translation: X:20.98, Y:0.21, Z:-2.27 [[ 9.96904804e-01 -2.46086154e-03 7.85796120e-02 2.09789176e+01] [ 2.43067119e-03 9.99996931e-01 4.79847040e-04 2.13944831e-01] [-7.85805517e-02 -2.87360621e-04 9.96907726e-01 -2.26680623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.067719420999996 meters 0.05299862529090868 Centerline is valid? [True, True] Translation: X:21.04, Y:0.21, Z:-2.27 [[ 9.97051499e-01 -2.99631300e-03 7.66767867e-02 2.10406795e+01] [ 2.97074284e-03 9.99995487e-01 4.47539202e-04 2.10304041e-01] [-7.66777817e-02 -2.18432617e-04 9.97055901e-01 -2.26971318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.127719421 meters 0.052845460181052434 Centerline is valid? [True, True] Translation: X:21.10, Y:0.20, Z:-2.27 [[ 9.97008741e-01 -7.94301948e-03 7.68796403e-02 2.11025979e+01] [ 7.93279956e-03 9.99968439e-01 4.38325227e-04 1.99840748e-01] [-7.68806955e-02 1.72856695e-04 9.97040284e-01 -2.27476701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.187719420999997 meters 0.051609061522014305 Centerline is valid? [True, True] Translation: X:21.16, Y:0.19, Z:-2.27 [[ 9.96542613e-01 -9.61801123e-03 8.25246342e-02 2.11647791e+01] [ 9.61386500e-03 9.99953686e-01 4.47619457e-04 1.91171030e-01] [-8.25251174e-02 3.47308830e-04 9.96588924e-01 -2.27265110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.247719420999996 meters 0.051986588135472626 Centerline is valid? [True, True] Translation: X:21.23, Y:0.19, Z:-2.28 [[ 9.96545624e-01 -1.32012993e-02 8.19911270e-02 2.12257652e+01] [ 1.32091169e-02 9.99912656e-01 4.47105205e-04 1.86601776e-01] [-8.19898679e-02 6.37469644e-04 9.96632959e-01 -2.28140207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.307719420999998 meters 0.05301280391147245 Centerline is valid? [True, True] Translation: X:21.29, Y:0.19, Z:-2.29 [[ 9.96591166e-01 -1.92489733e-02 8.02217179e-02 2.12878010e+01] [ 1.92781073e-02 9.99814075e-01 4.11397768e-04 1.85064748e-01] [-8.02147217e-02 1.13652750e-03 9.96776959e-01 -2.28845892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.367719420999997 meters 0.05294735387980135 Centerline is valid? [True, True] Translation: X:21.35, Y:0.19, Z:-2.29 [[ 9.96410260e-01 -2.08582399e-02 8.20458858e-02 2.13502187e+01] [ 2.08945889e-02 9.99781598e-01 4.15641017e-04 1.88155402e-01] [-8.20366363e-02 1.30016608e-03 9.96628466e-01 -2.29454349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.427719420999995 meters 0.053846213026753784 Centerline is valid? [True, True] Translation: X:21.41, Y:0.19, Z:-2.30 [[ 9.96386063e-01 -2.36051715e-02 8.15941727e-02 2.14102418e+01] [ 2.36516230e-02 9.99720182e-01 3.97318245e-04 1.93201008e-01] [-8.15807199e-02 1.53395225e-03 9.96665557e-01 -2.30441384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.487719420999998 meters 0.05326737673073832 Centerline is valid? [True, True] Translation: X:21.47, Y:0.20, Z:-2.31 [[ 9.96434877e-01 -2.27342283e-02 8.12446348e-02 2.14730033e+01] [ 2.27770175e-02 9.99740490e-01 4.00197742e-04 2.04610272e-01] [-8.12326491e-02 1.45173948e-03 9.96694110e-01 -2.30777719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.547719420999996 meters 0.05211877262932605 Centerline is valid? [True, True] Translation: X:21.53, Y:0.24, Z:-2.32 [[ 9.96800908e-01 -1.89063025e-03 7.99022902e-02 2.15340399e+01] [ 1.86789169e-03 9.99998191e-01 3.59322497e-04 2.36707725e-01] [-7.99028250e-02 -2.08924167e-04 9.96802636e-01 -2.31620333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.607719420999995 meters 0.05427200567373066 Centerline is valid? [True, True] Translation: X:21.59, Y:0.25, Z:-2.33 [[ 9.96888768e-01 1.12669223e-02 7.80118016e-02 2.15931955e+01] [-1.13282790e-02 9.99935774e-01 3.43990698e-04 2.54339288e-01] [-7.80029155e-02 -1.22665991e-03 9.96952376e-01 -2.32749059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.667719420999997 meters 0.054728919784305004 Centerline is valid? [True, True] Translation: X:21.66, Y:0.27, Z:-2.33 [[ 9.96696472e-01 1.71675013e-02 7.93814829e-02 2.16557722e+01] [-1.72504073e-02 9.99851136e-01 3.58703973e-04 2.68533656e-01] [-7.93635078e-02 -1.72688190e-03 9.96844246e-01 -2.32784594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.727719420999996 meters 0.055648804971832756 Centerline is valid? [True, True] Translation: X:21.72, Y:0.27, Z:-2.34 [[ 9.96916272e-01 1.81144710e-02 7.63532050e-02 2.17166664e+01] [-1.81921741e-02 9.99834457e-01 3.22215162e-04 2.67815917e-01] [-7.63347285e-02 -1.71025234e-03 9.97080781e-01 -2.33902215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.787719421 meters 0.05287740557593554 Centerline is valid? [True, True] Translation: X:21.78, Y:0.25, Z:-2.35 [[ 9.97087302e-01 4.64019911e-03 7.61274020e-02 2.17775435e+01] [-4.67603429e-03 9.99989025e-01 2.92486384e-04 2.52346330e-01] [-7.61252093e-02 -6.47608801e-04 9.97098056e-01 -2.34613894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.847719420999997 meters 0.0513344754995096 Centerline is valid? [True, True] Translation: X:21.84, Y:0.24, Z:-2.34 [[ 9.96153277e-01 -1.00843961e-02 8.70456942e-02 2.18382145e+01] [ 1.00940816e-02 9.99948999e-01 3.28900232e-04 2.36784097e-01] [-8.70445716e-02 5.51011293e-04 9.96204266e-01 -2.34301166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.907719420999996 meters 0.05339393364807322 Centerline is valid? [True, True] Translation: X:21.90, Y:0.21, Z:-2.35 [[ 9.95911883e-01 -2.44669804e-02 8.69533680e-02 2.18990907e+01] [ 2.45311585e-02 9.99699011e-01 3.30566432e-04 2.13430966e-01] [-8.69352839e-02 1.80385181e-03 9.96212328e-01 -2.35163141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.967719420999998 meters 0.05444479556746653 Centerline is valid? [True, True] Translation: X:21.96, Y:0.21, Z:-2.36 [[ 9.96457624e-01 -2.47593297e-02 8.03690222e-02 2.19582508e+01] [ 2.48153939e-02 9.99692005e-01 3.01304450e-04 2.11687778e-01] [-8.03517291e-02 1.69415183e-03 9.96765133e-01 -2.36324209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.027719420999997 meters 0.053060454495432494 Centerline is valid? [True, True] Translation: X:22.02, Y:0.22, Z:-2.37 [[ 9.96728785e-01 -2.04632553e-02 7.81855811e-02 2.20204014e+01] [ 2.05024032e-02 9.99789758e-01 3.02072104e-04 2.17778632e-01] [-7.81753245e-02 1.30190834e-03 9.96938776e-01 -2.36797541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.087719420999996 meters 0.05136237283818746 Centerline is valid? [True, True] Translation: X:22.08, Y:0.23, Z:-2.37 [[ 9.96656136e-01 -1.34072409e-03 8.16991420e-02 2.20812150e+01] [ 1.32209020e-03 9.99999086e-01 2.82176153e-04 2.34353442e-01] [-8.16994457e-02 -1.73218959e-04 9.96656997e-01 -2.36922934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.147719420999998 meters 0.05272899420542302 Centerline is valid? [True, True] Translation: X:22.14, Y:0.25, Z:-2.37 [[ 9.96190021e-01 1.42717144e-02 8.60334851e-02 2.21434691e+01] [-1.43508388e-02 9.99896976e-01 3.01258479e-04 2.50195836e-01] [-8.60203222e-02 -1.53476337e-03 9.96292200e-01 -2.37169203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.207719420999997 meters 0.05762867612910548 Centerline is valid? [True, True] Translation: X:22.20, Y:0.26, Z:-2.39 [[ 9.96765027e-01 2.49229675e-02 7.64089426e-02 2.22026600e+01] [-2.50143602e-02 9.99687063e-01 2.39124079e-04 2.60323466e-01] [-7.63790717e-02 -2.14967133e-03 9.97076535e-01 -2.39101686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.267719420999995 meters 0.060660443123164445 Centerline is valid? [True, True] Translation: X:22.26, Y:0.26, Z:-2.40 [[ 9.96978376e-01 3.05941911e-02 7.14010770e-02 2.22623527e+01] [-3.06883686e-02 9.99528976e-01 2.22116750e-04 2.64503949e-01] [-7.13606500e-02 -2.41262817e-03 9.97447661e-01 -2.40187444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.327719420999998 meters 0.057944022105675445 Centerline is valid? [True, True] Translation: X:22.32, Y:0.25, Z:-2.40 [[ 9.96802315e-01 2.80142503e-02 7.48354636e-02 2.23237674e+01] [-2.81105080e-02 9.99604794e-01 2.33051290e-04 2.52967410e-01] [-7.47993595e-02 -2.33596896e-03 9.97195868e-01 -2.40156128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.387719420999996 meters 0.054123533026742734 Centerline is valid? [True, True] Translation: X:22.39, Y:0.24, Z:-2.40 [[ 9.96034085e-01 2.01726225e-02 8.66554477e-02 2.23854883e+01] [-2.02720535e-02 9.99794465e-01 2.67495305e-04 2.41511108e-01] [-8.66322409e-02 -2.02311831e-03 9.96238306e-01 -2.39513852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.447719420999995 meters 0.05165995982156977 Centerline is valid? [True, True] Translation: X:22.45, Y:0.22, Z:-2.41 [[ 9.96484938e-01 4.32016674e-03 8.36606493e-02 2.24463208e+01] [-4.35701311e-03 9.99990475e-01 2.57855351e-04 2.19979098e-01] [-8.36587385e-02 -6.21459519e-04 9.96494270e-01 -2.40676591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.507719420999997 meters 0.05220927911773434 Centerline is valid? [True, True] Translation: X:22.51, Y:0.19, Z:-2.42 [[ 9.96837267e-01 -1.23854778e-02 7.84988032e-02 2.25068044e+01] [ 1.24051776e-02 9.99923025e-01 2.36704456e-04 1.94373516e-01] [-7.84956924e-02 7.37835775e-04 9.96914180e-01 -2.42139812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.567719420999996 meters 0.05364568630622257 Centerline is valid? [True, True] Translation: X:22.57, Y:0.19, Z:-2.43 [[ 9.97231342e-01 -1.57758758e-02 7.26689267e-02 2.25662958e+01] [ 1.58019955e-02 9.99875117e-01 2.15505195e-04 1.89552658e-01] [-7.26632514e-02 9.33405516e-04 9.97356095e-01 -2.43359259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.627719421 meters 0.05272472746233175 Centerline is valid? [True, True] Translation: X:22.63, Y:0.20, Z:-2.44 [[ 9.97381046e-01 -3.82820922e-03 7.22246021e-02 2.26279752e+01] [ 3.82212528e-03 9.99992671e-01 2.22442960e-04 2.01137854e-01] [-7.22249243e-02 5.41910849e-05 9.97388368e-01 -2.43850590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.687719420999997 meters 0.053071836084410566 Centerline is valid? [True, True] Translation: X:22.69, Y:0.22, Z:-2.44 [[ 9.96876838e-01 1.15253053e-02 7.81264151e-02 2.26907381e+01] [-1.15775067e-02 9.99932955e-01 2.15237345e-04 2.19720400e-01] [-7.81186965e-02 -1.11907422e-03 9.96943437e-01 -2.43636621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.747719420999996 meters 0.057010137810394886 Centerline is valid? [True, True] Translation: X:22.75, Y:0.24, Z:-2.44 [[ 9.96594571e-01 2.54578082e-02 7.84293317e-02 2.27502031e+01] [-2.55508078e-02 9.99673508e-01 1.82329036e-04 2.37316457e-01] [-7.83990835e-02 -2.18564091e-03 9.96919659e-01 -2.44418967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.807719420999998 meters 0.05784048933697917 Centerline is valid? [True, True] Translation: X:22.81, Y:0.24, Z:-2.45 [[ 9.96435142e-01 2.81381593e-02 7.95314555e-02 2.28124685e+01] [-2.82430852e-02 9.99601066e-01 1.94496072e-04 2.38674050e-01] [-7.94942549e-02 -2.44001639e-03 9.96832338e-01 -2.45107155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.867719420999997 meters 0.05709639001576225 Centerline is valid? [True, True] Translation: X:22.87, Y:0.24, Z:-2.45 [[ 9.96276138e-01 2.94191080e-02 8.10454943e-02 2.28745876e+01] [-2.95303032e-02 9.99563870e-01 1.73469731e-04 2.37851102e-01] [-8.10050447e-02 -2.56612177e-03 9.96710388e-01 -2.45240716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.927719420999995 meters 0.05687605124409836 Centerline is valid? [True, True] Translation: X:22.94, Y:0.23, Z:-2.46 [[ 9.96532113e-01 2.86098542e-02 7.81359380e-02 2.29360051e+01] [-2.87088888e-02 9.99587805e-01 1.44214121e-04 2.29413977e-01] [-7.80996048e-02 -2.38690996e-03 9.96942704e-01 -2.46275539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.987719420999998 meters 0.05433839893292694 Centerline is valid? [True, True] Translation: X:23.00, Y:0.21, Z:-2.47 [[ 9.96937557e-01 1.84100331e-02 7.60038015e-02 2.29964138e+01] [-1.84717209e-02 9.99829377e-01 1.08683829e-04 2.11531645e-01] [-7.59888327e-02 -1.51227200e-03 9.97107522e-01 -2.47364167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.047719420999996 meters 0.05324316152002274 Centerline is valid? [True, True] Translation: X:23.06, Y:0.20, Z:-2.48 [[ 9.97211048e-01 1.22100941e-02 7.36277044e-02 2.30572508e+01] [-1.22514630e-02 9.99924942e-01 1.10238324e-04 1.96335074e-01] [-7.36208320e-02 -1.01197797e-03 9.97285791e-01 -2.48182504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.107719420999995 meters 0.05258451015813193 Centerline is valid? [True, True] Translation: X:23.12, Y:0.18, Z:-2.49 [[ 9.97198943e-01 1.04092892e-02 7.40669548e-02 2.31191353e+01] [-1.04446843e-02 9.99945449e-01 9.05505362e-05 1.82875051e-01] [-7.40619718e-02 -8.63902857e-04 9.97253267e-01 -2.48986741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.167719420999997 meters 0.0508454425550366 Centerline is valid? [True, True] Translation: X:23.18, Y:0.17, Z:-2.49 [[ 9.96752432e-01 9.02210422e-03 8.00199373e-02 2.31813862e+01] [-9.05632514e-03 9.99958989e-01 6.47325738e-05 1.73609132e-01] [-8.00160715e-02 -7.89208920e-04 9.96793261e-01 -2.48723037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.227719420999996 meters 0.05083503487768316 Centerline is valid? [True, True] Translation: X:23.24, Y:0.15, Z:-2.50 [[ 9.97049342e-01 -3.81745606e-03 7.66683568e-02 2.32413605e+01] [ 3.82380346e-03 9.99992687e-01 6.40084003e-05 1.54750842e-01] [-7.66680405e-02 2.29345195e-04 9.97056648e-01 -2.49944998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.287719420999995 meters 0.05166077303833727 Centerline is valid? [True, True] Translation: X:23.30, Y:0.14, Z:-2.51 [[ 9.96847648e-01 -1.37175785e-02 7.81447027e-02 2.33034585e+01] [ 1.37563383e-02 9.99905376e-01 4.23187536e-05 1.37977035e-01] [-7.81378889e-02 1.03279962e-03 9.96942026e-01 -2.50664384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.347719420999997 meters 0.053468184288302974 Centerline is valid? [True, True] Translation: X:23.37, Y:0.13, Z:-2.50 [[ 9.96140173e-01 -2.38902035e-02 8.44630918e-02 2.33657152e+01] [ 2.39742404e-02 9.99712576e-01 1.93330773e-05 1.29951032e-01] [-8.44392770e-02 2.00568001e-03 9.96426608e-01 -2.50466864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.407719420999996 meters 0.05119407067579768 Centerline is valid? [True, True] Translation: X:23.43, Y:0.14, Z:-2.50 [[ 9.95945459e-01 -2.03827974e-02 8.76195399e-02 2.34274034e+01] [ 2.04621846e-02 9.99790628e-01 -7.87583110e-06 1.35334545e-01] [-8.76010342e-02 1.80073110e-03 9.96154012e-01 -2.50441566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.467719420999998 meters 0.05003736631466689 Centerline is valid? [True, True] Translation: X:23.49, Y:0.15, Z:-2.52 [[ 9.96563747e-01 -1.04035930e-02 8.21733725e-02 2.34876799e+01] [ 1.04392872e-02 9.99945509e-01 -4.73487620e-06 1.51698750e-01] [-8.21688456e-02 8.62550042e-04 9.96618050e-01 -2.51742881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.527719420999997 meters 0.05040662242469754 Centerline is valid? [True, True] Translation: X:23.55, Y:0.17, Z:-2.53 [[ 9.96890208e-01 5.70508769e-03 7.85962184e-02 2.35491507e+01] [-5.72090639e-03 9.99983635e-01 -2.39040908e-05 1.73929015e-01] [-7.85950685e-02 -4.25811854e-04 9.96906532e-01 -2.52742354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.587719420999996 meters 0.05261224975246682 Centerline is valid? [True, True] Translation: X:23.61, Y:0.19, Z:-2.54 [[ 9.96789396e-01 1.68806366e-02 7.82684171e-02 2.36099091e+01] [-1.69288060e-02 9.99856696e-01 -4.80811311e-05 1.85920016e-01] [-7.82580126e-02 -1.27706409e-03 9.96932321e-01 -2.53833270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.647719420999998 meters 0.05453351263448732 Centerline is valid? [True, True] Translation: X:23.67, Y:0.20, Z:-2.54 [[ 9.96899808e-01 2.46616830e-02 7.47166320e-02 2.36708965e+01] [-2.47253329e-02 9.99694280e-01 -7.31271921e-05 1.97591196e-01] [-7.46955930e-02 -1.77449311e-03 9.97204803e-01 -2.54366628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.707719420999997 meters 0.058325233174523275 Centerline is valid? [True, True] Translation: X:23.73, Y:0.20, Z:-2.55 [[ 9.96726340e-01 3.23212776e-02 7.41076153e-02 2.37298472e+01] [-3.24046562e-02 9.99474828e-01 -7.73066618e-05 2.04582458e-01] [-7.40711947e-02 -2.32437821e-03 9.97250247e-01 -2.55397774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.767719420999995 meters 0.056287674729191904 Centerline is valid? [True, True] Translation: X:23.79, Y:0.20, Z:-2.55 [[ 9.96293409e-01 2.92585769e-02 8.08911587e-02 2.37908792e+01] [-2.93479475e-02 9.99569253e-01 -8.41524305e-05 2.00889663e-01] [-8.08587772e-02 -2.29014897e-03 9.96722937e-01 -2.55341124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.827719420999998 meters 0.05339154775053051 Centerline is valid? [True, True] Translation: X:23.85, Y:0.19, Z:-2.56 [[ 9.96309307e-01 2.38983869e-02 8.24416890e-02 2.38526558e+01] [-2.39729865e-02 9.99712603e-01 -8.50180387e-05 1.87698590e-01] [-8.24200273e-02 -1.89166924e-03 9.96595886e-01 -2.55879541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.887719420999996 meters 0.05010396307766905 Centerline is valid? [True, True] Translation: X:23.91, Y:0.17, Z:-2.57 [[ 9.96782244e-01 4.36104182e-03 8.00383572e-02 2.39139244e+01] [-4.36810979e-03 9.99990456e-01 -8.67822906e-05 1.65158659e-01] [-8.00379718e-02 -2.63113286e-04 9.96791781e-01 -2.56545118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.947719420999995 meters 0.050285524947931 Centerline is valid? [True, True] Translation: X:23.98, Y:0.16, Z:-2.57 [[ 9.96807174e-01 -1.32074221e-03 7.98355367e-02 2.39759738e+01] [ 1.33195865e-03 9.99999109e-01 -8.72407583e-05 1.56479086e-01] [-7.98353504e-02 1.93299848e-04 9.96808045e-01 -2.57382522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.007719420999997 meters 0.05336542330566665 Centerline is valid? [True, True] Translation: X:24.04, Y:0.13, Z:-2.59 [[ 9.97395578e-01 -1.57278301e-02 7.03895975e-02 2.40355551e+01] [ 1.57746332e-02 9.99875567e-01 -1.09054672e-04 1.31811410e-01] [-7.03791235e-02 1.21914073e-03 9.97519570e-01 -2.59326992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.067719420999996 meters 0.055788034194774114 Centerline is valid? [True, True] Translation: X:24.10, Y:0.12, Z:-2.60 [[ 9.96918618e-01 -2.61051162e-02 7.39715666e-02 2.40967520e+01] [ 2.61849262e-02 9.99657110e-01 -1.09168818e-04 1.16916967e-01] [-7.39433526e-02 2.04577244e-03 9.97260345e-01 -2.59715463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.127719420999995 meters 0.0549873803530896 Centerline is valid? [True, True] Translation: X:24.16, Y:0.12, Z:-2.59 [[ 9.96113816e-01 -2.70691879e-02 8.38124370e-02 2.41587420e+01] [ 2.71779518e-02 9.99630599e-01 -1.56835107e-04 1.23074451e-01] [-8.37772312e-02 2.43407599e-03 9.96481536e-01 -2.59120359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.187719420999997 meters 0.0530975328238694 Centerline is valid? [True, True] Translation: X:24.22, Y:0.14, Z:-2.60 [[ 9.96148058e-01 -2.12342169e-02 8.50773433e-02 2.42203346e+01] [ 2.13251447e-02 9.99772580e-01 -1.60016168e-04 1.35266190e-01] [-8.50545972e-02 1.97368646e-03 9.96374337e-01 -2.59902838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.247719420999996 meters 0.052231772039639364 Centerline is valid? [True, True] Translation: X:24.28, Y:0.15, Z:-2.61 [[ 9.96653133e-01 -1.32380809e-02 8.06677512e-02 2.42805197e+01] [ 1.32935739e-02 9.99911625e-01 -1.50879270e-04 1.49928814e-01] [-8.06586248e-02 1.22273701e-03 9.96741035e-01 -2.61254518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.307719420999998 meters 0.05114276368610923 Centerline is valid? [True, True] Translation: X:24.34, Y:0.17, Z:-2.61 [[ 9.96381333e-01 -7.57976472e-03 8.46568802e-02 2.43427201e+01] [ 7.62303802e-03 9.99970927e-01 -1.87916569e-04 1.70465747e-01] [-8.46529945e-02 8.32579178e-04 9.96410145e-01 -2.61355903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.367719420999997 meters 0.05041700689887418 Centerline is valid? [True, True] Translation: X:24.40, Y:0.18, Z:-2.61 [[ 9.95721447e-01 -7.33135357e-03 9.21143417e-02 2.44043281e+01] [ 7.38220312e-03 9.99972729e-01 -2.11306224e-04 1.79014742e-01] [-9.21102805e-02 8.90408920e-04 9.95748414e-01 -2.61315913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.427719420999995 meters 0.05191497556450469 Centerline is valid? [True, True] Translation: X:24.47, Y:0.18, Z:-2.62 [[ 9.95821099e-01 -1.36236834e-02 9.03035691e-02 2.44652842e+01] [ 1.36983348e-02 9.99906152e-01 -2.06924464e-04 1.77465952e-01] [-9.02922752e-02 1.44306827e-03 9.95914265e-01 -2.62484969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.487719420999998 meters 0.05261032060880664 Centerline is valid? [True, True] Translation: X:24.53, Y:0.18, Z:-2.63 [[ 9.95513869e-01 -1.80376907e-02 9.28804468e-02 2.45279669e+01] [ 1.81382683e-02 9.99835460e-01 -2.38747421e-04 1.83075868e-01] [-9.28608577e-02 1.92236683e-03 9.95677240e-01 -2.62831752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.547719420999996 meters 0.05115462065134079 Centerline is valid? [True, True] Translation: X:24.59, Y:0.21, Z:-2.64 [[ 9.96033991e-01 -1.21667211e-03 8.89652096e-02 2.45868311e+01] [ 1.24466290e-03 9.99999192e-01 -2.59151071e-04 2.07020324e-01] [-8.89648224e-02 3.68854972e-04 9.96034700e-01 -2.64326882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.607719420999995 meters 0.0522157893175574 Centerline is valid? [True, True] Translation: X:24.65, Y:0.23, Z:-2.65 [[ 9.95899622e-01 1.60173129e-02 8.90358810e-02 2.46486482e+01] [-1.60582698e-02 9.99871025e-01 -2.56326607e-04 2.34764235e-01] [-8.90285033e-02 -1.17448663e-03 9.96028386e-01 -2.64735121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.667719420999997 meters 0.055963932712609674 Centerline is valid? [True, True] Translation: X:24.71, Y:0.25, Z:-2.66 [[ 9.95501841e-01 3.05787409e-02 8.96717632e-02 2.47087459e+01] [-3.06764569e-02 9.99529325e-01 -2.88596103e-04 2.49061321e-01] [-8.96383818e-02 -2.46351403e-03 9.95971331e-01 -2.65652635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.727719420999996 meters 0.058434979308305275 Centerline is valid? [True, True] Translation: X:24.77, Y:0.25, Z:-2.67 [[ 9.95336781e-01 3.80588111e-02 8.86353123e-02 2.47693250e+01] [-3.81837606e-02 9.99270693e-01 -2.86039474e-04 2.51370914e-01] [-8.85815563e-02 -3.09972394e-03 9.96064104e-01 -2.66551705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.787719420999995 meters 0.060832159188129786 Centerline is valid? [True, True] Translation: X:24.83, Y:0.25, Z:-2.67 [[ 9.95426146e-01 3.95110426e-02 8.69808339e-02 2.48302455e+01] [-3.96369469e-02 9.99214108e-01 -2.79807729e-04 2.52794884e-01] [-8.69235318e-02 -3.16912677e-03 9.96209946e-01 -2.67387489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.847719420999997 meters 0.05864825726660042 Centerline is valid? [True, True] Translation: X:24.89, Y:0.23, Z:-2.68 [[ 9.95711156e-01 3.47894044e-02 8.57262562e-02 2.48906185e+01] [-3.48929131e-02 9.99391015e-01 -2.91104077e-04 2.31027672e-01] [-8.56841775e-02 -2.70138323e-03 9.96318686e-01 -2.68421295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.907719420999996 meters 0.055976983472025246 Centerline is valid? [True, True] Translation: X:24.95, Y:0.22, Z:-2.69 [[ 9.95789253e-01 2.81406932e-02 8.72460000e-02 2.49515263e+01] [-2.82221076e-02 9.99601632e-01 -3.00430101e-04 2.15845605e-01] [-8.72196982e-02 -2.16310094e-03 9.96186752e-01 -2.68882662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.967719420999995 meters 0.05306811116656966 Centerline is valid? [True, True] Translation: X:25.01, Y:0.19, Z:-2.69 [[ 9.95996997e-01 2.10368691e-02 8.68759585e-02 2.50130525e+01] [-2.10905549e-02 9.99777525e-01 -2.99962762e-04 1.93325357e-01] [-8.68629410e-02 -1.53350016e-03 9.96219091e-01 -2.69457413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.027719420999997 meters 0.051392696877094336 Centerline is valid? [True, True] Translation: X:25.07, Y:0.17, Z:-2.70 [[ 9.96048824e-01 1.42413154e-02 8.76580006e-02 2.50744406e+01] [-1.42692003e-02 9.99898142e-01 -3.08524471e-04 1.74860895e-01] [-8.76534657e-02 -9.43504128e-04 9.96150581e-01 -2.70080713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.087719420999996 meters 0.051082699828791996 Centerline is valid? [True, True] Translation: X:25.14, Y:0.16, Z:-2.71 [[ 9.96376895e-01 9.38357775e-03 8.45282910e-02 2.51363730e+01] [-9.39206970e-03 9.99955849e-01 -2.97204917e-04 1.63691110e-01] [-8.45273479e-02 -4.97767488e-04 9.96421035e-01 -2.70934734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.147719420999998 meters 0.05085850863997253 Centerline is valid? [True, True] Translation: X:25.20, Y:0.15, Z:-2.72 [[ 9.96390877e-01 2.15467446e-03 8.48562131e-02 2.51969439e+01] [-2.13480781e-03 9.99997669e-01 -3.24860242e-04 1.47357100e-01] [-8.48567153e-02 1.42536075e-04 9.96393154e-01 -2.71682019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.207719420999997 meters 0.05081028522865443 Centerline is valid? [True, True] Translation: X:25.26, Y:0.14, Z:-2.72 [[ 9.96171640e-01 -1.53636585e-03 8.74053998e-02 2.52587933e+01] [ 1.57378505e-03 9.99998697e-01 -3.59201908e-04 1.38518668e-01] [-8.74047341e-02 4.95384064e-04 9.96172760e-01 -2.72198876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.267719420999995 meters 0.05143035030922205 Centerline is valid? [True, True] Translation: X:25.32, Y:0.13, Z:-2.73 [[ 9.96368415e-01 -3.41093496e-03 8.50784729e-02 2.53191484e+01] [ 3.45528711e-03 9.99993961e-01 -3.74061490e-04 1.34678411e-01] [-8.50766832e-02 6.66673604e-04 9.96374183e-01 -2.73102005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.327719420999998 meters 0.05239883613868621 Centerline is valid? [True, True] Translation: X:25.38, Y:0.13, Z:-2.73 [[ 9.96250528e-01 -1.14169670e-02 8.57585994e-02 2.53816517e+01] [ 1.14935475e-02 9.99933867e-01 -3.99269122e-04 1.33365438e-01] [-8.57483695e-02 1.38344261e-03 9.96315865e-01 -2.73482681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.387719420999996 meters 0.05652593043996 Centerline is valid? [True, True] Translation: X:25.44, Y:0.13, Z:-2.74 [[ 9.96150393e-01 -2.48802324e-02 8.40557420e-02 2.54412451e+01] [ 2.50041701e-02 9.99687258e-01 -4.21893739e-04 1.25545353e-01] [-8.40189574e-02 2.52201369e-03 9.96460965e-01 -2.74453729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.447719420999995 meters 0.06295363377386279 Centerline is valid? [True, True] Translation: X:25.50, Y:0.12, Z:-2.75 [[ 9.95484912e-01 -4.03034009e-02 8.59385004e-02 2.55017409e+01] [ 4.04902855e-02 9.99179839e-01 -4.31967795e-04 1.15343599e-01] [-8.58506072e-02 3.90969184e-03 9.96300350e-01 -2.75140929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.507719420999997 meters 0.06639776169134139 Centerline is valid? [True, True] Translation: X:25.56, Y:0.11, Z:-2.76 [[ 9.95091390e-01 -4.93681557e-02 8.57666095e-02 2.55627730e+01] [ 4.95878096e-02 9.98769675e-01 -4.31235090e-04 1.14538083e-01] [-8.56397994e-02 4.68209663e-03 9.96315162e-01 -2.75761996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.567719420999996 meters 0.07257396481995917 Centerline is valid? [True, True] Translation: X:25.62, Y:0.12, Z:-2.76 [[ 9.94098660e-01 -6.04382609e-02 9.00836831e-02 2.56236718e+01] [ 6.07262233e-02 9.98154355e-01 -4.56730210e-04 1.21604575e-01] [-8.98898167e-02 5.92447675e-03 9.95934095e-01 -2.75897300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.627719420999995 meters 0.07644364153427859 Centerline is valid? [True, True] Translation: X:25.68, Y:0.13, Z:-2.77 [[ 9.93931100e-01 -6.41811151e-02 8.93406526e-02 2.56830351e+01] [ 6.44793902e-02 9.97918936e-01 -4.53558038e-04 1.25201751e-01] [-8.91256191e-02 6.21143624e-03 9.96001025e-01 -2.77022377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.687719420999997 meters 0.076667120043609 Centerline is valid? [True, True] Translation: X:25.75, Y:0.14, Z:-2.78 [[ 9.94180931e-01 -6.33907943e-02 8.70969773e-02 2.57457820e+01] [ 6.36707146e-02 9.97970866e-01 -4.36805592e-04 1.44851011e-01] [-8.68925565e-02 5.97979058e-03 9.96199742e-01 -2.77843221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.747719420999996 meters 0.07528290526519954 Centerline is valid? [True, True] Translation: X:25.81, Y:0.16, Z:-2.79 [[ 9.94568463e-01 -6.48970178e-02 8.13753622e-02 2.58055469e+01] [ 6.51487825e-02 9.97875465e-01 -4.39723961e-04 1.64386764e-01] [-8.11739406e-02 5.73884136e-03 9.96683429e-01 -2.79065731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.807719420999994 meters 0.0751538310778325 Centerline is valid? [True, True] Translation: X:25.87, Y:0.17, Z:-2.80 [[ 9.94575039e-01 -6.55391468e-02 8.07781597e-02 2.58671351e+01] [ 6.57888555e-02 9.97833474e-01 -4.30797139e-04 1.68607216e-01] [-8.05749176e-02 5.74276275e-03 9.96732012e-01 -2.79851183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.867719420999997 meters 0.08232513573079925 Centerline is valid? [True, True] Translation: X:25.93, Y:0.18, Z:-2.81 [[ 9.94097440e-01 -7.26946681e-02 8.05342488e-02 2.59260117e+01] [ 7.29687226e-02 9.97334123e-01 -4.61260228e-04 1.76812271e-01] [-8.02860232e-02 6.33501887e-03 9.96751735e-01 -2.80627973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.927719420999995 meters 0.08478830525623196 Centerline is valid? [True, True] Translation: X:25.99, Y:0.18, Z:-2.81 [[ 9.93745828e-01 -7.45699756e-02 8.31176702e-02 2.59881443e+01] [ 7.48682256e-02 9.97193324e-01 -4.72883330e-04 1.84178273e-01] [-8.28491229e-02 6.69279832e-03 9.96539628e-01 -2.81009054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.987719420999998 meters 0.08090628055954445 Centerline is valid? [True, True] Translation: X:26.05, Y:0.21, Z:-2.81 [[ 9.93747284e-01 -7.21899514e-02 8.51759736e-02 2.60487185e+01] [ 7.24952925e-02 9.97368633e-01 -4.93177772e-04 2.08013021e-01] [-8.49162418e-02 6.66495119e-03 9.96365801e-01 -2.81368053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.047719420999996 meters 0.07306970531980929 Centerline is valid? [True, True] Translation: X:26.11, Y:0.24, Z:-2.82 [[ 9.94620777e-01 -5.75342060e-02 8.61355093e-02 2.61092095e+01] [ 5.77918462e-02 9.98328530e-01 -4.98419254e-04 2.44872964e-01] [-8.59628603e-02 5.47366825e-03 9.96283306e-01 -2.82201979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.107719420999995 meters 0.0669606473357443 Centerline is valid? [True, True] Translation: X:26.17, Y:0.28, Z:-2.82 [[ 9.95052838e-01 -4.65127397e-02 8.77861846e-02 2.61688354e+01] [ 4.67378889e-02 9.98907058e-01 -5.09932023e-04 2.77313510e-01] [-8.76665210e-02 4.61035025e-03 9.96139210e-01 -2.82283631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.167719420999997 meters 0.05845825940717906 Centerline is valid? [True, True] Translation: X:26.23, Y:0.31, Z:-2.83 [[ 9.95929611e-01 -3.00880349e-02 8.49642278e-02 2.62291275e+01] [ 3.02391069e-02 9.99542573e-01 -4.91385259e-04 3.08973936e-01] [-8.49105781e-02 3.05862750e-03 9.96383881e-01 -2.83191210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.227719420999996 meters 0.05442765282392613 Centerline is valid? [True, True] Translation: X:26.29, Y:0.34, Z:-2.84 [[ 9.96342861e-01 -1.44130118e-02 8.42209521e-02 2.62889180e+01] [ 1.45056579e-02 9.99894668e-01 -4.88179790e-04 3.36595681e-01] [-8.42050448e-02 1.70807476e-03 9.96446984e-01 -2.84065120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.287719420999995 meters 0.0526753804789881 Centerline is valid? [True, True] Translation: X:26.35, Y:0.37, Z:-2.85 [[ 9.96570561e-01 1.88086420e-03 8.27259261e-02 2.63492062e+01] [-1.84761838e-03 9.99998179e-01 -4.78431464e-04 3.67979420e-01] [-8.27266753e-02 3.23944771e-04 9.96572221e-01 -2.84900384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.347719420999997 meters 0.052927682053982086 Centerline is valid? [True, True] Translation: X:26.41, Y:0.38, Z:-2.86 [[ 9.96284327e-01 1.45091497e-02 8.48941958e-02 2.64101114e+01] [-1.45200110e-02 9.99894459e-01 -4.89539641e-04 3.84027766e-01] [-8.48923388e-02 -7.44943982e-04 9.96389851e-01 -2.85995628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.407719420999996 meters 0.05285122330629519 Centerline is valid? [True, True] Translation: X:26.47, Y:0.39, Z:-2.86 [[ 9.95918309e-01 1.93533166e-02 8.81599207e-02 2.64724819e+01] [-1.93819055e-02 9.99812012e-01 -5.31804155e-04 3.93364207e-01] [-8.81536399e-02 -1.17907376e-03 9.96106192e-01 -2.86227208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.467719420999995 meters 0.054738599821282916 Centerline is valid? [True, True] Translation: X:26.53, Y:0.40, Z:-2.87 [[ 9.96067596e-01 2.85691230e-02 8.38638792e-02 2.65334393e+01] [-2.86251341e-02 9.99590074e-01 -5.34715214e-04 3.99206190e-01] [-8.38447776e-02 -1.86800229e-03 9.96477076e-01 -2.86853351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.527719420999997 meters 0.056665440025580334 Centerline is valid? [True, True] Translation: X:26.59, Y:0.40, Z:-2.88 [[ 9.95910846e-01 3.33446731e-02 8.39626092e-02 2.65944329e+01] [-3.34181033e-02 9.99441318e-01 -5.31099629e-04 3.96946299e-01] [-8.39334101e-02 -2.27694326e-03 9.96468764e-01 -2.87721123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.587719420999996 meters 0.05912337405643205 Centerline is valid? [True, True] Translation: X:26.66, Y:0.39, Z:-2.88 [[ 9.95923893e-01 4.05030986e-02 8.05921789e-02 2.66550403e+01] [-4.05918057e-02 9.99175668e-01 -5.38035760e-04 3.91113859e-01] [-8.05475363e-02 -2.73553940e-03 9.96747015e-01 -2.87974594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.647719420999994 meters 0.06038254693514112 Centerline is valid? [True, True] Translation: X:26.72, Y:0.38, Z:-2.89 [[ 9.96193050e-01 4.17779342e-02 7.65115161e-02 2.67159094e+01] [-4.18616609e-02 9.99123286e-01 -5.09875244e-04 3.78228867e-01] [-7.64657389e-02 -2.69496496e-03 9.97068567e-01 -2.88543024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.707719420999997 meters 0.06121758263483108 Centerline is valid? [True, True] Translation: X:26.78, Y:0.36, Z:-2.90 [[ 9.96373125e-01 3.97435248e-02 7.52399399e-02 2.67761533e+01] [-3.98190271e-02 9.99206784e-01 -4.96959505e-04 3.62605957e-01] [-7.52000094e-02 -2.50082411e-03 9.97165335e-01 -2.89788659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.767719420999995 meters 0.05932902334239412 Centerline is valid? [True, True] Translation: X:26.84, Y:0.34, Z:-2.91 [[ 9.96694161e-01 3.39350451e-02 7.38184406e-02 2.68366116e+01] [-3.39897375e-02 9.99422049e-01 -5.15582391e-04 3.43356870e-01] [-7.37932735e-02 -1.99519146e-03 9.97271564e-01 -2.90619550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.827719420999998 meters 0.05503929784306392 Centerline is valid? [True, True] Translation: X:26.90, Y:0.31, Z:-2.91 [[ 9.97283385e-01 1.88007864e-02 7.12206464e-02 2.68967315e+01] [-1.88128277e-02 9.99822897e-01 -5.01767884e-04 3.11422038e-01] [-7.12174666e-02 -8.39456976e-04 9.97460459e-01 -2.91042705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.887719420999996 meters 0.05344618629267546 Centerline is valid? [True, True] Translation: X:26.96, Y:0.27, Z:-2.91 [[ 9.97131568e-01 3.85768699e-04 7.56867689e-02 2.69565859e+01] [-3.46403583e-04 9.99999798e-01 -5.33232873e-04 2.70456627e-01] [-7.56869593e-02 5.05485163e-04 9.97131500e-01 -2.91365487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.947719420999995 meters 0.05395549912486857 Centerline is valid? [True, True] Translation: X:27.02, Y:0.25, Z:-2.92 [[ 9.96887506e-01 -8.21565303e-03 7.84079261e-02 2.70182722e+01] [ 8.28378344e-03 9.99965541e-01 -5.43698729e-04 2.46835572e-01] [-7.84007574e-02 1.19152075e-03 9.96921211e-01 -2.91681523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.007719420999997 meters 0.054176703810029855 Centerline is valid? [True, True] Translation: X:27.08, Y:0.23, Z:-2.92 [[ 9.96588012e-01 -1.03534304e-02 8.18849229e-02 2.70804343e+01] [ 1.04370719e-02 9.99945356e-01 -5.93468125e-04 2.33623870e-01] [-8.18743039e-02 1.44608205e-03 9.96641614e-01 -2.91868753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.067719420999996 meters 0.05377578607655441 Centerline is valid? [True, True] Translation: X:27.14, Y:0.23, Z:-2.93 [[ 9.96850280e-01 -7.68520982e-03 7.89332401e-02 2.71423733e+01] [ 7.75630789e-03 9.99969743e-01 -5.94178194e-04 2.25262468e-01] [-7.89262854e-02 1.20453721e-03 9.96879727e-01 -2.92683115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.127719420999995 meters 0.05463312665971175 Centerline is valid? [True, True] Translation: X:27.20, Y:0.22, Z:-2.94 [[ 9.96931872e-01 -1.04993909e-02 7.75667822e-02 2.72026126e+01] [ 1.05786552e-02 9.99943858e-01 -6.11047833e-04 2.16610550e-01] [-7.75560118e-02 1.42972530e-03 9.96986971e-01 -2.93502704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.187719420999997 meters 0.05528052430788952 Centerline is valid? [True, True] Translation: X:27.27, Y:0.22, Z:-2.94 [[ 9.96934865e-01 -1.20868864e-02 7.72967092e-02 2.72651125e+01] [ 1.21709015e-02 9.99925742e-01 -6.15902922e-04 2.16224662e-01] [-7.72835250e-02 1.55478573e-03 9.97007944e-01 -2.93917630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.247719420999996 meters 0.05391258099982673 Centerline is valid? [True, True] Translation: X:27.33, Y:0.22, Z:-2.94 [[ 9.96862312e-01 -7.14113891e-03 7.88323231e-02 2.73262980e+01] [ 7.21553439e-03 9.99973751e-01 -6.58902785e-04 2.20886081e-01] [-7.88255485e-02 1.22565269e-03 9.96887672e-01 -2.94394246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.307719420999994 meters 0.052764753303168224 Centerline is valid? [True, True] Translation: X:27.39, Y:0.24, Z:-2.95 [[ 9.96742319e-01 1.32662572e-02 7.95534764e-02 2.73880374e+01] [-1.32551444e-02 9.99911924e-01 -6.67794880e-04 2.44294716e-01] [-7.95553288e-02 -3.88873396e-04 9.96830376e-01 -2.95078356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.367719420999997 meters 0.05451441760230671 Centerline is valid? [True, True] Translation: X:27.45, Y:0.26, Z:-2.95 [[ 9.96374873e-01 2.62339700e-02 8.09252174e-02 2.74497637e+01] [-2.62651914e-02 9.99654780e-01 -6.78858482e-04 2.60054895e-01] [-8.09150895e-02 -1.44911879e-03 9.96719945e-01 -2.95455080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.427719420999995 meters 0.05560188570024081 Centerline is valid? [True, True] Translation: X:27.51, Y:0.25, Z:-2.97 [[ 9.96312220e-01 2.94344789e-02 8.05951128e-02 2.75103433e+01] [-2.94740653e-02 9.99565301e-01 -6.98706814e-04 2.51760421e-01] [-8.05806443e-02 -1.67933548e-03 9.96746678e-01 -2.96725506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.487719420999994 meters 0.055394307478001295 Centerline is valid? [True, True] Translation: X:27.57, Y:0.25, Z:-2.97 [[ 9.96182810e-01 3.02652388e-02 8.18768911e-02 2.75727238e+01] [-3.03070541e-02 9.99540367e-01 -7.32338601e-04 2.45356422e-01] [-8.18614222e-02 -1.75190424e-03 9.96642182e-01 -2.96982658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.547719420999996 meters 0.056101299200201585 Centerline is valid? [True, True] Translation: X:27.63, Y:0.24, Z:-2.98 [[ 9.96018835e-01 3.27364856e-02 8.29144302e-02 2.76347248e+01] [-3.27857912e-02 9.99462107e-01 -7.67192785e-04 2.38756332e-01] [-8.28949463e-02 -1.95427673e-03 9.96556375e-01 -2.97637322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.607719420999995 meters 0.055170826939566445 Centerline is valid? [True, True] Translation: X:27.70, Y:0.22, Z:-2.99 [[ 9.96380570e-01 2.66887968e-02 8.07060529e-02 2.76956563e+01] [-2.67138097e-02 9.99642826e-01 -7.69995026e-04 2.18837022e-01] [-8.06977770e-02 -1.38875806e-03 9.96737649e-01 -2.98949387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.667719420999997 meters 0.05296258976234478 Centerline is valid? [True, True] Translation: X:27.76, Y:0.20, Z:-2.99 [[ 9.96630839e-01 1.32726940e-02 8.09370509e-02 2.77571742e+01] [-1.32512642e-02 9.99911877e-01 -8.01929990e-04 1.95064609e-01] [-8.09405622e-02 -2.73290084e-04 9.96718893e-01 -2.99400653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.727719420999996 meters 0.05271056849880269 Centerline is valid? [True, True] Translation: X:27.82, Y:0.19, Z:-3.00 [[ 9.96550883e-01 9.44370050e-03 8.24448525e-02 2.78188427e+01] [-9.40842185e-03 9.99955407e-01 -8.16403510e-04 1.88468563e-01] [-8.24488859e-02 3.79116874e-05 9.96595294e-01 -2.99884658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.787719420999995 meters 0.0544957093221634 Centerline is valid? [True, True] Translation: X:27.88, Y:0.16, Z:-3.01 [[ 9.96604613e-01 -4.23486355e-03 8.22271947e-02 2.78789863e+01] [ 4.31881039e-03 9.99990319e-01 -8.43076439e-04 1.61003876e-01] [-8.22228283e-02 1.19533753e-03 9.96613254e-01 -3.01036280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.847719420999997 meters 0.05660743013925854 Centerline is valid? [True, True] Translation: X:27.94, Y:0.14, Z:-3.02 [[ 9.96857438e-01 -1.36289920e-02 7.80352410e-02 2.79384986e+01] [ 1.37344160e-02 9.99905347e-01 -8.14411001e-04 1.44536932e-01] [-7.80167551e-02 1.88362012e-03 9.96950269e-01 -3.01890383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.907719420999996 meters 0.055698908433816446 Centerline is valid? [True, True] Translation: X:28.00, Y:0.14, Z:-3.02 [[ 9.96539061e-01 -1.36263715e-02 8.20013590e-02 2.80005833e+01] [ 1.37428033e-02 9.99905197e-01 -8.55602367e-04 1.39385927e-01] [-8.19819263e-02 1.97956972e-03 9.96631850e-01 -3.01673803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.967719420999995 meters 0.05479279399205669 Centerline is valid? [True, True] Translation: X:28.06, Y:0.14, Z:-3.02 [[ 9.96585327e-01 -1.01330662e-02 8.19451504e-02 2.80629168e+01] [ 1.02377014e-02 9.99947226e-01 -8.56811853e-04 1.42698575e-01] [-8.19321438e-02 1.69281610e-03 9.96636472e-01 -3.02274839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.027719420999997 meters 0.053516008189900495 Centerline is valid? [True, True] Translation: X:28.12, Y:0.15, Z:-3.03 [[ 9.96553490e-01 -2.10622231e-03 8.29259016e-02 2.81233496e+01] [ 2.18651751e-03 9.99997225e-01 -8.77472489e-04 1.48862802e-01] [-8.29238233e-02 1.05576721e-03 9.96555330e-01 -3.03190823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.087719420999996 meters 0.052528910206897074 Centerline is valid? [True, True] Translation: X:28.18, Y:0.16, Z:-3.04 [[ 9.96592780e-01 6.86965097e-03 8.21926916e-02 2.81840457e+01] [-6.82142300e-03 9.99976357e-01 -8.67566732e-04 1.60583759e-01] [-8.21967082e-02 3.03939624e-04 9.96616079e-01 -3.03829478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.147719420999994 meters 0.05298099659278828 Centerline is valid? [True, True] Translation: X:28.25, Y:0.17, Z:-3.04 [[ 9.96687564e-01 1.79274144e-02 7.93253301e-02 2.82465122e+01] [-1.79155290e-02 9.99839133e-01 -8.61585639e-04 1.74440830e-01] [-7.93280153e-02 -5.62423557e-04 9.96848409e-01 -3.04292540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.207719420999997 meters 0.05724588279573329 Centerline is valid? [True, True] Translation: X:28.31, Y:0.19, Z:-3.05 [[ 9.96255503e-01 3.21096998e-02 8.02741537e-02 2.83059386e+01] [-3.21429376e-02 9.99482896e-01 -8.78455834e-04 1.93344663e-01] [-8.02608506e-02 -1.70508066e-03 9.96772436e-01 -3.05456061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.267719420999995 meters 0.05852095498457408 Centerline is valid? [True, True] Translation: X:28.37, Y:0.20, Z:-3.06 [[ 9.96003829e-01 4.07632163e-02 7.94652884e-02 2.83669504e+01] [-4.08224945e-02 9.99166028e-01 -8.79126417e-04 1.98459100e-01] [-7.94348526e-02 -2.36835802e-03 9.96837246e-01 -3.05602082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.327719420999994 meters 0.058975895624033485 Centerline is valid? [True, True] Translation: X:28.43, Y:0.19, Z:-3.07 [[ 9.96257198e-01 4.18072705e-02 7.56554520e-02 2.84277733e+01] [-4.18643218e-02 9.99122958e-01 -8.32350243e-04 1.89615921e-01] [-7.56238973e-02 -2.33802927e-03 9.97133672e-01 -3.06873288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.387719420999996 meters 0.05726287062690465 Centerline is valid? [True, True] Translation: X:28.49, Y:0.17, Z:-3.08 [[ 9.96435396e-01 3.70018630e-02 7.58113715e-02 2.84884580e+01] [-3.70430413e-02 9.99313298e-01 -8.63409723e-04 1.72617509e-01] [-7.57912595e-02 -1.94795176e-03 9.97121803e-01 -3.07605976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.447719420999995 meters 0.05471013813182037 Centerline is valid? [True, True] Translation: X:28.55, Y:0.15, Z:-3.08 [[ 9.96978562e-01 2.71428994e-02 7.27805534e-02 2.85502009e+01] [-2.71550660e-02 9.99630895e-01 -8.22502243e-04 1.50905251e-01] [-7.27760148e-02 -1.15634362e-03 9.97347640e-01 -3.08250160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.507719420999997 meters 0.054374137681201785 Centerline is valid? [True, True] Translation: X:28.61, Y:0.13, Z:-3.09 [[ 9.97292213e-01 1.97096309e-02 7.08503496e-02 2.86100805e+01] [-1.97008342e-02 9.99805581e-01 -8.23007784e-04 1.34758867e-01] [-7.08527961e-02 -5.75031738e-04 9.97486617e-01 -3.09403693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.567719420999996 meters 0.05427974370307419 Centerline is valid? [True, True] Translation: X:28.67, Y:0.12, Z:-3.10 [[ 9.97684770e-01 9.14577241e-03 6.73903181e-02 2.86707167e+01] [-9.11255373e-03 9.99958160e-01 -8.00317937e-04 1.17285582e-01] [-6.73948180e-02 1.84367121e-04 9.97726368e-01 -3.10488799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.627719420999995 meters 0.05580762019110785 Centerline is valid? [True, True] Translation: X:28.73, Y:0.09, Z:-3.11 [[ 9.97347522e-01 -5.65582834e-03 7.25667371e-02 2.87318589e+01] [ 5.73516996e-03 9.99983162e-01 -8.85039688e-04 9.40967493e-02] [-7.25605096e-02 1.29887471e-03 9.97363166e-01 -3.10979006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.687719420999997 meters 0.05787151152685596 Centerline is valid? [True, True] Translation: X:28.79, Y:0.08, Z:-3.11 [[ 9.97327726e-01 -1.66108410e-02 7.11441259e-02 2.87926448e+01] [ 1.67169863e-02 9.99859859e-01 -8.96783388e-04 8.21385781e-02] [-7.11192594e-02 2.08370232e-03 9.97465643e-01 -3.11304725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.747719420999996 meters 0.060150183668335015 Centerline is valid? [True, True] Translation: X:28.85, Y:0.07, Z:-3.12 [[ 9.96913881e-01 -2.17737728e-02 7.54229137e-02 2.88540828e+01] [ 2.19072506e-02 9.99759563e-01 -9.42745360e-04 7.06069319e-02] [-7.53842521e-02 2.59214461e-03 9.97151190e-01 -3.11725116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.807719420999994 meters 0.05936140589715989 Centerline is valid? [True, True] Translation: X:28.92, Y:0.07, Z:-3.12 [[ 9.96713853e-01 -2.24877753e-02 7.78189937e-02 2.89163993e+01] [ 2.26337389e-02 9.99743330e-01 -9.94072412e-04 7.43343577e-02] [-7.77766654e-02 2.75214053e-03 9.96967009e-01 -3.11738026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.867719420999997 meters 0.05793448308727982 Centerline is valid? [True, True] Translation: X:28.98, Y:0.08, Z:-3.12 [[ 9.96777802e-01 -2.14320663e-02 7.72960480e-02 2.89794847e+01] [ 2.15745136e-02 9.99766735e-01 -1.00819252e-03 7.91412867e-02] [-7.72564098e-02 2.67256856e-03 9.97007675e-01 -3.12131670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.927719420999995 meters 0.05693829440977006 Centerline is valid? [True, True] Translation: X:29.04, Y:0.09, Z:-3.13 [[ 9.96667865e-01 -1.36938488e-02 8.04092365e-02 2.90387051e+01] [ 1.38261304e-02 9.99903822e-01 -1.08853291e-03 9.24450985e-02] [-8.03865967e-02 2.19665436e-03 9.96761340e-01 -3.12942815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.987719420999994 meters 0.05540130588512331 Centerline is valid? [True, True] Translation: X:29.10, Y:0.11, Z:-3.14 [[ 9.97151026e-01 -1.13385231e-02 7.45739152e-02 2.91005597e+01] [ 1.14453254e-02 9.99933995e-01 -1.00495340e-03 1.07727314e-01] [-7.45575983e-02 1.85561304e-03 9.97214982e-01 -3.13659651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.047719420999996 meters 0.05623444612772558 Centerline is valid? [True, True] Translation: X:29.16, Y:0.11, Z:-3.14 [[ 9.97119197e-01 -1.41185512e-02 7.45249884e-02 2.91623708e+01] [ 1.42329141e-02 9.99898203e-01 -1.00366191e-03 1.13659722e-01] [-7.45032317e-02 2.06147832e-03 9.97218641e-01 -3.14175665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.107719420999995 meters 0.055484591596284966 Centerline is valid? [True, True] Translation: X:29.22, Y:0.13, Z:-3.15 [[ 9.97054355e-01 -1.01182359e-02 7.60278579e-02 2.92231452e+01] [ 1.02281353e-02 9.99947133e-01 -1.05626804e-03 1.25910469e-01] [-7.60131510e-02 1.83077987e-03 9.97105134e-01 -3.14716842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.167719420999997 meters 0.05275170325029746 Centerline is valid? [True, True] Translation: X:29.28, Y:0.15, Z:-3.15 [[ 9.96975341e-01 6.03153744e-03 7.74841267e-02 2.92841138e+01] [-5.96571266e-03 9.99981621e-01 -1.08097202e-03 1.54096602e-01] [-7.74892225e-02 6.15454414e-04 9.96993000e-01 -3.15294685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.227719420999996 meters 0.0530319564403215 Centerline is valid? [True, True] Translation: X:29.35, Y:0.18, Z:-3.16 [[ 9.96954109e-01 1.69935289e-02 7.61165248e-02 2.93475142e+01] [-1.69626747e-02 9.99855570e-01 -1.05189113e-03 1.77176770e-01] [-7.61234066e-02 -2.42452663e-04 9.97098374e-01 -3.15949557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.287719420999995 meters 0.05386966237347551 Centerline is valid? [True, True] Translation: X:29.41, Y:0.18, Z:-3.17 [[ 9.96897746e-01 2.32625366e-02 7.51913465e-02 2.94084638e+01] [-2.32481383e-02 9.99729156e-01 -1.06687059e-03 1.82940300e-01] [-7.51957995e-02 -6.84497937e-04 9.97168553e-01 -3.16976464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.347719420999997 meters 0.054604342059768114 Centerline is valid? [True, True] Translation: X:29.47, Y:0.19, Z:-3.18 [[ 9.96849850e-01 2.81665296e-02 7.41419121e-02 2.94706148e+01] [-2.81646266e-02 9.99602724e-01 -1.07140239e-03 1.86633149e-01] [-7.41426350e-02 -1.02015196e-03 9.97247125e-01 -3.17556999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.407719420999996 meters 0.056474376138155584 Centerline is valid? [True, True] Translation: X:29.53, Y:0.19, Z:-3.18 [[ 9.96861770e-01 3.40368807e-02 7.14709910e-02 2.95317486e+01] [-3.40480735e-02 9.99419632e-01 -1.06202492e-03 1.89787716e-01] [-7.14656595e-02 -1.37475751e-03 9.97442113e-01 -3.18180244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.467719420999995 meters 0.05598680148099706 Centerline is valid? [True, True] Translation: X:29.59, Y:0.18, Z:-3.19 [[ 9.96455085e-01 3.66884014e-02 7.57048471e-02 2.95940983e+01] [-3.67089906e-02 9.99325370e-01 -1.12000806e-03 1.78458060e-01] [-7.56948656e-02 -1.66301079e-03 9.97129641e-01 -3.18533691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.527719420999997 meters 0.05711619560623704 Centerline is valid? [True, True] Translation: X:29.66, Y:0.17, Z:-3.19 [[ 9.96217955e-01 4.07967421e-02 7.67164431e-02 2.96558217e+01] [-4.08282265e-02 9.99165509e-01 -1.15862182e-03 1.72739038e-01] [-7.66996918e-02 -1.97795645e-03 9.97052278e-01 -3.19281613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.587719420999996 meters 0.05544672657547954 Centerline is valid? [True, True] Translation: X:29.72, Y:0.15, Z:-3.20 [[ 9.96651991e-01 3.27190138e-02 7.49284687e-02 2.97150138e+01] [-3.27238955e-02 9.99463753e-01 -1.16287831e-03 1.52959892e-01] [-7.49263368e-02 -1.29296640e-03 9.97188233e-01 -3.20232186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.647719420999994 meters 0.05423803380409126 Centerline is valid? [True, True] Translation: X:29.78, Y:0.14, Z:-3.21 [[ 9.96811413e-01 2.96822353e-02 7.40673511e-02 2.97772987e+01] [-2.96792389e-02 9.99558823e-01 -1.14134112e-03 1.43199307e-01] [-7.40685518e-02 -1.06056075e-03 9.97252588e-01 -3.20687228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.707719420999997 meters 0.05326317495646565 Centerline is valid? [True, True] Translation: X:29.84, Y:0.12, Z:-3.22 [[ 9.97185124e-01 2.01425480e-02 7.22226171e-02 2.98370255e+01] [-2.01130725e-02 9.99797067e-01 -1.13543020e-03 1.17083348e-01] [-7.22308312e-02 -3.20384624e-04 9.97387891e-01 -3.21718229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.767719420999995 meters 0.05195736588885217 Centerline is valid? [True, True] Translation: X:29.90, Y:0.11, Z:-3.21 [[ 9.96783464e-01 1.75482642e-02 7.81970908e-02 2.98986673e+01] [-1.75032126e-02 9.99846011e-01 -1.26154313e-03 1.08764735e-01] [-7.82071872e-02 -1.11214975e-04 9.96937121e-01 -3.21495310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.827719420999994 meters 0.05236541535068425 Centerline is valid? [True, True] Translation: X:29.96, Y:0.10, Z:-3.22 [[ 9.96821816e-01 2.19622055e-02 7.65762937e-02 2.99602244e+01] [-2.19325674e-02 9.99758698e-01 -1.22811307e-03 1.04567462e-01] [-7.65847878e-02 -4.55304815e-04 9.97062968e-01 -3.22354656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.887719420999996 meters 0.05526538301922137 Centerline is valid? [True, True] Translation: X:30.02, Y:0.11, Z:-3.24 [[ 9.97169521e-01 3.08457345e-02 6.85673900e-02 3.00181391e+01] [-3.08409539e-02 9.99523668e-01 -1.12856136e-03 1.11300775e-01] [-6.85695404e-02 -9.89316723e-04 9.97645849e-01 -3.24033168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.947719420999995 meters 0.05729742675496752 Centerline is valid? [True, True] Translation: X:30.08, Y:0.11, Z:-3.25 [[ 9.97006818e-01 3.78925455e-02 6.73910912e-02 3.00780856e+01] [-3.79040336e-02 9.99280769e-01 -1.10863339e-03 1.09505069e-01] [-6.73846304e-02 -1.44907914e-03 9.97726020e-01 -3.24772678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.007719421 meters 0.05764791039729503 Centerline is valid? [True, True] Translation: X:30.14, Y:0.11, Z:-3.25 [[ 9.96449406e-01 4.40963087e-02 7.17223582e-02 3.01406492e+01] [-4.41257066e-02 9.99025295e-01 -1.17527814e-03 1.11493153e-01] [-7.17042755e-02 -1.99369453e-03 9.97423943e-01 -3.24579137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.06771942099999 meters 0.0638524423742313 Centerline is valid? [True, True] Translation: X:30.20, Y:0.12, Z:-3.25 [[ 9.95509431e-01 5.84373596e-02 7.44717881e-02 3.01999825e+01] [-5.85064596e-02 9.98286241e-01 -1.25523613e-03 1.21039395e-01] [-7.44175141e-02 -3.10748125e-03 9.97222331e-01 -3.25201540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.127719420999995 meters 0.06404869526893193 Centerline is valid? [True, True] Translation: X:30.26, Y:0.12, Z:-3.26 [[ 9.95659562e-01 6.05257324e-02 7.07012875e-02 3.02606151e+01] [-6.05934625e-02 9.98161821e-01 -1.18830711e-03 1.17950587e-01] [-7.06432490e-02 -3.10088648e-03 9.97496825e-01 -3.26174131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.187719421 meters 0.06399569915586958 Centerline is valid? [True, True] Translation: X:30.32, Y:0.11, Z:-3.26 [[ 9.95306240e-01 6.03317212e-02 7.56675062e-02 3.03207120e+01] [-6.04084646e-02 9.98172925e-01 -1.27622584e-03 1.13673670e-01] [-7.56062529e-02 -3.30072233e-03 9.97132288e-01 -3.26488850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.24771942099999 meters 0.06148615471507181 Centerline is valid? [True, True] Translation: X:30.38, Y:0.10, Z:-3.27 [[ 9.95474973e-01 5.79662408e-02 7.52960356e-02 3.03825632e+01] [-5.80360780e-02 9.98313689e-01 -1.26206456e-03 9.77862564e-02] [-7.52422202e-02 -3.11353291e-03 9.97160426e-01 -3.26813753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.307719420999994 meters 0.06023175697410098 Centerline is valid? [True, True] Translation: X:30.44, Y:0.08, Z:-3.28 [[ 9.95738212e-01 5.32281765e-02 7.53138333e-02 3.04419845e+01] [-5.32820065e-02 9.98578664e-01 -1.29579738e-03 8.08541688e-02] [-7.52757600e-02 -2.72259718e-03 9.97159038e-01 -3.27657012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.367719421 meters 0.06207557907062892 Centerline is valid? [True, True] Translation: X:30.50, Y:0.07, Z:-3.28 [[ 9.95271615e-01 5.72294729e-02 7.84805718e-02 3.05034137e+01] [-5.73008142e-02 9.98356053e-01 -1.34449593e-03 7.10335005e-02] [-7.84284987e-02 -3.15886202e-03 9.96914737e-01 -3.28083097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.427719421 meters 0.06613060926844314 Centerline is valid? [True, True] Translation: X:30.56, Y:0.06, Z:-3.29 [[ 9.95070378e-01 6.37226268e-02 7.59892669e-02 3.05637001e+01] [-6.38060941e-02 9.97961427e-01 -1.33136361e-03 6.23170806e-02] [-7.59191952e-02 -3.52377782e-03 9.97107747e-01 -3.28961468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.487719420999994 meters 0.06905988023420397 Centerline is valid? [True, True] Translation: X:30.62, Y:0.05, Z:-3.30 [[ 9.95458767e-01 6.61241634e-02 6.84794750e-02 3.06222343e+01] [-6.61974643e-02 9.97805820e-01 -1.20078122e-03 4.57451383e-02] [-6.84086193e-02 -3.33783941e-03 9.97651803e-01 -3.30396669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.547719421 meters 0.07108391781028751 Centerline is valid? [True, True] Translation: X:30.68, Y:0.04, Z:-3.32 [[ 9.95643822e-01 6.80847428e-02 6.37012417e-02 3.06819240e+01] [-6.81522501e-02 9.97674309e-01 -1.11508045e-03 3.69766089e-02] [-6.36290123e-02 -3.23116000e-03 9.97968390e-01 -3.31518770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.607719421 meters 0.07144958222594595 Centerline is valid? [True, True] Translation: X:30.74, Y:0.03, Z:-3.32 [[ 9.95200966e-01 6.83413702e-02 7.00320919e-02 3.07423356e+01] [-6.84236178e-02 9.97655604e-01 -1.22658752e-03 2.60402886e-02] [-6.99517356e-02 -3.57114801e-03 9.97543985e-01 -3.31569488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.667719420999994 meters 0.06744574529205376 Centerline is valid? [True, True] Translation: X:30.80, Y:0.00, Z:-3.32 [[ 9.95150459e-01 6.22675925e-02 7.61466400e-02 3.08030026e+01] [-6.23472414e-02 9.98053628e-01 -1.33309481e-03 2.08010718e-03] [-7.60814389e-02 -3.42090304e-03 9.97095739e-01 -3.31604410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.727719420999996 meters 0.0626706752442396 Centerline is valid? [True, True] Translation: X:30.86, Y:-0.01, Z:-3.32 [[ 9.95670109e-01 5.57992126e-02 7.43470409e-02 3.08628934e+01] [-5.58569905e-02 9.98437929e-01 -1.30354086e-03 -1.45462296e-02] [-7.43036420e-02 -2.85490529e-03 9.97231577e-01 -3.32265754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.787719421 meters 0.055798893900650216 Centerline is valid? [True, True] Translation: X:30.92, Y:-0.05, Z:-3.33 [[ 9.96485898e-01 3.66738252e-02 7.53052879e-02 3.09223246e+01] [-3.66785733e-02 9.99326242e-01 -1.32042331e-03 -5.09938446e-02] [-7.53029754e-02 -1.44630732e-03 9.97159651e-01 -3.32921523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.847719420999994 meters 0.05328996719341742 Centerline is valid? [True, True] Translation: X:30.98, Y:-0.07, Z:-3.33 [[ 9.96476966e-01 2.86770484e-02 7.88116964e-02 3.09829257e+01] [-2.86573652e-02 9.99588339e-01 -1.38100002e-03 -6.99680191e-02] [-7.88188558e-02 -8.82400857e-04 9.96888564e-01 -3.33082041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.907719420999996 meters 0.05158629273981298 Centerline is valid? [True, True] Translation: X:31.04, Y:-0.08, Z:-3.33 [[ 9.96369144e-01 2.08737217e-02 8.25397822e-02 3.10444453e+01] [-2.08252993e-02 9.99782082e-01 -1.44763216e-03 -8.26842777e-02] [-8.25520128e-02 -2.76539657e-04 9.96586719e-01 -3.33149269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.967719421 meters 0.05270263145283977 Centerline is valid? [True, True] Translation: X:31.11, Y:-0.07, Z:-3.34 [[ 9.96187077e-01 2.96260157e-02 8.20585633e-02 3.11065525e+01] [-2.96080461e-02 9.99560554e-01 -1.43609332e-03 -7.33555872e-02] [-8.20650487e-02 -9.98976114e-04 9.96626475e-01 -3.33973229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.02771942099999 meters 0.0555911465891793 Centerline is valid? [True, True] Translation: X:31.17, Y:-0.06, Z:-3.35 [[ 9.95981346e-01 3.91954566e-02 8.05287241e-02 3.11661341e+01] [-3.92067492e-02 9.99230080e-01 -1.44157753e-03 -5.65862607e-02] [-8.05232267e-02 -1.72148516e-03 9.96751246e-01 -3.35055930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.087719420999996 meters 0.06117846120548407 Centerline is valid? [True, True] Translation: X:31.23, Y:-0.04, Z:-3.36 [[ 9.95922715e-01 5.13613920e-02 7.41616643e-02 3.12264477e+01] [-5.14045938e-02 9.98677028e-01 -1.32736593e-03 -3.76886203e-02] [-7.41317258e-02 -2.49029634e-03 9.97245349e-01 -3.36277197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.147719421 meters 0.06478276823475425 Centerline is valid? [True, True] Translation: X:31.29, Y:-0.03, Z:-3.37 [[ 9.95778642e-01 6.07190051e-02 6.88338425e-02 3.12870043e+01] [-6.07784966e-02 9.98150518e-01 -1.23162609e-03 -2.87557860e-02] [-6.87813187e-02 -2.95719050e-03 9.97627378e-01 -3.37216066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.20771942099999 meters 0.06513392642804224 Centerline is valid? [True, True] Translation: X:31.35, Y:-0.03, Z:-3.37 [[ 9.95114326e-01 6.36147874e-02 7.55025623e-02 3.13493486e+01] [-6.36946602e-02 9.97968518e-01 -1.35209041e-03 -2.82233956e-02] [-7.54351931e-02 -3.46362551e-03 9.97144691e-01 -3.37216484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.267719420999995 meters 0.06667869756741852 Centerline is valid? [True, True] Translation: X:31.41, Y:-0.03, Z:-3.38 [[ 9.94911024e-01 6.60877815e-02 7.60556357e-02 3.14111528e+01] [-6.61762160e-02 9.97807025e-01 -1.35960770e-03 -3.31651191e-02] [-7.59787011e-02 -3.68038549e-03 9.97102649e-01 -3.37858770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.327719421 meters 0.0643166029870908 Centerline is valid? [True, True] Translation: X:31.47, Y:-0.05, Z:-3.38 [[ 9.95145854e-01 5.92916708e-02 7.85444243e-02 3.14704461e+01] [-5.93622555e-02 9.98235471e-01 -1.43799531e-03 -4.58795963e-02] [-7.84910915e-02 -3.23155911e-03 9.96909577e-01 -3.38469186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.38771942099999 meters 0.05896844818413906 Centerline is valid? [True, True] Translation: X:31.53, Y:-0.07, Z:-3.39 [[ 9.95384547e-01 5.17348905e-02 8.08276190e-02 3.15313415e+01] [-5.17850661e-02 9.98657161e-01 -1.47677530e-03 -6.60543124e-02] [-8.07954814e-02 -2.71570428e-03 9.96727001e-01 -3.38617321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.447719420999995 meters 0.05426187399904532 Centerline is valid? [True, True] Translation: X:31.59, Y:-0.09, Z:-3.40 [[ 9.96602446e-01 2.94917042e-02 7.69012569e-02 3.15888096e+01] [-2.94706956e-02 9.99564653e-01 -1.40826937e-03 -9.17325986e-02] [-7.69093104e-02 -8.62848841e-04 9.97037719e-01 -3.40384531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.507719421 meters 0.05266347949263639 Centerline is valid? [True, True] Translation: X:31.65, Y:-0.11, Z:-3.41 [[ 9.96999301e-01 1.66011826e-02 7.56094936e-02 3.16507783e+01] [-1.65447630e-02 9.99862184e-01 -1.37254654e-03 -1.09734167e-01] [-7.56218593e-02 1.17486791e-04 9.97136561e-01 -3.40531778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.56771942099999 meters 0.052640848118486266 Centerline is valid? [True, True] Translation: X:31.71, Y:-0.11, Z:-3.41 [[ 9.96974471e-01 1.56888222e-02 7.61299252e-02 3.17114355e+01] [-1.56270974e-02 9.99876900e-01 -1.40646029e-03 -1.11296214e-01] [-7.61426193e-02 2.12515247e-04 9.97096914e-01 -3.41136844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.627719420999995 meters 0.05229263318248116 Centerline is valid? [True, True] Translation: X:31.77, Y:-0.09, Z:-3.41 [[ 9.96492975e-01 2.57395226e-02 7.96192645e-02 3.17746054e+01] [-2.57017427e-02 9.99668531e-01 -1.49944398e-03 -9.39424565e-02] [-7.96314682e-02 -5.52168456e-04 9.96824219e-01 -3.41298871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.687719421 meters 0.05451037602758028 Centerline is valid? [True, True] Translation: X:31.83, Y:-0.08, Z:-3.43 [[ 9.96344735e-01 3.43099422e-02 7.82304099e-02 3.18349279e+01] [-3.42995787e-02 9.99410506e-01 -1.47656247e-03 -8.11715630e-02] [-7.82349543e-02 -1.21210485e-03 9.96934212e-01 -3.42576336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.74771942099999 meters 0.05483618143002905 Centerline is valid? [True, True] Translation: X:31.90, Y:-0.08, Z:-3.42 [[ 9.95781258e-01 4.18672674e-02 8.16505880e-02 3.18974368e+01] [-4.18794595e-02 9.99121446e-01 -1.56402879e-03 -8.12973053e-02] [-8.16443352e-02 -1.86205194e-03 9.96659789e-01 -3.42448970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.807719420999994 meters 0.05803802654282749 Centerline is valid? [True, True] Translation: X:31.96, Y:-0.07, Z:-3.44 [[ 9.95827827e-01 4.94757914e-02 7.66751872e-02 3.19577571e+01] [-4.95066359e-02 9.98772669e-01 -1.49960586e-03 -7.09128338e-02] [-7.66552755e-02 -2.30258133e-03 9.97054997e-01 -3.43567353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.867719421 meters 0.06518985298387368 Centerline is valid? [True, True] Translation: X:32.02, Y:-0.05, Z:-3.44 [[ 9.94940952e-01 6.36920024e-02 7.76906079e-02 3.20178325e+01] [-6.37668423e-02 9.97963667e-01 -1.51963638e-03 -5.17767075e-02] [-7.76291927e-02 -3.44213628e-03 9.96976359e-01 -3.44473357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.92771942099999 meters 0.06568206553241936 Centerline is valid? [True, True] Translation: X:32.08, Y:-0.06, Z:-3.45 [[ 9.94548842e-01 6.83240919e-02 7.87681397e-02 3.20786592e+01] [-6.84155104e-02 9.97655724e-01 -1.54065856e-03 -5.81239524e-02] [-7.86887496e-02 -3.85670230e-03 9.96891773e-01 -3.44858963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.987719420999994 meters 0.06966980655423669 Centerline is valid? [True, True] Translation: X:32.14, Y:-0.05, Z:-3.46 [[ 9.95013847e-01 6.25107558e-02 7.77164718e-02 3.21372727e+01] [-6.25815847e-02 9.98038685e-01 -1.52617824e-03 -5.02268520e-02] [-7.76594478e-02 -3.34505148e-03 9.96974333e-01 -3.46494342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.047719421 meters 0.06064858335933167 Centerline is valid? [True, True] Translation: X:32.20, Y:-0.08, Z:-3.47 [[ 9.95691748e-01 5.15042847e-02 7.71054614e-02 3.21975704e+01] [-5.15410837e-02 9.98669727e-01 -1.51400723e-03 -7.58296483e-02] [-7.70808680e-02 -2.46661453e-03 9.97021793e-01 -3.46935067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.107719421 meters 0.05456329914375867 Centerline is valid? [True, True] Translation: X:32.26, Y:-0.10, Z:-3.47 [[ 9.96395006e-01 3.78716327e-02 7.59126623e-02 3.22575973e+01] [-3.78677751e-02 9.99281647e-01 -1.49073288e-03 -1.01051555e-01] [-7.59145867e-02 -1.38928483e-03 9.97113356e-01 -3.47093705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.167719420999994 meters 0.053108326417392174 Centerline is valid? [True, True] Translation: X:32.32, Y:-0.12, Z:-3.48 [[ 9.96899990e-01 2.48184531e-02 7.46622696e-02 3.23175743e+01] [-2.47781490e-02 9.99691899e-01 -1.46620304e-03 -1.15987456e-01] [-7.46756550e-02 -3.88335046e-04 9.97207800e-01 -3.47875499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.227719420999996 meters 0.052441506163067 Centerline is valid? [True, True] Translation: X:32.38, Y:-0.13, Z:-3.48 [[ 9.96904682e-01 1.49240332e-02 7.71902094e-02 3.23801500e+01] [-1.48512139e-02 9.99888563e-01 -1.51736182e-03 -1.30676377e-01] [-7.72042527e-02 3.66296791e-04 9.97015230e-01 -3.47926619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.287719421 meters 0.05284801994281885 Centerline is valid? [True, True] Translation: X:32.44, Y:-0.13, Z:-3.48 [[ 9.96710383e-01 7.27531516e-03 8.07185387e-02 3.24419007e+01] [-7.17029408e-03 9.99973028e-01 -1.59086585e-03 -1.32864513e-01] [-8.07279356e-02 1.00685685e-03 9.96735665e-01 -3.48204193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.347719420999994 meters 0.05259320124963013 Centerline is valid? [True, True] Translation: X:32.50, Y:-0.12, Z:-3.49 [[ 9.96744058e-01 1.08803159e-02 7.98930642e-02 3.25039460e+01] [-1.07870327e-02 9.99940540e-01 -1.59911526e-03 -1.23393462e-01] [-7.99057126e-02 7.32099539e-04 9.96802157e-01 -3.48931418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.407719420999996 meters 0.05193736339219186 Centerline is valid? [True, True] Translation: X:32.56, Y:-0.09, Z:-3.49 [[ 9.96031002e-01 2.67017828e-02 8.49073449e-02 3.25648618e+01] [-2.66507437e-02 9.99643301e-01 -1.73473026e-03 -9.11203197e-02] [-8.49233789e-02 -5.34998764e-04 9.96387341e-01 -3.49337910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.467719421 meters 0.05267978556796791 Centerline is valid? [True, True] Translation: X:32.63, Y:-0.08, Z:-3.50 [[ 9.95468299e-01 3.43255847e-02 8.86826974e-02 3.26282366e+01] [-3.43004492e-02 9.99409931e-01 -1.80779951e-03 -7.93898568e-02] [-8.86924223e-02 -1.24224925e-03 9.96058287e-01 -3.49728895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.52771942099999 meters 0.05234383293729518 Centerline is valid? [True, True] Translation: X:32.69, Y:-0.07, Z:-3.51 [[ 9.95726700e-01 3.23163592e-02 8.65100663e-02 3.26897878e+01] [-3.22822978e-02 9.99477182e-01 -1.79306070e-03 -7.41993228e-02] [-8.65227825e-02 -1.00734530e-03 9.96249363e-01 -3.50767676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.587719420999996 meters 0.056059604886770927 Centerline is valid? [True, True] Translation: X:32.75, Y:-0.06, Z:-3.52 [[ 9.96079729e-01 4.23817403e-02 7.76463853e-02 3.27496066e+01] [-4.23825015e-02 9.99100114e-01 -1.63885233e-03 -5.99523842e-02] [-7.76459698e-02 -1.65842045e-03 9.96979615e-01 -3.52496389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.647719421 meters 0.0610683326751498 Centerline is valid? [True, True] Translation: X:32.81, Y:-0.04, Z:-3.53 [[ 9.95457118e-01 5.62734273e-02 7.68012275e-02 3.28104826e+01] [-5.63153441e-02 9.98411715e-01 -1.62157552e-03 -4.34195664e-02] [-7.67704969e-02 -2.71087866e-03 9.97045105e-01 -3.53305423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.70771942099999 meters 0.06283508981929052 Centerline is valid? [True, True] Translation: X:32.87, Y:-0.04, Z:-3.54 [[ 9.94987473e-01 6.36514683e-02 7.71259946e-02 3.28716101e+01] [-6.37157525e-02 9.97966757e-01 -1.62946203e-03 -3.55344459e-02] [-7.70728963e-02 -3.29284647e-03 9.97020023e-01 -3.53919753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.767719420999995 meters 0.06325911463151523 Centerline is valid? [True, True] Translation: X:32.93, Y:-0.04, Z:-3.55 [[ 9.95536262e-01 5.78568716e-02 7.45662998e-02 3.29310595e+01] [-5.79006564e-02 9.98321105e-01 -1.57621992e-03 -4.48911132e-02] [-7.45323060e-02 -2.74825362e-03 9.97214813e-01 -3.55372687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.827719421 meters 0.05626519683563021 Centerline is valid? [True, True] Translation: X:32.99, Y:-0.07, Z:-3.56 [[ 9.96051354e-01 4.50553878e-02 7.64964893e-02 3.29916222e+01] [-4.50634408e-02 9.98982811e-01 -1.62173141e-03 -7.14169224e-02] [-7.64917456e-02 -1.83186724e-03 9.97068532e-01 -3.55531530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.88771942099999 meters 0.054366284267839335 Centerline is valid? [True, True] Translation: X:33.05, Y:-0.08, Z:-3.56 [[ 9.96346346e-01 3.68581426e-02 7.70417803e-02 3.30521958e+01] [-3.68418863e-02 9.99319773e-01 -1.63277503e-03 -8.08127469e-02] [-7.70495555e-02 -1.21155508e-03 9.97026528e-01 -3.56182112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.947719420999995 meters 0.05390030862907994 Centerline is valid? [True, True] Translation: X:33.11, Y:-0.09, Z:-3.57 [[ 9.96710606e-01 3.24683170e-02 7.42548094e-02 3.31134311e+01] [-3.24414712e-02 9.99472407e-01 -1.56795949e-03 -9.45788438e-02] [-7.42665421e-02 -8.46133407e-04 9.97238068e-01 -3.57055760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.007719421 meters 0.05369436951914297 Centerline is valid? [True, True] Translation: X:33.17, Y:-0.10, Z:-3.58 [[ 9.96849990e-01 2.81020017e-02 7.41645106e-02 3.31736307e+01] [-2.80613816e-02 9.99604938e-01 -1.58986763e-03 -9.86069585e-02] [-7.41798895e-02 -4.96299096e-04 9.97244753e-01 -3.58069569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.06771942099999 meters 0.05279327845559027 Centerline is valid? [True, True] Translation: X:33.24, Y:-0.11, Z:-3.58 [[ 9.96653275e-01 2.75803543e-02 7.69517626e-02 3.32365686e+01] [-2.75329043e-02 9.99619490e-01 -1.67767998e-03 -1.07233329e-01] [-7.69687527e-02 -4.46640265e-04 9.97033405e-01 -3.58045191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.127719420999995 meters 0.0523038707255721 Centerline is valid? [True, True] Translation: X:33.30, Y:-0.11, Z:-3.58 [[ 9.96079364e-01 3.16766707e-02 8.25983550e-02 3.32984550e+01] [-3.16351937e-02 9.99497841e-01 -1.81117818e-03 -1.07773441e-01] [-8.26142496e-02 -8.08937745e-04 9.96581272e-01 -3.58203265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.187719421 meters 0.053120499459287845 Centerline is valid? [True, True] Translation: X:33.36, Y:-0.11, Z:-3.59 [[ 9.95923340e-01 3.67380481e-02 8.23833569e-02 3.33605606e+01] [-3.67138749e-02 9.99324181e-01 -1.80879896e-03 -1.05910250e-01] [-8.23941324e-02 -1.22318716e-03 9.96599072e-01 -3.58932789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.24771942099999 meters 0.05346363584564432 Centerline is valid? [True, True] Translation: X:33.42, Y:-0.11, Z:-3.60 [[ 9.95706904e-01 3.96092773e-02 8.36592235e-02 3.34230114e+01] [-3.95923355e-02 9.99214181e-01 -1.86219468e-03 -1.07332685e-01] [-8.36672427e-02 -1.45806394e-03 9.96492683e-01 -3.59539117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.307719420999994 meters 0.053827481374793 Centerline is valid? [True, True] Translation: X:33.49, Y:-0.11, Z:-3.60 [[ 9.95045929e-01 4.28729999e-02 8.96967428e-02 3.34859995e+01] [-4.28633409e-02 9.99078873e-01 -2.03480673e-03 -1.05315047e-01] [-8.97013589e-02 -1.81997591e-03 9.95967045e-01 -3.59578892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.367719421 meters 0.05925068596025207 Centerline is valid? [True, True] Translation: X:33.55, Y:-0.09, Z:-3.60 [[ 9.94614719e-01 5.62928363e-02 8.70211307e-02 3.35470379e+01] [-5.63339980e-02 9.98410007e-01 -1.98466108e-03 -9.19970779e-02] [-8.69944899e-02 -2.92827508e-03 9.96204489e-01 -3.60385289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.42771942099999 meters 0.06345444888220504 Centerline is valid? [True, True] Translation: X:33.61, Y:-0.08, Z:-3.62 [[ 9.94550101e-01 6.40210338e-02 8.22885359e-02 3.36069278e+01] [-6.40839209e-02 9.97942743e-01 -1.87943673e-03 -7.99129969e-02] [-8.22395707e-02 -3.40417803e-03 9.96606775e-01 -3.61793627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.487719420999994 meters 0.06655779369976521 Centerline is valid? [True, True] Translation: X:33.67, Y:-0.07, Z:-3.63 [[ 9.94447525e-01 6.75576190e-02 8.06851224e-02 3.36668676e+01] [-6.76295673e-02 9.97708796e-01 -1.84389450e-03 -7.34469253e-02] [-8.06248254e-02 -3.62304360e-03 9.96737935e-01 -3.62788790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.547719421 meters 0.06297166935171535 Centerline is valid? [True, True] Translation: X:33.73, Y:-0.09, Z:-3.64 [[ 9.95147527e-01 5.94061826e-02 7.84366256e-02 3.37261659e+01] [-5.94487660e-02 9.98229746e-01 -1.79413645e-03 -9.32711731e-02] [-7.84043557e-02 -2.87753016e-03 9.96917487e-01 -3.63803959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.60771942099999 meters 0.058233586194378 Centerline is valid? [True, True] Translation: X:33.79, Y:-0.11, Z:-3.65 [[ 9.96056855e-01 4.72717705e-02 7.50741028e-02 3.37852532e+01] [-4.72762051e-02 9.98880376e-01 -1.71904400e-03 -1.07211738e-01] [-7.50713102e-02 -1.83695312e-03 9.97176476e-01 -3.65063865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.667719420999994 meters 0.05526170461980237 Centerline is valid? [True, True] Translation: X:33.85, Y:-0.12, Z:-3.65 [[ 9.96262097e-01 4.19512703e-02 7.55110931e-02 3.38466483e+01] [-4.19406138e-02 9.99118612e-01 -1.72757516e-03 -1.23438468e-01] [-7.55170125e-02 -1.44586395e-03 9.97143465e-01 -3.65152812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.727719420999996 meters 0.0546102615901872 Centerline is valid? [True, True] Translation: X:33.91, Y:-0.13, Z:-3.66 [[ 9.96442496e-01 3.87212189e-02 7.48533226e-02 3.39081868e+01] [-3.87020494e-02 9.99249337e-01 -1.70714776e-03 -1.30943343e-01] [-7.48632359e-02 -1.19590242e-03 9.97193094e-01 -3.65869237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.787719421 meters 0.052262422448121584 Centerline is valid? [True, True] Translation: X:33.97, Y:-0.14, Z:-3.65 [[ 9.96011777e-01 3.20680621e-02 8.32597055e-02 3.39683776e+01] [-3.20180620e-02 9.99485415e-01 -1.93603338e-03 -1.36567039e-01] [-8.32789462e-02 -7.37502362e-04 9.96526002e-01 -3.65441255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.847719420999994 meters 0.05188691914440266 Centerline is valid? [True, True] Translation: X:34.03, Y:-0.14, Z:-3.66 [[ 9.96236668e-01 2.72530795e-02 8.22786132e-02 3.40306520e+01] [-2.71887266e-02 9.99628508e-01 -1.90266680e-03 -1.43414505e-01] [-8.22999008e-02 -3.41544284e-04 9.96607550e-01 -3.66145095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.907719420999996 meters 0.0525123323097201 Centerline is valid? [True, True] Translation: X:34.09, Y:-0.15, Z:-3.67 [[ 9.96771761e-01 2.09151722e-02 7.75152423e-02 3.40914149e+01] [-2.08363739e-02 9.99781233e-01 -1.82528663e-03 -1.49354324e-01] [-7.75364607e-02 2.04257591e-04 9.96989496e-01 -3.67491253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.967719421 meters 0.05239069080388249 Centerline is valid? [True, True] Translation: X:34.15, Y:-0.14, Z:-3.68 [[ 9.96687950e-01 2.44814318e-02 7.75486323e-02 3.41543724e+01] [-2.44134316e-02 9.99700282e-01 -1.82493440e-03 -1.43029538e-01] [-7.75700666e-02 -7.43381074e-05 9.96986900e-01 -3.68027307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.02771942099999 meters 0.0531443113655233 Centerline is valid? [True, True] Translation: X:34.22, Y:-0.13, Z:-3.68 [[ 9.95691490e-01 3.92246829e-02 8.40231013e-02 3.42173631e+01] [-3.91944316e-02 9.99229581e-01 -2.01017830e-03 -1.25776628e-01] [-8.40372169e-02 -1.29172027e-03 9.96461779e-01 -3.68085665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.087719420999996 meters 0.05758231902772967 Centerline is valid? [True, True] Translation: X:34.28, Y:-0.11, Z:-3.69 [[ 9.95272864e-01 5.55789852e-02 7.96423385e-02 3.42781847e+01] [-5.56016018e-02 9.98451159e-01 -1.93536195e-03 -1.09705796e-01] [-7.96265506e-02 -2.50202836e-03 9.96821625e-01 -3.68986726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.147719421 meters 0.06427735712941916 Centerline is valid? [True, True] Translation: X:34.34, Y:-0.09, Z:-3.70 [[ 9.94088779e-01 7.31986283e-02 8.01839126e-02 3.43387629e+01] [-7.32783118e-02 9.97309620e-01 -1.95237017e-03 -9.43064986e-02] [-8.01110982e-02 -3.93491247e-03 9.96778174e-01 -3.69608334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.20771942099999 meters 0.06899380711140117 Centerline is valid? [True, True] Translation: X:34.40, Y:-0.10, Z:-3.71 [[ 9.94021870e-01 7.88624421e-02 7.55065376e-02 3.43977153e+01] [-7.89492459e-02 9.96876940e-01 -1.83921750e-03 -9.66737900e-02] [-7.54157713e-02 -4.13296179e-03 9.97143611e-01 -3.70899341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.267719420999995 meters 0.06589832473557515 Centerline is valid? [True, True] Translation: X:34.46, Y:-0.10, Z:-3.72 [[ 9.94394439e-01 7.45630533e-02 7.49670029e-02 3.44583668e+01] [-7.46365542e-02 9.97209133e-01 -1.82458051e-03 -1.04157939e-01] [-7.48938263e-02 -3.78092607e-03 9.97184346e-01 -3.71610931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.327719421 meters 0.06371618606760228 Centerline is valid? [True, True] Translation: X:34.52, Y:-0.12, Z:-3.72 [[ 9.95012802e-01 6.76771542e-02 7.32756886e-02 3.45177132e+01] [-6.77285416e-02 9.97702187e-01 -1.78611566e-03 -1.21665258e-01] [-7.32281940e-02 -3.18564758e-03 9.97310124e-01 -3.72319776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.38771942099999 meters 0.05886046759433739 Centerline is valid? [True, True] Translation: X:34.58, Y:-0.14, Z:-3.72 [[ 9.95287517e-01 5.75697167e-02 7.80287489e-02 3.45777929e+01] [-5.75970537e-02 9.98338100e-01 -1.90202928e-03 -1.42448017e-01] [-7.80085722e-02 -2.60116004e-03 9.96949295e-01 -3.72487988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.447719420999995 meters 0.055417268428932194 Centerline is valid? [True, True] Translation: X:34.64, Y:-0.16, Z:-3.73 [[ 9.95700126e-01 4.64245811e-02 8.01624382e-02 3.46362740e+01] [-4.64173734e-02 9.98920221e-01 -1.95438467e-03 -1.60087673e-01] [-8.01666120e-02 -1.77494877e-03 9.96779897e-01 -3.73063687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.507719421 meters 0.05351816790978678 Centerline is valid? [True, True] Translation: X:34.70, Y:-0.18, Z:-3.74 [[ 9.96324389e-01 3.66498299e-02 7.74241621e-02 3.46973652e+01] [-3.66144944e-02 9.99327703e-01 -1.87637181e-03 -1.75623657e-01] [-7.74408787e-02 -9.65371555e-04 9.96996479e-01 -3.73998479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.56771942099999 meters 0.05313947569194423 Centerline is valid? [True, True] Translation: X:34.76, Y:-0.18, Z:-3.75 [[ 9.96589028e-01 3.22619941e-02 7.59570502e-02 3.47597869e+01] [-3.22136770e-02 9.99479271e-01 -1.86154348e-03 -1.83234091e-01] [-7.59775543e-02 -5.91662075e-04 9.97109353e-01 -3.74817318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.627719420999995 meters 0.052402199176517165 Centerline is valid? [True, True] Translation: X:34.82, Y:-0.19, Z:-3.75 [[ 9.96786391e-01 2.39299686e-02 7.64476758e-02 3.48214952e+01] [-2.38543676e-02 9.99713635e-01 -1.90204518e-03 -1.91763026e-01] [-7.64712998e-02 7.23217940e-05 9.97071780e-01 -3.75391062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.687719421 meters 0.05204908806308928 Centerline is valid? [True, True] Translation: X:34.88, Y:-0.19, Z:-3.76 [[ 9.96423125e-01 2.83181389e-02 7.96180867e-02 3.48830889e+01] [-2.82479768e-02 9.99598930e-01 -2.00763518e-03 -1.85101167e-01] [-7.96430067e-02 -2.48595743e-04 9.96823420e-01 -3.75655675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.74771942099999 meters 0.052662532657196004 Centerline is valid? [True, True] Translation: X:34.95, Y:-0.17, Z:-3.76 [[ 9.95596215e-01 3.90198231e-02 8.52386706e-02 3.49462255e+01] [-3.89763527e-02 9.99237767e-01 -2.17473639e-03 -1.69958594e-01] [-8.52585567e-02 -1.15713317e-03 9.96358188e-01 -3.75695469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.807719420999994 meters 0.055953686496777524 Centerline is valid? [True, True] Translation: X:35.01, Y:-0.15, Z:-3.77 [[ 9.95556296e-01 4.98580264e-02 7.98864090e-02 3.50067493e+01] [-4.98521878e-02 9.98754464e-01 -2.06877477e-03 -1.52398737e-01] [-7.98900526e-02 -1.92293052e-03 9.96801827e-01 -3.76868744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.867719421 meters 0.06060411425099295 Centerline is valid? [True, True] Translation: X:35.07, Y:-0.14, Z:-3.78 [[ 9.95069279e-01 6.38908845e-02 7.58622718e-02 3.50669387e+01] [-6.39262444e-02 9.97952692e-01 -1.96458968e-03 -1.38549357e-01] [-7.58324778e-02 -2.89468730e-03 9.97116370e-01 -3.77852856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.92771942099999 meters 0.062216060874287146 Centerline is valid? [True, True] Translation: X:35.13, Y:-0.14, Z:-3.78 [[ 9.94660231e-01 6.85251307e-02 7.71707940e-02 3.51290997e+01] [-6.85755968e-02 9.97643920e-01 -1.99895665e-03 -1.40693646e-01] [-7.71259522e-02 -3.30375057e-03 9.97015884e-01 -3.78411189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.987719420999994 meters 0.06209928863845472 Centerline is valid? [True, True] Translation: X:35.19, Y:-0.15, Z:-3.79 [[ 9.94638868e-01 6.77198410e-02 7.81507859e-02 3.51910481e+01] [-6.77690789e-02 9.97698978e-01 -2.02501072e-03 -1.49754630e-01] [-7.81080926e-02 -3.28205241e-03 9.96939494e-01 -3.79054213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.047719421 meters 0.05933309962030246 Centerline is valid? [True, True] Translation: X:35.25, Y:-0.17, Z:-3.79 [[ 9.94823075e-01 6.09740635e-02 8.12970651e-02 3.52511106e+01] [-6.10021107e-02 9.98135341e-01 -2.14103927e-03 -1.65633150e-01] [-8.12760216e-02 -2.82933730e-03 9.96687616e-01 -3.79470322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.10771942099999 meters 0.0556345359993069 Centerline is valid? [True, True] Translation: X:35.31, Y:-0.19, Z:-3.80 [[ 9.95312039e-01 5.17543178e-02 8.17033342e-02 3.53109202e+01] [-5.17516882e-02 9.98657666e-01 -2.15129404e-03 -1.86539809e-01] [-8.17049998e-02 -2.08707662e-03 9.96654372e-01 -3.80038829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.167719420999994 meters 0.054001194120201844 Centerline is valid? [True, True] Translation: X:35.37, Y:-0.20, Z:-3.81 [[ 9.95954004e-01 4.18878694e-02 7.95048946e-02 3.53705490e+01] [-4.18538109e-02 9.99121548e-01 -2.09549775e-03 -2.01511560e-01] [-7.95228293e-02 -1.24056345e-03 9.96832273e-01 -3.81174403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.227719420999996 meters 0.05269622854356899 Centerline is valid? [True, True] Translation: X:35.43, Y:-0.22, Z:-3.82 [[ 9.96433136e-01 3.33391508e-02 7.75210028e-02 3.54315468e+01] [-3.32812944e-02 9.99443945e-01 -2.03851687e-03 -2.20012951e-01] [-7.75458593e-02 -5.48753553e-04 9.96988635e-01 -3.82000440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.28771942099999 meters 0.05229826222865909 Centerline is valid? [True, True] Translation: X:35.49, Y:-0.21, Z:-3.82 [[ 9.96115893e-01 3.42048762e-02 8.11366369e-02 3.54929836e+01] [-3.41419221e-02 9.99414653e-01 -2.16355030e-03 -2.14981595e-01] [-8.11631478e-02 -6.15013899e-04 9.96700640e-01 -3.82210706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.347719420999994 meters 0.05323293370131857 Centerline is valid? [True, True] Translation: X:35.56, Y:-0.21, Z:-3.83 [[ 9.95933006e-01 4.08628643e-02 8.02974104e-02 3.55554628e+01] [-4.08219760e-02 9.99164119e-01 -2.15143467e-03 -2.08972680e-01] [-8.03182051e-02 -1.13521416e-03 9.96768628e-01 -3.82794200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.407719420999996 meters 0.059453720143399606 Centerline is valid? [True, True] Translation: X:35.62, Y:-0.19, Z:-3.84 [[ 9.95296918e-01 6.10429518e-02 7.52183663e-02 3.56162255e+01] [-6.10622972e-02 9.98131863e-01 -2.04469887e-03 -1.88137827e-01] [-7.52026625e-02 -2.55792376e-03 9.97164990e-01 -3.83969913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.467719421 meters 0.06320809019638848 Centerline is valid? [True, True] Translation: X:35.68, Y:-0.18, Z:-3.84 [[ 9.94465026e-01 6.92593398e-02 7.90092158e-02 3.56764388e+01] [-6.93063110e-02 9.97593108e-01 -2.15085872e-03 -1.78249098e-01] [-7.89680162e-02 -3.33688351e-03 9.96871565e-01 -3.84431300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.52771942099999 meters 0.060756869446430106 Centerline is valid? [True, True] Translation: X:35.74, Y:-0.19, Z:-3.85 [[ 9.94447154e-01 6.63958754e-02 8.16483071e-02 3.57377237e+01] [-6.64365893e-02 9.97788177e-01 -2.22101822e-03 -1.91251093e-01] [-8.16151819e-02 -3.21574980e-03 9.96658728e-01 -3.84705760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.587719420999996 meters 0.05972563349395377 Centerline is valid? [True, True] Translation: X:35.80, Y:-0.21, Z:-3.85 [[ 9.94561544e-01 6.32149585e-02 8.27720017e-02 3.57980067e+01] [-6.32453354e-02 9.97995456e-01 -2.25756211e-03 -2.05681661e-01] [-8.27487933e-02 -2.98965856e-03 9.96565953e-01 -3.85445447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.647719421 meters 0.059526006406053183 Centerline is valid? [True, True] Translation: X:35.86, Y:-0.22, Z:-3.86 [[ 9.94848430e-01 6.37920616e-02 7.87856221e-02 3.58592319e+01] [-6.38212014e-02 9.97959032e-01 -2.15067079e-03 -2.16092773e-01] [-7.87620189e-02 -2.88860160e-03 9.96889262e-01 -3.86446870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.70771942099999 meters 0.05865218149543612 Centerline is valid? [True, True] Translation: X:35.92, Y:-0.23, Z:-3.87 [[ 9.95273052e-01 6.01387145e-02 7.62554087e-02 3.59202736e+01] [-6.01553259e-02 9.98186859e-01 -2.08115936e-03 -2.30320763e-01] [-7.62423051e-02 -2.51584714e-03 9.97086145e-01 -3.87497488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.767719420999995 meters 0.05635992242242927 Centerline is valid? [True, True] Translation: X:35.98, Y:-0.24, Z:-3.88 [[ 9.95370278e-01 5.41308527e-02 7.94220436e-02 3.59803995e+01] [-5.41271649e-02 9.98531625e-01 -2.20086497e-03 -2.43172188e-01] [-7.94245569e-02 -2.10821447e-03 9.96838651e-01 -3.87932750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.827719421 meters 0.05246560060911132 Centerline is valid? [True, True] Translation: X:36.04, Y:-0.27, Z:-3.88 [[ 9.95845250e-01 3.86930334e-02 8.24323249e-02 3.60402192e+01] [-3.86360862e-02 9.99250732e-01 -2.28646932e-03 -2.66622065e-01] [-8.24590314e-02 -9.07892799e-04 9.96594042e-01 -3.88241264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.88771942099999 meters 0.051980538905460595 Centerline is valid? [True, True] Translation: X:36.10, Y:-0.28, Z:-3.89 [[ 9.96321251e-01 2.97132678e-02 8.03808856e-02 3.61020766e+01] [-2.96306369e-02 9.99558449e-01 -2.22085978e-03 -2.83053072e-01] [-8.04113824e-02 -1.69047045e-04 9.96761747e-01 -3.89027102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.947719420999995 meters 0.052501291517724695 Centerline is valid? [True, True] Translation: X:36.16, Y:-0.29, Z:-3.90 [[ 9.96708514e-01 2.51438050e-02 7.70709193e-02 3.61617656e+01] [-2.50515034e-02 9.99683819e-01 -2.16434719e-03 -2.88663750e-01] [-7.71009708e-02 2.26480876e-04 9.97023264e-01 -3.90128679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.007719421 meters 0.05344713483656559 Centerline is valid? [True, True] Translation: X:36.22, Y:-0.29, Z:-3.91 [[ 9.97033756e-01 1.99659191e-02 7.43306896e-02 3.62232326e+01] [-1.98655871e-02 9.99800477e-01 -2.08896945e-03 -2.94703152e-01] [-7.43575671e-02 6.06150270e-04 9.97231460e-01 -3.91015237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.06771942099999 meters 0.05247904941154721 Centerline is valid? [True, True] Translation: X:36.29, Y:-0.29, Z:-3.91 [[ 9.96608577e-01 1.83452465e-02 8.02171847e-02 3.62854247e+01] [-1.82224002e-02 9.99831397e-01 -2.26327025e-03 -2.92746184e-01] [-8.02451801e-02 7.93844908e-04 9.96774840e-01 -3.90672794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.127719420999995 meters 0.051704841391368904 Centerline is valid? [True, True] Translation: X:36.35, Y:-0.27, Z:-3.91 [[ 9.96189258e-01 3.05385318e-02 8.16967598e-02 3.63477579e+01] [-3.04522699e-02 9.99533571e-01 -2.30197133e-03 -2.65267833e-01] [-8.17289529e-02 -1.94652669e-04 9.96654574e-01 -3.91137587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.187719421 meters 0.05326290176263411 Centerline is valid? [True, True] Translation: X:36.41, Y:-0.24, Z:-3.92 [[ 9.96054211e-01 4.30736509e-02 7.75929787e-02 3.64088969e+01] [-4.30314083e-02 9.99071260e-01 -2.21709831e-03 -2.43766163e-01] [-7.76164135e-02 -1.13058504e-03 9.96982655e-01 -3.92012183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.24771942099999 meters 0.05536025781017797 Centerline is valid? [True, True] Translation: X:36.47, Y:-0.22, Z:-3.92 [[ 9.95172270e-01 5.48413478e-02 8.13915239e-02 3.64715781e+01] [-5.48345504e-02 9.98492758e-01 -2.32044651e-03 -2.24647077e-01] [-8.13961036e-02 -2.15382360e-03 9.96679505e-01 -3.92138627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.307719420999994 meters 0.0598854482182791 Centerline is valid? [True, True] Translation: X:36.53, Y:-0.20, Z:-3.93 [[ 9.94881164e-01 6.57401974e-02 7.67443589e-02 3.65325537e+01] [-6.57642573e-02 9.97832726e-01 -2.21644504e-03 -2.02851502e-01] [-7.67237425e-02 -2.84193634e-03 9.97048339e-01 -3.93465445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.367719421 meters 0.06203319908579328 Centerline is valid? [True, True] Translation: X:36.59, Y:-0.20, Z:-3.94 [[ 9.94843397e-01 6.80149205e-02 7.52368699e-02 3.65928891e+01] [-6.80443400e-02 9.97679927e-01 -2.17524482e-03 -1.98523140e-01] [-7.52102640e-02 -2.95541521e-03 9.97163317e-01 -3.94414593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.42771942099999 meters 0.0614594125041387 Centerline is valid? [True, True] Translation: X:36.65, Y:-0.20, Z:-3.95 [[ 9.94711156e-01 6.81686186e-02 7.68293929e-02 3.66549466e+01] [-6.82001142e-02 9.97669199e-01 -2.21681744e-03 -2.03674540e-01] [-7.68014362e-02 -3.03468032e-03 9.97041790e-01 -3.94809579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.487719420999994 meters 0.057845642183635464 Centerline is valid? [True, True] Translation: X:36.71, Y:-0.22, Z:-3.96 [[ 9.95602041e-01 5.64502432e-02 7.47659445e-02 3.67129875e+01] [-5.64446587e-02 9.98403329e-01 -2.18940985e-03 -2.18542529e-01] [-7.47701606e-02 -2.04035731e-03 9.97198706e-01 -3.96020006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.547719421 meters 0.053291627582518604 Centerline is valid? [True, True] Translation: X:36.77, Y:-0.25, Z:-3.96 [[ 9.96137321e-01 3.94631414e-02 7.84416816e-02 3.67726439e+01] [-3.94045453e-02 9.99220703e-01 -2.29533223e-03 -2.46044350e-01] [-7.84711332e-02 -8.04492690e-04 9.96916062e-01 -3.96306338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.60771942099999 meters 0.053163419316062804 Centerline is valid? [True, True] Translation: X:36.83, Y:-0.27, Z:-3.97 [[ 9.96618614e-01 2.17534566e-02 7.92346252e-02 3.68340016e+01] [-2.16384625e-02 9.99763193e-01 -2.30973168e-03 -2.71886963e-01] [-7.92661065e-02 5.87406119e-04 9.96853319e-01 -3.96828489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.667719420999994 meters 0.05461389224994214 Centerline is valid? [True, True] Translation: X:36.89, Y:-0.28, Z:-3.98 [[ 9.96973353e-01 1.28730787e-02 7.66708320e-02 3.68945663e+01] [-1.27368806e-02 9.99916317e-01 -2.26514927e-03 -2.82125353e-01] [-7.66935754e-02 1.28174622e-03 9.97053887e-01 -3.97552129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.727719420999996 meters 0.05542385389245664 Centerline is valid? [True, True] Translation: X:36.96, Y:-0.28, Z:-3.99 [[ 9.97211241e-01 1.23403173e-02 7.36033831e-02 3.69560859e+01] [-1.22132567e-02 9.99923047e-01 -2.17613446e-03 -2.80570606e-01] [-7.36245733e-02 1.27112874e-03 9.97285218e-01 -3.98648606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.78771942099999 meters 0.05496352098094664 Centerline is valid? [True, True] Translation: X:37.02, Y:-0.28, Z:-3.99 [[ 9.97051101e-01 1.21151732e-02 7.57781282e-02 3.70182226e+01] [-1.19798316e-02 9.99925729e-01 -2.24034457e-03 -2.77633856e-01] [-7.57996423e-02 1.32592880e-03 9.97122187e-01 -3.98801005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.847719420999994 meters 0.05593858295204922 Centerline is valid? [True, True] Translation: X:37.08, Y:-0.28, Z:-3.99 [[ 9.96773931e-01 9.20648001e-03 7.97306204e-02 3.70795556e+01] [-9.04510787e-03 9.99956248e-01 -2.38489908e-03 -2.78999775e-01] [-7.97490886e-02 1.65603317e-03 9.96813594e-01 -3.99262047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.907719420999996 meters 0.05323773389540345 Centerline is valid? [True, True] Translation: X:37.14, Y:-0.26, Z:-3.99 [[ 9.96453333e-01 1.73630007e-02 8.23363886e-02 3.71406160e+01] [-1.72160409e-02 9.99848681e-01 -2.49454734e-03 -2.64873395e-01] [-8.23672423e-02 1.06819339e-03 9.96601473e-01 -3.99469943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.96771942099999 meters 0.05316921940642338 Centerline is valid? [True, True] Translation: X:37.20, Y:-0.24, Z:-4.01 [[ 9.96488962e-01 3.12602278e-02 7.76694723e-02 3.72014330e+01] [-3.11723004e-02 9.99511276e-01 -2.34451173e-03 -2.40613234e-01] [-7.77048033e-02 -8.48560634e-05 9.96976407e-01 -4.01059442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.02771942099999 meters 0.05429288785761685 Centerline is valid? [True, True] Translation: X:37.26, Y:-0.23, Z:-4.02 [[ 9.96411977e-01 4.07851608e-02 7.41602525e-02 3.72626481e+01] [-4.07292533e-02 9.99167649e-01 -2.26667860e-03 -2.27262043e-01] [-7.41909720e-02 -7.61946002e-04 9.97243761e-01 -4.02137004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.087719420999996 meters 0.05502636332040436 Centerline is valid? [True, True] Translation: X:37.32, Y:-0.22, Z:-4.03 [[ 9.96486036e-01 4.51534263e-02 7.05460661e-02 3.73234201e+01] [-4.51135113e-02 9.98979533e-01 -2.15978938e-03 -2.21714378e-01] [-7.05715980e-02 -1.03038078e-03 9.97506184e-01 -4.02930294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.147719421 meters 0.05690855063632944 Centerline is valid? [True, True] Translation: X:37.38, Y:-0.21, Z:-4.04 [[ 9.96148185e-01 5.22139126e-02 7.04450233e-02 3.73847561e+01] [-5.21919522e-02 9.98634749e-01 -2.15358153e-03 -2.09032722e-01] [-7.04612951e-02 -1.53137695e-03 9.97513339e-01 -4.03782221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.20771942099999 meters 0.05712118181879129 Centerline is valid? [True, True] Translation: X:37.45, Y:-0.21, Z:-4.04 [[ 9.95522483e-01 5.72467687e-02 7.52183108e-02 3.74471668e+01] [-5.72355648e-02 9.98358037e-01 -2.30635438e-03 -2.05631890e-01] [-7.52268365e-02 -2.00913486e-03 9.97164423e-01 -4.03841000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.267719420999995 meters 0.05626433592899077 Centerline is valid? [True, True] Translation: X:37.51, Y:-0.21, Z:-4.04 [[ 9.95393082e-01 5.58400595e-02 7.79390828e-02 3.75085427e+01] [-5.58210969e-02 9.98437845e-01 -2.42362379e-03 -2.09332669e-01] [-7.79526652e-02 -1.93818674e-03 9.96955177e-01 -4.04252356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.327719421 meters 0.05359128805744794 Centerline is valid? [True, True] Translation: X:37.57, Y:-0.23, Z:-4.05 [[ 9.95908958e-01 4.28751170e-02 7.95428867e-02 3.75678799e+01] [-4.28136836e-02 9.99080000e-01 -2.47842156e-03 -2.26476672e-01] [-7.95759698e-02 -9.37241753e-04 9.96828364e-01 -4.05034371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.38771942099999 meters 0.05374100141608683 Centerline is valid? [True, True] Translation: X:37.63, Y:-0.25, Z:-4.06 [[ 9.96756541e-01 2.50913948e-02 7.64645035e-02 3.76282720e+01] [-2.49830783e-02 9.99685058e-01 -2.37294084e-03 -2.54467988e-01] [-7.64999620e-02 4.54925630e-04 9.97069480e-01 -4.06018913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.447719420999995 meters 0.054227581104279464 Centerline is valid? [True, True] Translation: X:37.69, Y:-0.27, Z:-4.06 [[ 9.96482150e-01 1.67181173e-02 8.21208264e-02 3.76907816e+01] [-1.65620805e-02 9.99859508e-01 -2.58096524e-03 -2.71598650e-01] [-8.21524380e-02 1.21179405e-03 9.96619039e-01 -4.05959526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.507719421 meters 0.053239069442145966 Centerline is valid? [True, True] Translation: X:37.75, Y:-0.26, Z:-4.07 [[ 9.96480121e-01 2.44443015e-02 8.01863134e-02 3.77530238e+01] [-2.43202652e-02 9.99701034e-01 -2.52328138e-03 -2.62260077e-01] [-8.02240203e-02 5.64247324e-04 9.96776699e-01 -4.06765833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.56771942099999 meters 0.05335753152926353 Centerline is valid? [True, True] Translation: X:37.81, Y:-0.24, Z:-4.08 [[ 9.96426531e-01 3.90973957e-02 7.48703026e-02 3.78145612e+01] [-3.90290490e-02 9.99235251e-01 -2.37632319e-03 -2.42920870e-01] [-7.49059537e-02 -5.54285238e-04 9.97190449e-01 -4.07857853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.627719420999995 meters 0.05416284556224739 Centerline is valid? [True, True] Translation: X:37.88, Y:-0.23, Z:-4.08 [[ 9.95833487e-01 4.73846765e-02 7.79125117e-02 3.78770320e+01] [-4.73341668e-02 9.98875992e-01 -2.49597111e-03 -2.28097887e-01] [-7.79432082e-02 -1.20235221e-03 9.96957076e-01 -4.08467549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.687719421 meters 0.054492830544756315 Centerline is valid? [True, True] Translation: X:37.94, Y:-0.23, Z:-4.09 [[ 9.95755476e-01 4.90935158e-02 7.78515131e-02 3.79390904e+01] [-4.90461655e-02 9.98793330e-01 -2.52131515e-03 -2.28831969e-01] [-7.78813522e-02 -1.30770483e-03 9.96961777e-01 -4.09269563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.74771942099999 meters 0.05468727757822603 Centerline is valid? [True, True] Translation: X:38.00, Y:-0.23, Z:-4.10 [[ 9.95460121e-01 5.21545115e-02 7.96181761e-02 3.80021799e+01] [-5.21128515e-02 9.98637811e-01 -2.60244341e-03 -2.25341643e-01] [-7.96454502e-02 -1.55850155e-03 9.96822037e-01 -4.09810451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.807719420999994 meters 0.05891664080365916 Centerline is valid? [True, True] Translation: X:38.06, Y:-0.21, Z:-4.11 [[ 9.95083089e-01 6.42813467e-02 7.53495451e-02 3.80624277e+01] [-6.42759972e-02 9.97929032e-01 -2.49854508e-03 -2.12483367e-01] [-7.53541085e-02 -2.35690720e-03 9.97154052e-01 -4.10866132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.867719421 meters 0.06177012980709091 Centerline is valid? [True, True] Translation: X:38.12, Y:-0.21, Z:-4.12 [[ 9.94782773e-01 7.07198583e-02 7.35250744e-02 3.81230444e+01] [-7.07322498e-02 9.97492357e-01 -2.43854944e-03 -2.06375035e-01] [-7.35131536e-02 -2.77476695e-03 9.97290387e-01 -4.11847207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.92771942099999 meters 0.06236065914433314 Centerline is valid? [True, True] Translation: X:38.18, Y:-0.21, Z:-4.13 [[ 9.94650127e-01 7.09558099e-02 7.50759477e-02 3.81842016e+01] [-7.09699596e-02 9.97475364e-01 -2.48272558e-03 -2.09009526e-01] [-7.50625721e-02 -2.85869367e-03 9.97174728e-01 -4.12532999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.987719420999994 meters 0.05818392046335038 Centerline is valid? [True, True] Translation: X:38.25, Y:-0.22, Z:-4.12 [[ 9.94560019e-01 6.38404145e-02 8.23089964e-02 3.82451671e+01] [-6.38304967e-02 9.97956953e-01 -2.75456517e-03 -2.21112644e-01] [-8.23166879e-02 -2.51424374e-03 9.96603051e-01 -4.12350691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.047719421 meters 0.052542309387226954 Centerline is valid? [True, True] Translation: X:38.30, Y:-0.25, Z:-4.13 [[ 9.95613685e-01 4.25704281e-02 8.33135518e-02 3.83043378e+01] [-4.24857024e-02 9.99093178e-01 -2.79039376e-03 -2.54266400e-01] [-8.33567895e-02 -7.61480547e-04 9.96519476e-01 -4.12757776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.10771942099999 meters 0.053131001474677926 Centerline is valid? [True, True] Translation: X:38.36, Y:-0.27, Z:-4.14 [[ 9.96521501e-01 3.15531665e-02 7.71316729e-02 3.83637028e+01] [-3.14482600e-02 9.99502065e-01 -2.57465955e-03 -2.69330339e-01] [-7.71745050e-02 1.40046695e-04 9.97017591e-01 -4.14366588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.167719420999994 meters 0.053989620162944736 Centerline is valid? [True, True] Translation: X:38.42, Y:-0.28, Z:-4.15 [[ 9.96929411e-01 2.41502058e-02 7.44883687e-02 3.84248906e+01] [-2.40302674e-02 9.99708090e-01 -2.50610741e-03 -2.75314314e-01] [-7.45271478e-02 7.08436770e-04 9.97218733e-01 -4.15130577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.227719420999996 meters 0.053692152479379585 Centerline is valid? [True, True] Translation: X:38.49, Y:-0.27, Z:-4.16 [[ 9.96975399e-01 2.54783442e-02 7.34228077e-02 3.84876266e+01] [-2.53640080e-02 9.99675182e-01 -2.48936785e-03 -2.72413121e-01] [-7.34623836e-02 6.19541820e-04 9.97297796e-01 -4.15514950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.28771942099999 meters 0.053862401691399414 Centerline is valid? [True, True] Translation: X:38.55, Y:-0.24, Z:-4.16 [[ 9.96224241e-01 4.61545772e-02 7.35324226e-02 3.85495217e+01] [-4.60943507e-02 9.98933920e-01 -2.51675525e-03 -2.44273387e-01] [-7.35701909e-02 -8.82176688e-04 9.97289651e-01 -4.16377135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.347719420999994 meters 0.057189992836680345 Centerline is valid? [True, True] Translation: X:38.61, Y:-0.22, Z:-4.17 [[ 9.95207816e-01 6.15579458e-02 7.59738290e-02 3.86110907e+01] [-6.15360785e-02 9.98101392e-01 -2.63097382e-03 -2.22971011e-01] [-7.59915418e-02 -2.05676580e-03 9.97106341e-01 -4.16691527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.407719420999996 meters 0.05930441028837907 Centerline is valid? [True, True] Translation: X:38.67, Y:-0.21, Z:-4.17 [[ 9.94832268e-01 6.69204059e-02 7.63571774e-02 3.86725693e+01] [-6.69145618e-02 9.97755222e-01 -2.63785580e-03 -2.13596277e-01] [-7.63622989e-02 -2.48518300e-03 9.97077040e-01 -4.17440178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.46771942099999 meters 0.060985455946322854 Centerline is valid? [True, True] Translation: X:38.73, Y:-0.21, Z:-4.18 [[ 9.94763845e-01 7.10325753e-02 7.34796998e-02 3.87328124e+01] [-7.10363296e-02 9.97470429e-01 -2.56562139e-03 -2.12504288e-01] [-7.34760704e-02 -2.66754077e-03 9.97293413e-01 -4.18449896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.52771942099999 meters 0.05809257564550578 Centerline is valid? [True, True] Translation: X:38.79, Y:-0.23, Z:-4.19 [[ 9.95108426e-01 6.43166923e-02 7.49838941e-02 3.87926613e+01] [-6.43011999e-02 9.97927089e-01 -2.62328028e-03 -2.25008854e-01] [-7.49971799e-02 -2.21110605e-03 9.97181294e-01 -4.18927309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.587719420999996 meters 0.055474193830413736 Centerline is valid? [True, True] Translation: X:38.85, Y:-0.24, Z:-4.19 [[ 9.95453980e-01 5.90480850e-02 7.47308315e-02 3.88539490e+01] [-5.90180452e-02 9.98253498e-01 -2.61216749e-03 -2.37996874e-01] [-7.47545575e-02 -1.81017506e-03 9.97200321e-01 -4.19290686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.64771942099999 meters 0.05229621826917085 Centerline is valid? [True, True] Translation: X:38.91, Y:-0.26, Z:-4.20 [[ 9.95957506e-01 4.28340294e-02 7.89549982e-02 3.89137422e+01] [-4.27490196e-02 9.99082010e-01 -2.76741396e-03 -2.62147905e-01] [-7.90010578e-02 -6.19022069e-04 9.96874340e-01 -4.19755215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.70771942099999 meters 0.052104267665591564 Centerline is valid? [True, True] Translation: X:38.97, Y:-0.28, Z:-4.20 [[ 9.96304943e-01 3.33823097e-02 7.91333215e-02 3.89736175e+01] [-3.32677236e-02 9.99442648e-01 -2.76630073e-03 -2.82663369e-01] [-7.91815618e-02 1.23493621e-04 9.96860203e-01 -4.20404771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.767719420999995 meters 0.05269368875749402 Centerline is valid? [True, True] Translation: X:39.03, Y:-0.30, Z:-4.21 [[ 9.96680369e-01 2.83628073e-02 7.63137874e-02 3.90341374e+01] [-2.82399745e-02 9.99597557e-01 -2.68843536e-03 -2.98579982e-01] [-7.63593270e-02 5.24411339e-04 9.97080227e-01 -4.21284063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.827719421 meters 0.05194821665023787 Centerline is valid? [True, True] Translation: X:39.10, Y:-0.30, Z:-4.21 [[ 9.96413036e-01 3.08956594e-02 7.87814636e-02 3.90971216e+01] [-3.07704404e-02 9.99522547e-01 -2.80320037e-03 -2.95008789e-01] [-7.88304559e-02 3.69005062e-04 9.96887969e-01 -4.21491092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.88771942099999 meters 0.05193094027332971 Centerline is valid? [True, True] Translation: X:39.16, Y:-0.28, Z:-4.22 [[ 9.95779413e-01 4.50753756e-02 7.99473075e-02 3.91603872e+01] [-4.49918281e-02 9.98983298e-01 -2.84701640e-03 -2.84936735e-01] [-7.99943552e-02 -7.61975194e-04 9.96795025e-01 -4.22074000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.947719420999995 meters 0.05580109659471512 Centerline is valid? [True, True] Translation: X:39.22, Y:-0.26, Z:-4.23 [[ 9.94853088e-01 6.19781725e-02 8.01625838e-02 3.92215360e+01] [-6.19460445e-02 9.98075316e-01 -2.89000745e-03 -2.63942478e-01] [-8.01874135e-02 -2.09062215e-03 9.96777612e-01 -4.22833304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.007719421 meters 0.06071987272937149 Centerline is valid? [True, True] Translation: X:39.28, Y:-0.25, Z:-4.24 [[ 9.94380259e-01 7.19717696e-02 7.76399681e-02 3.92824469e+01] [-7.19719310e-02 9.97402728e-01 -2.79974338e-03 -2.48707379e-01] [-7.76398185e-02 -2.80388887e-03 9.96977531e-01 -4.23819218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.06771942099999 meters 0.0631471724539918 Centerline is valid? [True, True] Translation: X:39.34, Y:-0.25, Z:-4.25 [[ 9.94616645e-01 7.43558306e-02 7.21729918e-02 3.93404958e+01] [-7.43621178e-02 9.97227906e-01 -2.60359421e-03 -2.53604441e-01] [-7.21665139e-02 -2.77735838e-03 9.97388731e-01 -4.25152830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.127719420999995 meters 0.061302925928865895 Centerline is valid? [True, True] Translation: X:39.40, Y:-0.26, Z:-4.26 [[ 9.94618310e-01 7.12315156e-02 7.52362154e-02 3.94009281e+01] [-7.12295967e-02 9.97456259e-01 -2.71225685e-03 -2.58207726e-01] [-7.52380321e-02 -2.66138496e-03 9.97162051e-01 -4.25529600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.187719421 meters 0.059118171181787374 Centerline is valid? [True, True] Translation: X:39.46, Y:-0.27, Z:-4.26 [[ 9.95001177e-01 6.73936272e-02 7.36936679e-02 3.94622016e+01] [-6.73818464e-02 9.97723744e-01 -2.64887916e-03 -2.68796719e-01] [-7.37044399e-02 -2.32997753e-03 9.97277407e-01 -4.26284440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.24771942099999 meters 0.05521480072997958 Centerline is valid? [True, True] Translation: X:39.52, Y:-0.29, Z:-4.27 [[ 9.95648467e-01 5.81337973e-02 7.28326233e-02 3.95222647e+01] [-5.80953405e-02 9.98307527e-01 -2.64813672e-03 -2.91842555e-01] [-7.28633023e-02 -1.59462279e-03 9.97340662e-01 -4.26921921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.307719420999994 meters 0.05315941119275208 Centerline is valid? [True, True] Translation: X:39.58, Y:-0.31, Z:-4.28 [[ 9.96508866e-01 4.50226123e-02 7.03067820e-02 3.95821660e+01] [-4.49541203e-02 9.98985780e-01 -2.55693781e-03 -3.13176219e-01] [-7.03505955e-02 -6.12568330e-04 9.97522139e-01 -4.28127402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.367719421 meters 0.053274854090523224 Centerline is valid? [True, True] Translation: X:39.64, Y:-0.33, Z:-4.29 [[ 9.97147981e-01 3.27559726e-02 6.79922792e-02 3.96424185e+01] [-3.26638580e-02 9.99463351e-01 -2.46636938e-03 -3.30678584e-01] [-6.80365795e-02 2.38445091e-04 9.97682799e-01 -4.28992972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.42771942099999 meters 0.053217351781719165 Centerline is valid? [True, True] Translation: X:39.70, Y:-0.34, Z:-4.29 [[ 9.97126760e-01 3.10298439e-02 6.91040700e-02 3.97046219e+01] [-3.09292403e-02 9.99518386e-01 -2.52555795e-03 -3.43640442e-01] [-6.91491562e-02 3.80965034e-04 9.97606260e-01 -4.29239781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.487719420999994 meters 0.05287196502671546 Centerline is valid? [True, True] Translation: X:39.77, Y:-0.34, Z:-4.30 [[ 9.97041243e-01 3.52966986e-02 6.82854556e-02 3.97661213e+01] [-3.52067805e-02 9.99376871e-01 -2.52018637e-03 -3.39546114e-01] [-6.83318593e-02 1.08618705e-04 9.97662641e-01 -4.29923973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.547719421 meters 0.051928883218189954 Centerline is valid? [True, True] Translation: X:39.83, Y:-0.33, Z:-4.30 [[ 9.96194119e-01 4.25324747e-02 7.60806531e-02 3.98267695e+01] [-4.24403959e-02 9.99095000e-01 -2.82739475e-03 -3.26274449e-01] [-7.61320562e-02 -4.12259018e-04 9.97097658e-01 -4.29841581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.60771942099999 meters 0.053724409826866416 Centerline is valid? [True, True] Translation: X:39.89, Y:-0.31, Z:-4.31 [[ 9.95971039e-01 5.02933985e-02 7.42446255e-02 3.98880668e+01] [-5.02273381e-02 9.98734003e-01 -2.75781748e-03 -3.13808346e-01] [-7.42893321e-02 -9.82403569e-04 9.97236246e-01 -4.30744886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.667719420999994 meters 0.05578170901505772 Centerline is valid? [True, True] Translation: X:39.95, Y:-0.30, Z:-4.32 [[ 9.95680458e-01 5.71788162e-02 7.31505905e-02 3.99493230e+01] [-5.71330226e-02 9.98362869e-01 -2.72004416e-03 -3.03878885e-01] [-7.31863623e-02 -1.47101953e-03 9.97317198e-01 -4.31670186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.727719420999996 meters 0.05598774093998053 Centerline is valid? [True, True] Translation: X:40.01, Y:-0.30, Z:-4.32 [[ 9.95278907e-01 6.32691256e-02 7.35996975e-02 4.00125429e+01] [-6.32392840e-02 9.97994637e-01 -2.73809071e-03 -2.95316221e-01] [-7.36253400e-02 -1.92922824e-03 9.97284106e-01 -4.31675292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.78771942099999 meters 0.0597842581852406 Centerline is valid? [True, True] Translation: X:40.07, Y:-0.29, Z:-4.32 [[ 9.94313708e-01 7.41871395e-02 7.63971120e-02 4.00741453e+01] [-7.41864650e-02 9.97240313e-01 -2.85072402e-03 -2.87380721e-01] [-7.63977670e-02 -2.83311770e-03 9.97073395e-01 -4.32194463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.847719420999994 meters 0.06489018190600328 Centerline is valid? [True, True] Translation: X:40.13, Y:-0.28, Z:-4.34 [[ 9.94152345e-01 7.56551559e-02 7.70546064e-02 4.01340677e+01] [-7.56591637e-02 9.97129603e-01 -2.87147808e-03 -2.80365946e-01] [-7.70506713e-02 -2.97520041e-03 9.97022739e-01 -4.33678810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.907719420999996 meters 0.058271482350618076 Centerline is valid? [True, True] Translation: X:40.19, Y:-0.30, Z:-4.34 [[ 9.95136341e-01 6.68490878e-02 7.23523463e-02 4.01944602e+01] [-6.68274162e-02 9.97760834e-01 -2.72294076e-03 -3.01618591e-01] [-7.23723635e-02 -2.12542306e-03 9.97375418e-01 -4.34208755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.96771942099999 meters 0.05395894232558316 Centerline is valid? [True, True] Translation: X:40.25, Y:-0.33, Z:-4.35 [[ 9.95787960e-01 5.15135629e-02 7.58465019e-02 4.02530664e+01] [-5.14449826e-02 9.98671738e-01 -2.85899942e-03 -3.26935972e-01] [-7.58930351e-02 -1.05496477e-03 9.97115407e-01 -4.34808501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.02771942099999 meters 0.05299719214680978 Centerline is valid? [True, True] Translation: X:40.31, Y:-0.35, Z:-4.36 [[ 9.96596406e-01 3.46045846e-02 7.48206222e-02 4.03129924e+01] [-3.44907945e-02 9.99401057e-01 -2.81281513e-03 -3.48361025e-01] [-7.48731452e-02 2.22618752e-04 9.97193042e-01 -4.35896457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.087719420999996 meters 0.05429538916527741 Centerline is valid? [True, True] Translation: X:40.37, Y:-0.37, Z:-4.36 [[ 9.96913116e-01 2.24065306e-02 7.52475060e-02 4.03743888e+01] [-2.22552690e-02 9.99748264e-01 -2.84820691e-03 -3.65974177e-01] [-7.52923819e-02 1.16476133e-03 9.97160820e-01 -4.36054591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.14771942099999 meters 0.055152547406709426 Centerline is valid? [True, True] Translation: X:40.44, Y:-0.37, Z:-4.37 [[ 9.96934246e-01 1.88801594e-02 7.59318707e-02 4.04356684e+01] [-1.87140251e-02 9.99820675e-01 -2.89892969e-03 -3.72799203e-01] [-7.59729865e-02 1.46905135e-03 9.97108794e-01 -4.36580100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.20771942099999 meters 0.053588848149718614 Centerline is valid? [True, True] Translation: X:40.50, Y:-0.36, Z:-4.36 [[ 9.96674631e-01 2.13834180e-02 7.86284300e-02 4.04984333e+01] [-2.12118601e-02 9.99770452e-01 -3.01655101e-03 -3.59403059e-01] [-7.86748852e-02 1.33866461e-03 9.96899428e-01 -4.36490392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.267719420999995 meters 0.052310341089714066 Centerline is valid? [True, True] Translation: X:40.56, Y:-0.35, Z:-4.37 [[ 9.96273618e-01 3.19121481e-02 8.01279832e-02 4.05585790e+01] [-3.17674054e-02 9.99490540e-01 -3.08085036e-03 -3.50807631e-01] [-8.01854777e-02 5.23911813e-04 9.96779823e-01 -4.37426819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.32771942099999 meters 0.05204325689764213 Centerline is valid? [True, True] Translation: X:40.62, Y:-0.33, Z:-4.38 [[ 9.95789474e-01 4.44720297e-02 8.01596065e-02 4.06213963e+01] [-4.43673647e-02 9.99010513e-01 -3.08722187e-03 -3.30606597e-01] [-8.02175846e-02 -4.82247451e-04 9.96777260e-01 -4.38332714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.38771942099999 meters 0.05534553664133324 Centerline is valid? [True, True] Translation: X:40.68, Y:-0.31, Z:-4.39 [[ 9.95354824e-01 5.61447409e-02 7.82083274e-02 4.06819713e+01] [-5.60785158e-02 9.98421720e-01 -3.04453050e-03 -3.05465914e-01] [-7.82558271e-02 -1.35541880e-03 9.96932389e-01 -4.39489227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.447719420999995 meters 0.060007571992963915 Centerline is valid? [True, True] Translation: X:40.74, Y:-0.29, Z:-4.40 [[ 9.94936793e-01 6.61395283e-02 7.56725831e-02 4.07423430e+01] [-6.61062149e-02 9.97808238e-01 -2.94770850e-03 -2.94314628e-01] [-7.57016868e-02 -2.06964439e-03 9.97128362e-01 -4.40445172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.507719421 meters 0.0626954417540026 Centerline is valid? [True, True] Translation: X:40.80, Y:-0.29, Z:-4.41 [[ 9.94255318e-01 7.99152434e-02 7.12033429e-02 4.08037028e+01] [-7.99209712e-02 9.96797346e-01 -2.77306999e-03 -2.86734770e-01] [-7.11969138e-02 -2.93350074e-03 9.97457966e-01 -4.40868364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.56771942099999 meters 0.06594966762129334 Centerline is valid? [True, True] Translation: X:40.86, Y:-0.28, Z:-4.41 [[ 9.93401191e-01 8.75101471e-02 7.41353301e-02 4.08649081e+01] [-8.75372845e-02 9.96157053e-01 -2.88941340e-03 -2.81967130e-01] [-7.41032850e-02 -3.61925878e-03 9.97244004e-01 -4.40976822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.627719420999995 meters 0.06539735416088366 Centerline is valid? [True, True] Translation: X:40.93, Y:-0.29, Z:-4.42 [[ 9.93522411e-01 8.69025876e-02 7.32199305e-02 4.09263163e+01] [-8.69280226e-02 9.96210531e-01 -2.84532280e-03 -2.91842864e-01] [-7.31897318e-02 -3.53797180e-03 9.97311760e-01 -4.41892724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.687719421 meters 0.06035687686349795 Centerline is valid? [True, True] Translation: X:40.98, Y:-0.32, Z:-4.43 [[ 9.94426594e-01 7.33170680e-02 7.57651464e-02 4.09849297e+01] [-7.33023490e-02 9.97305315e-01 -2.97889492e-03 -3.17855322e-01] [-7.57793871e-02 -2.59147088e-03 9.97121241e-01 -4.42624039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.74771942099999 meters 0.0558134678510311 Centerline is valid? [True, True] Translation: X:41.04, Y:-0.34, Z:-4.44 [[ 9.95833614e-01 5.64564618e-02 7.16106202e-02 4.10422821e+01] [-5.63996904e-02 9.98404299e-01 -2.81615537e-03 -3.44560834e-01] [-7.16553412e-02 -1.23439463e-03 9.97428688e-01 -4.43806732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.807719420999994 meters 0.05295013642817037 Centerline is valid? [True, True] Translation: X:41.10, Y:-0.37, Z:-4.44 [[ 9.96181974e-01 4.57547399e-02 7.43503727e-02 4.11021331e+01] [-4.56638439e-02 9.98952587e-01 -2.92288563e-03 -3.71246662e-01] [-7.44062330e-02 -4.83397835e-04 9.97227897e-01 -4.43715841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.867719421 meters 0.053181937793342605 Centerline is valid? [True, True] Translation: X:41.16, Y:-0.38, Z:-4.45 [[ 9.96575562e-01 3.93691891e-02 7.27132528e-02 4.11622051e+01] [-3.92659831e-02 9.99224733e-01 -2.84883858e-03 -3.83620884e-01] [-7.27690371e-02 -1.60744493e-05 9.97348819e-01 -4.44594358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.92771942099999 meters 0.05338301454263492 Centerline is valid? [True, True] Translation: X:41.22, Y:-0.39, Z:-4.45 [[ 9.96718982e-01 3.64962699e-02 7.22446779e-02 4.12237947e+01] [-3.63854786e-02 9.99333767e-01 -2.84945126e-03 -3.92928754e-01] [-7.23005405e-02 2.11444978e-04 9.97382869e-01 -4.45229364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.987719420999994 meters 0.0536122630555848 Centerline is valid? [True, True] Translation: X:41.28, Y:-0.39, Z:-4.46 [[ 9.96521811e-01 4.25132100e-02 7.16722154e-02 4.12840782e+01] [-4.24181132e-02 9.99095885e-01 -2.84905647e-03 -3.92033477e-01] [-7.17285380e-02 -2.01053228e-04 9.97424171e-01 -4.46047337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.047719421 meters 0.053946568774594715 Centerline is valid? [True, True] Translation: X:41.35, Y:-0.38, Z:-4.47 [[ 9.96149404e-01 5.07319633e-02 7.15026748e-02 4.13469177e+01] [-5.06571063e-02 9.98712006e-01 -2.86107620e-03 -3.80994483e-01] [-7.15557278e-02 -7.72059243e-04 9.97436305e-01 -4.46612393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.10771942099999 meters 0.05572374288482688 Centerline is valid? [True, True] Translation: X:41.41, Y:-0.37, Z:-4.47 [[ 9.95434924e-01 6.18104802e-02 7.27239800e-02 4.14095223e+01] [-6.17603948e-02 9.98086676e-01 -2.93937283e-03 -3.67866318e-01] [-7.27665195e-02 -1.56550734e-03 9.97347774e-01 -4.46923205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.167719420999994 meters 0.0559259207498735 Centerline is valid? [True, True] Translation: X:41.47, Y:-0.37, Z:-4.48 [[ 9.95256093e-01 6.27065412e-02 7.43854823e-02 4.14700354e+01] [-6.26566134e-02 9.98030614e-01 -3.00692594e-03 -3.74812790e-01] [-7.44275425e-02 -1.66808105e-03 9.97225029e-01 -4.47598284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.227719420999996 meters 0.05587775402318127 Centerline is valid? [True, True] Translation: X:41.53, Y:-0.38, Z:-4.48 [[ 9.95271713e-01 6.36482120e-02 7.33697718e-02 4.15323594e+01] [-6.36007730e-02 9.97970957e-01 -2.98510864e-03 -3.77118702e-01] [-7.34108982e-02 -1.69538001e-03 9.97300339e-01 -4.48147705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.28771942099999 meters 0.06116002228979888 Centerline is valid? [True, True] Translation: X:41.59, Y:-0.37, Z:-4.50 [[ 9.94836568e-01 7.54596336e-02 6.78678691e-02 4.15927951e+01] [-7.54444169e-02 9.97146103e-01 -2.79093549e-03 -3.68332877e-01] [-6.78847841e-02 -2.34372712e-03 9.97690414e-01 -4.49577157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.347719420999994 meters 0.0647780440106295 Centerline is valid? [True, True] Translation: X:41.65, Y:-0.36, Z:-4.50 [[ 9.93818369e-01 8.70666924e-02 6.88798922e-02 4.16536097e+01] [-8.70786125e-02 9.96197409e-01 -2.83520538e-03 -3.64554766e-01] [-6.88648221e-02 -3.18028626e-03 9.97620931e-01 -4.49884013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.407719420999996 meters 0.06834327090649933 Centerline is valid? [True, True] Translation: X:41.71, Y:-0.37, Z:-4.51 [[ 9.93375885e-01 9.17429319e-02 6.91923808e-02 4.17131679e+01] [-9.17661915e-02 9.95776505e-01 -2.84907689e-03 -3.65277539e-01] [-6.91615298e-02 -3.51931699e-03 9.97599267e-01 -4.50675723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.46771942099999 meters 0.06553579557143956 Centerline is valid? [True, True] Translation: X:41.77, Y:-0.38, Z:-4.51 [[ 9.93893132e-01 8.46234349e-02 7.08189003e-02 4.17714482e+01] [-8.46297391e-02 9.96408199e-01 -2.91684822e-03 -3.79513679e-01] [-7.08113666e-02 -3.09434965e-03 9.97484925e-01 -4.51316203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.52771942099999 meters 0.05849331336277649 Centerline is valid? [True, True] Translation: X:41.83, Y:-0.41, Z:-4.52 [[ 9.94833733e-01 7.11019451e-02 7.24593431e-02 4.18313324e+01] [-7.10729747e-02 9.97466663e-01 -2.98135692e-03 -4.08276422e-01] [-7.24877594e-02 -2.18394662e-03 9.97366911e-01 -4.51672777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.587719420999996 meters 0.05447199936419926 Centerline is valid? [True, True] Translation: X:41.89, Y:-0.43, Z:-4.52 [[ 9.95420879e-01 5.80971126e-02 7.59078340e-02 4.18906130e+01] [-5.80274036e-02 9.98310098e-01 -3.12543568e-03 -4.31045134e-01] [-7.59611360e-02 -1.29361058e-03 9.97109940e-01 -4.52122010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.64771942099999 meters 0.053244950070140365 Centerline is valid? [True, True] Translation: X:41.95, Y:-0.45, Z:-4.53 [[ 9.96213615e-01 4.79160810e-02 7.25429670e-02 4.19524682e+01] [-4.78263490e-02 9.98851237e-01 -2.97446734e-03 -4.53332887e-01] [-7.26021571e-02 -5.06260393e-04 9.97360853e-01 -4.53039500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.70771942099999 meters 0.05385821198867934 Centerline is valid? [True, True] Translation: X:42.01, Y:-0.45, Z:-4.54 [[ 9.95856712e-01 5.34367065e-02 7.35793934e-02 4.20143729e+01] [-5.33574195e-02 9.98570838e-01 -3.04422800e-03 -4.54174993e-01] [-7.36369100e-02 -8.94391673e-04 9.97284716e-01 -4.53711069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.767719420999995 meters 0.05787407325452407 Centerline is valid? [True, True] Translation: X:42.07, Y:-0.44, Z:-4.55 [[ 9.95196939e-01 6.73106785e-02 7.10797089e-02 4.20735354e+01] [-6.72695521e-02 9.97730403e-01 -2.97494215e-03 -4.43797252e-01] [-7.11186319e-02 -1.82084686e-03 9.97466202e-01 -4.54726228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.82771942099999 meters 0.06310355302729553 Centerline is valid? [True, True] Translation: X:42.13, Y:-0.44, Z:-4.55 [[ 9.94021367e-01 8.03631097e-02 7.39140939e-02 4.21342815e+01] [-8.03547483e-02 9.96761534e-01 -3.09169334e-03 -4.36982759e-01] [-7.39231837e-02 -2.86613918e-03 9.97259820e-01 -4.55115314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.88771942099999 meters 0.06813629409970233 Centerline is valid? [True, True] Translation: X:42.19, Y:-0.43, Z:-4.56 [[ 9.93130706e-01 8.93031455e-02 7.56065377e-02 4.21946988e+01] [-8.93201840e-02 9.95997942e-01 -3.16284515e-03 -4.34971940e-01] [-7.55864080e-02 -3.61207122e-03 9.97132713e-01 -4.55759862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.947719420999995 meters 0.06558683948063153 Centerline is valid? [True, True] Translation: X:42.26, Y:-0.46, Z:-4.56 [[ 9.93305582e-01 8.80425982e-02 7.47831598e-02 4.22555854e+01] [-8.80563751e-02 9.96110608e-01 -3.11937989e-03 -4.56633087e-01] [-7.47669372e-02 -3.48663652e-03 9.97194940e-01 -4.56478621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.00771942099999 meters 0.061310076527302554 Centerline is valid? [True, True] Translation: X:42.32, Y:-0.48, Z:-4.57 [[ 9.93862686e-01 8.15969444e-02 7.46920333e-02 4.23152440e+01] [-8.15902767e-02 9.96660991e-01 -3.14571603e-03 -4.80345177e-01] [-7.46993168e-02 -2.96773388e-03 9.97201687e-01 -4.57162341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.06771942099999 meters 0.059484193333800436 Centerline is valid? [True, True] Translation: X:42.38, Y:-0.50, Z:-4.58 [[ 9.94070151e-01 7.69283763e-02 7.68541487e-02 4.23751507e+01] [-7.69072043e-02 9.97032992e-01 -3.23955169e-03 -4.97109506e-01] [-7.68753352e-02 -2.69029607e-03 9.97037083e-01 -4.57530871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.127719420999995 meters 0.059334899087390404 Centerline is valid? [True, True] Translation: X:42.44, Y:-0.51, Z:-4.59 [[ 9.94251444e-01 7.58292889e-02 7.55909000e-02 4.24366455e+01] [-7.58062705e-02 9.97117501e-01 -3.17785691e-03 -5.12799220e-01] [-7.56139839e-02 -2.57067539e-03 9.97133851e-01 -4.58657698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.187719421 meters 0.05597897756101628 Centerline is valid? [True, True] Translation: X:42.50, Y:-0.53, Z:-4.59 [[ 9.94893532e-01 6.70623258e-02 7.54288100e-02 4.24957980e+01] [-6.70115544e-02 9.97747047e-01 -3.20667202e-03 -5.33896366e-01] [-7.54739193e-02 -1.86430455e-03 9.97146033e-01 -4.59393375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.24771942099999 meters 0.053459225732777504 Centerline is valid? [True, True] Translation: X:42.55, Y:-0.55, Z:-4.60 [[ 9.95280200e-01 5.68092717e-02 7.86767485e-02 4.25545626e+01] [-5.67220305e-02 9.98384406e-01 -3.34504359e-03 -5.53502084e-01] [-7.87396683e-02 -1.13344927e-03 9.96894568e-01 -4.59680953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.307719420999994 meters 0.05444635631910825 Centerline is valid? [True, True] Translation: X:42.62, Y:-0.56, Z:-4.60 [[ 9.94921999e-01 6.23950062e-02 7.89751816e-02 4.26162493e+01] [-6.23254044e-02 9.98050266e-01 -3.34834996e-03 -5.60229741e-01] [-7.90301213e-02 -1.59081310e-03 9.96870959e-01 -4.60092973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.367719421 meters 0.05723737924689649 Centerline is valid? [True, True] Translation: X:42.68, Y:-0.55, Z:-4.61 [[ 9.94130920e-01 7.31350596e-02 7.97181137e-02 4.26773791e+01] [-7.30961092e-02 9.97319070e-01 -3.41060830e-03 -5.54669283e-01] [-7.97538300e-02 -2.43649278e-03 9.96811612e-01 -4.60643464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.42771942099999 meters 0.06379940480033962 Centerline is valid? [True, True] Translation: X:42.74, Y:-0.55, Z:-4.62 [[ 9.93272540e-01 8.43925351e-02 7.92941435e-02 4.27373021e+01] [-8.43896538e-02 9.96427053e-01 -3.39343161e-03 -5.49109948e-01] [-7.92972100e-02 -3.32100289e-03 9.96845486e-01 -4.61514045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.487719420999994 meters 0.06668526205743044 Centerline is valid? [True, True] Translation: X:42.80, Y:-0.55, Z:-4.62 [[ 9.93146620e-01 8.76153486e-02 7.73520657e-02 4.27968881e+01] [-8.76219977e-02 9.96148282e-01 -3.31456079e-03 -5.51955868e-01] [-7.73445337e-02 -3.48589768e-03 9.96998331e-01 -4.62478462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.547719421 meters 0.06695582939138678 Centerline is valid? [True, True] Translation: X:42.86, Y:-0.56, Z:-4.63 [[ 9.93097603e-01 8.71108058e-02 7.85420757e-02 4.28572966e+01] [-8.71164996e-02 9.96192463e-01 -3.36050736e-03 -5.62068538e-01] [-7.85357603e-02 -3.50499890e-03 9.96905136e-01 -4.63060566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.60771942099999 meters 0.06331494056934728 Centerline is valid? [True, True] Translation: X:42.92, Y:-0.57, Z:-4.64 [[ 9.93286759e-01 8.56250572e-02 7.77802257e-02 4.29184896e+01] [-8.56247106e-02 9.96321843e-01 -3.34562582e-03 -5.74508409e-01] [-7.77806073e-02 -3.33674349e-03 9.96964916e-01 -4.63526727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.667719420999994 meters 0.06405043490653309 Centerline is valid? [True, True] Translation: X:42.98, Y:-0.58, Z:-4.64 [[ 9.93259068e-01 8.67462262e-02 7.68863844e-02 4.29796774e+01] [-8.67475751e-02 9.96224763e-01 -3.32858702e-03 -5.82595073e-01] [-7.68848624e-02 -3.36355817e-03 9.97034305e-01 -4.64204436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.727719420999996 meters 0.06420742451713375 Centerline is valid? [True, True] Translation: X:43.04, Y:-0.59, Z:-4.65 [[ 9.93282321e-01 8.65558962e-02 7.68004426e-02 4.30411123e+01] [-8.65550238e-02 9.96241452e-01 -3.34629269e-03 -5.86997101e-01] [-7.68014258e-02 -3.32365077e-03 9.97040869e-01 -4.65091812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.78771942099999 meters 0.06326480794372864 Centerline is valid? [True, True] Translation: X:43.10, Y:-0.60, Z:-4.66 [[ 9.93771365e-01 8.50045788e-02 7.20603637e-02 4.31024081e+01] [-8.49983992e-02 9.96376084e-01 -3.15782790e-03 -5.98483241e-01] [-7.20676528e-02 -2.98685661e-03 9.97395274e-01 -4.66116094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.847719420999994 meters 0.06327782561903555 Centerline is valid? [True, True] Translation: X:43.16, Y:-0.61, Z:-4.66 [[ 9.93293295e-01 8.50013976e-02 7.83785164e-02 4.31619833e+01] [-8.49914813e-02 9.96375641e-01 -3.46847001e-03 -6.05716953e-01] [-7.83892694e-02 -3.21629820e-03 9.96917638e-01 -4.66186751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.907719420999996 meters 0.06215248254989273 Centerline is valid? [True, True] Translation: X:43.22, Y:-0.61, Z:-4.66 [[ 9.92889422e-01 8.49447294e-02 8.33965721e-02 4.32239263e+01] [-8.49336739e-02 9.96379786e-01 -3.68678203e-03 -6.11379353e-01] [-8.34078314e-02 -3.42261037e-03 9.96509618e-01 -4.66040979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.96771942099999 meters 0.06055845825394406 Centerline is valid? [True, True] Translation: X:43.28, Y:-0.62, Z:-4.67 [[ 9.93282714e-01 7.88597074e-02 8.46793773e-02 4.32830615e+01] [-7.88257119e-02 9.96881359e-01 -3.75008913e-03 -6.18428198e-01] [-8.47110236e-02 -2.95001349e-03 9.96401194e-01 -4.66790480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.02771942099999 meters 0.05332015956110087 Centerline is valid? [True, True] Translation: X:43.34, Y:-0.65, Z:-4.67 [[ 9.94510678e-01 6.47052996e-02 8.22297771e-02 4.33429323e+01] [-6.46249375e-02 9.97902981e-01 -3.64127216e-03 -6.46475837e-01] [-8.22929493e-02 -1.69281015e-03 9.96606745e-01 -4.67072458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.087719420999996 meters 0.05403304242116013 Centerline is valid? [True, True] Translation: X:43.41, Y:-0.64, Z:-4.68 [[ 9.94340074e-01 6.73337387e-02 8.21826257e-02 4.34052725e+01] [-6.72629669e-02 9.97728669e-01 -3.63261694e-03 -6.44026016e-01] [-8.22405595e-02 -1.91579063e-03 9.96610666e-01 -4.67756410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.14771942099999 meters 0.05979161384347569 Centerline is valid? [True, True] Translation: X:43.46, Y:-0.63, Z:-4.69 [[ 9.93641078e-01 8.16401795e-02 7.75389513e-02 4.34645800e+01] [-8.16181638e-02 9.96657672e-01 -3.45827432e-03 -6.25839049e-01] [-7.75621248e-02 -2.89230340e-03 9.96983326e-01 -4.69096141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.20771942099999 meters 0.06503949287159577 Centerline is valid? [True, True] Translation: X:43.52, Y:-0.62, Z:-4.70 [[ 9.92969406e-01 9.19045629e-02 7.46010102e-02 4.35249112e+01] [-9.19131733e-02 9.95761474e-01 -3.32507378e-03 -6.19165334e-01] [-7.45904013e-02 -3.55511904e-03 9.97207919e-01 -4.70041779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.267719420999995 meters 0.07568317589577465 Centerline is valid? [True, True] Translation: X:43.58, Y:-0.61, Z:-4.72 [[ 9.92851001e-01 9.47808862e-02 7.25498033e-02 4.35837751e+01] [-9.47966673e-02 9.95491404e-01 -3.23352400e-03 -6.06540385e-01] [-7.25291819e-02 -3.66707202e-03 9.97359549e-01 -4.71995168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.32771942099999 meters 0.06632881100600371 Centerline is valid? [True, True] Translation: X:43.64, Y:-0.63, Z:-4.72 [[ 9.93002618e-01 9.18084948e-02 7.42765204e-02 4.36442023e+01] [-9.18161434e-02 9.95770446e-01 -3.31888258e-03 -6.33562513e-01] [-7.42670655e-02 -3.52412456e-03 9.97232161e-01 -4.71584518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.38771942099999 meters 0.06143598326275392 Centerline is valid? [True, True] Translation: X:43.70, Y:-0.65, Z:-4.72 [[ 9.93320902e-01 8.34896511e-02 7.96433477e-02 4.37045530e+01] [-8.34716723e-02 9.96503788e-01 -3.56083361e-03 -6.49954974e-01] [-7.96621905e-02 -3.11091297e-03 9.96817063e-01 -4.71611690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.447719420999995 meters 0.059755896783382965 Centerline is valid? [True, True] Translation: X:43.76, Y:-0.66, Z:-4.72 [[ 9.93353388e-01 7.84512243e-02 8.42285698e-02 4.37643777e+01] [-7.84129069e-02 9.96913846e-01 -3.76813954e-03 -6.58245783e-01] [-8.42642426e-02 -2.86151282e-03 9.96439335e-01 -4.71716435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.50771942099999 meters 0.05708195276178972 Centerline is valid? [True, True] Translation: X:43.83, Y:-0.67, Z:-4.72 [[ 9.93888097e-01 7.29499921e-02 8.28537872e-02 4.38250581e+01] [-7.28940179e-02 9.97332813e-01 -3.70440665e-03 -6.65543770e-01] [-8.29030371e-02 -2.35777978e-03 9.96554829e-01 -4.72483073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.56771942099999 meters 0.05426041983075814 Centerline is valid? [True, True] Translation: X:43.89, Y:-0.68, Z:-4.73 [[ 9.94887063e-01 6.51815591e-02 7.71433485e-02 4.38863907e+01] [-6.51100986e-02 9.97872144e-01 -3.44381467e-03 -6.75724367e-01] [-7.72036718e-02 -1.59660436e-03 9.97014064e-01 -4.73430293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.627719420999995 meters 0.05306877872925071 Centerline is valid? [True, True] Translation: X:43.95, Y:-0.68, Z:-4.74 [[ 9.95135477e-01 5.93169159e-02 7.86567592e-02 4.39479978e+01] [-5.92218386e-02 9.98238559e-01 -3.54298920e-03 -6.81033873e-01] [-7.87283692e-02 -1.13244365e-03 9.96895462e-01 -4.73824394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.68771942099999 meters 0.053362724324048386 Centerline is valid? [True, True] Translation: X:44.01, Y:-0.68, Z:-4.74 [[ 9.95017714e-01 6.13319225e-02 7.86011688e-02 4.40095290e+01] [-6.12433871e-02 9.98116589e-01 -3.53880480e-03 -6.80340647e-01] [-7.86701722e-02 -1.29262834e-03 9.96899861e-01 -4.74448573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.74771942099999 meters 0.05563362423269364 Centerline is valid? [True, True] Translation: X:44.07, Y:-0.67, Z:-4.75 [[ 9.93895412e-01 7.04014270e-02 8.49443912e-02 4.40705839e+01] [-7.03285471e-02 9.97516438e-01 -3.85381946e-03 -6.71364283e-01] [-8.50047409e-02 -2.14372214e-03 9.96378241e-01 -4.74827482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.807719420999994 meters 0.059975047194408763 Centerline is valid? [True, True] Translation: X:44.13, Y:-0.66, Z:-4.76 [[ 9.93402851e-01 7.94873943e-02 8.26591140e-02 4.41300445e+01] [-7.94477623e-02 9.96831887e-01 -3.77376064e-03 -6.63907726e-01] [-8.26972070e-02 -2.81821706e-03 9.96570735e-01 -4.75820537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.867719421 meters 0.06401406842990638 Centerline is valid? [True, True] Translation: X:44.19, Y:-0.65, Z:-4.77 [[ 9.92570562e-01 8.93990730e-02 8.25317264e-02 4.41909134e+01] [-8.93935206e-02 9.95989250e-01 -3.76992876e-03 -6.54736853e-01] [-8.25377404e-02 -3.63588127e-03 9.96581307e-01 -4.76511895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.92771942099999 meters 0.0698227591331445 Centerline is valid? [True, True] Translation: X:44.25, Y:-0.64, Z:-4.77 [[ 9.91951738e-01 9.79839754e-02 8.01928311e-02 4.42512482e+01] [-9.80064497e-02 9.95179030e-01 -3.66528417e-03 -6.40559503e-01] [-8.01653630e-02 -4.22362966e-03 9.96772630e-01 -4.77496538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.987719420999994 meters 0.06847961098415316 Centerline is valid? [True, True] Translation: X:44.31, Y:-0.64, Z:-4.78 [[ 9.91603601e-01 1.03559589e-01 7.74448809e-02 4.43118697e+01] [-1.03597239e-01 9.94613023e-01 -3.54213425e-03 -6.41259997e-01] [-7.73945091e-02 -4.51068277e-03 9.96990343e-01 -4.78040031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.047719421 meters 0.07040836791497558 Centerline is valid? [True, True] Translation: X:44.37, Y:-0.64, Z:-4.79 [[ 9.91473224e-01 1.06856724e-01 7.45820786e-02 4.43718874e+01] [-1.06900745e-01 9.94263839e-01 -3.41302594e-03 -6.40429700e-01] [-7.45189686e-02 -4.58895594e-03 9.97209038e-01 -4.79019384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.10771942099999 meters 0.07159691805661733 Centerline is valid? [True, True] Translation: X:44.43, Y:-0.64, Z:-4.80 [[ 9.91804234e-01 1.05341686e-01 7.23013853e-02 4.44324667e+01] [-1.05379357e-01 9.94426606e-01 -3.30397799e-03 -6.43052704e-01] [-7.22464678e-02 -4.34217414e-03 9.97377358e-01 -4.80248761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.167719420999994 meters 0.06318547870641393 Centerline is valid? [True, True] Translation: X:44.49, Y:-0.67, Z:-4.80 [[ 9.93179641e-01 8.74650369e-02 7.70977861e-02 4.44915635e+01] [-8.74527236e-02 9.96162372e-01 -3.54243830e-03 -6.73800352e-01] [-7.71117530e-02 -3.22413377e-03 9.97017243e-01 -4.80243597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.227719420999996 meters 0.05729869805078779 Centerline is valid? [True, True] Translation: X:44.55, Y:-0.70, Z:-4.81 [[ 9.94311543e-01 7.37262451e-02 7.68699941e-02 4.45506741e+01] [-7.36730221e-02 9.97276196e-01 -3.53184671e-03 -6.98877289e-01] [-7.69210052e-02 -2.15148882e-03 9.97034869e-01 -4.80638615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.28771942099999 meters 0.05643691678629311 Centerline is valid? [True, True] Translation: X:44.61, Y:-0.71, Z:-4.81 [[ 9.94448635e-01 7.03753152e-02 7.82254862e-02 4.46120196e+01] [-7.03100724e-02 9.97518719e-01 -3.59139707e-03 -7.05620343e-01] [-7.82841325e-02 -1.92857968e-03 9.96929223e-01 -4.81321638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.347719420999994 meters 0.05652781390498543 Centerline is valid? [True, True] Translation: X:44.67, Y:-0.71, Z:-4.81 [[ 9.94022587e-01 7.17248594e-02 8.23082096e-02 4.46747846e+01] [-7.16566639e-02 9.97422172e-01 -3.78604579e-03 -7.07418674e-01] [-8.23675868e-02 -2.13451668e-03 9.96599731e-01 -4.81483547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.407719420999996 meters 0.05545246293817004 Centerline is valid? [True, True] Translation: X:44.73, Y:-0.72, Z:-4.83 [[ 9.94974155e-01 6.75892957e-02 7.38790801e-02 4.47340976e+01] [-6.75222823e-02 9.97711949e-01 -3.40721840e-03 -7.15182091e-01] [-7.39403325e-02 -1.59838986e-03 9.97261386e-01 -4.82906952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.46771942099999 meters 0.053908737772190816 Centerline is valid? [True, True] Translation: X:44.79, Y:-0.72, Z:-4.83 [[ 9.95281983e-01 6.02015293e-02 7.60890902e-02 4.47935890e+01] [-6.01087133e-02 9.98185660e-01 -3.51146125e-03 -7.21161579e-01] [-7.61624341e-02 -1.07872319e-03 9.97094840e-01 -4.83418703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.52771942099999 meters 0.05234015294721639 Centerline is valid? [True, True] Translation: X:44.85, Y:-0.73, Z:-4.84 [[ 9.95542872e-01 5.18542537e-02 7.87751689e-02 4.48547021e+01] [-5.17287632e-02 9.98654559e-01 -3.63420798e-03 -7.27975170e-01] [-7.88576307e-02 -4.56932217e-04 9.96885783e-01 -4.83613146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.587719420999996 meters 0.05175503064459965 Centerline is valid? [True, True] Translation: X:44.92, Y:-0.73, Z:-4.84 [[ 9.95409394e-01 4.85540758e-02 8.24781145e-02 4.49162019e+01] [-4.84048803e-02 9.98820535e-01 -3.80871110e-03 -7.29714669e-01] [-8.25657629e-02 -2.01116450e-04 9.96585598e-01 -4.83917219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.64771942099999 meters 0.05143460025199136 Centerline is valid? [True, True] Translation: X:44.98, Y:-0.72, Z:-4.84 [[ 9.94905269e-01 5.30913928e-02 8.57018607e-02 4.49794047e+01] [-5.29468829e-02 9.98589478e-01 -3.95993088e-03 -7.22452341e-01] [-8.57912146e-02 -5.97890284e-04 9.96312958e-01 -4.84122386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.70771942099999 meters 0.05343024831754011 Centerline is valid? [True, True] Translation: X:45.04, Y:-0.70, Z:-4.85 [[ 9.94600608e-01 6.35369907e-02 8.20529181e-02 4.50389500e+01] [-6.34390892e-02 9.97978469e-01 -3.80232760e-03 -7.04940807e-01] [-8.21286341e-02 -1.42356505e-03 9.96620721e-01 -4.85296810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.767719420999995 meters 0.056993157460203656 Centerline is valid? [True, True] Translation: X:45.10, Y:-0.69, Z:-4.87 [[ 9.94417018e-01 7.22794796e-02 7.68795846e-02 4.50985009e+01] [-7.22195622e-02 9.97382394e-01 -3.56295817e-03 -6.90694252e-01] [-7.69358729e-02 -2.00914370e-03 9.97034019e-01 -4.86738778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.82771942099999 meters 0.057227071012658504 Centerline is valid? [True, True] Translation: X:45.16, Y:-0.69, Z:-4.87 [[ 9.94488907e-01 7.40121162e-02 7.42564524e-02 4.51598201e+01] [-7.39617914e-02 9.97255173e-01 -3.43114469e-03 -6.92475923e-01] [-7.43065776e-02 -2.07990491e-03 9.97233276e-01 -4.87483594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.88771942099999 meters 0.05643725199275149 Centerline is valid? [True, True] Translation: X:45.22, Y:-0.70, Z:-4.88 [[ 9.94644666e-01 7.15192821e-02 7.46122033e-02 4.52213929e+01] [-7.14600036e-02 9.97437440e-01 -3.46723811e-03 -6.95869717e-01] [-7.46689794e-02 -1.88311843e-03 9.97206597e-01 -4.88259136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.947719420999995 meters 0.05676993875845812 Centerline is valid? [True, True] Translation: X:45.28, Y:-0.69, Z:-4.89 [[ 9.94280381e-01 7.35330371e-02 7.74558979e-02 4.52834880e+01] [-7.34734228e-02 9.97290595e-01 -3.62301016e-03 -6.92880434e-01] [-7.75124494e-02 -2.08866201e-03 9.96989196e-01 -4.88716623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.00771942099999 meters 0.05789302838862233 Centerline is valid? [True, True] Translation: X:45.34, Y:-0.69, Z:-4.89 [[ 9.94184030e-01 7.66157247e-02 7.56845052e-02 4.53444644e+01] [-7.65655311e-02 9.97058164e-01 -3.56883528e-03 -6.91433550e-01] [-7.57352827e-02 -2.24674529e-03 9.97125428e-01 -4.89371933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.06771942099999 meters 0.057356243278373895 Centerline is valid? [True, True] Translation: X:45.40, Y:-0.69, Z:-4.90 [[ 9.94021134e-01 7.45018115e-02 7.98214606e-02 4.54041925e+01] [-7.44388287e-02 9.97218461e-01 -3.76857104e-03 -6.93429129e-01] [-7.98801994e-02 -2.19577677e-03 9.96802053e-01 -4.89805578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.127719420999995 meters 0.05455628129447475 Centerline is valid? [True, True] Translation: X:45.46, Y:-0.70, Z:-4.90 [[ 9.94045585e-01 6.80210125e-02 8.51264698e-02 4.54646734e+01] [-6.79257083e-02 9.97682288e-01 -4.01883121e-03 -6.97132168e-01] [-8.52025361e-02 -1.78737434e-03 9.96362049e-01 -4.89880559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.18771942099999 meters 0.05279014738591021 Centerline is valid? [True, True] Translation: X:45.53, Y:-0.72, Z:-4.90 [[ 9.94650120e-01 6.09275439e-02 8.34204558e-02 4.55260875e+01] [-6.08116083e-02 9.98141516e-01 -3.93233970e-03 -7.16183155e-01] [-8.35050080e-02 -1.16162992e-03 9.96506680e-01 -4.90424402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.24771942099999 meters 0.05207950901516321 Centerline is valid? [True, True] Translation: X:45.59, Y:-0.73, Z:-4.92 [[ 9.95602407e-01 4.89306795e-02 7.98851470e-02 4.55875983e+01] [-4.87841586e-02 9.98802169e-01 -3.78597377e-03 -7.30664417e-01] [-7.99747083e-02 -1.27805090e-04 9.96796885e-01 -4.91822493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.307719420999994 meters 0.05344983307396698 Centerline is valid? [True, True] Translation: X:45.65, Y:-0.74, Z:-4.93 [[ 9.96180494e-01 3.97492735e-02 7.77458565e-02 4.56485965e+01] [-3.95801176e-02 9.99209490e-01 -3.71608515e-03 -7.42565463e-01] [-7.78321093e-02 6.24701397e-04 9.96966285e-01 -4.92905838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.367719421 meters 0.0526930935165956 Centerline is valid? [True, True] Translation: X:45.71, Y:-0.75, Z:-4.93 [[ 9.96046647e-01 3.83045569e-02 8.01488449e-02 4.57114982e+01] [-3.81200520e-02 9.99265821e-01 -3.83142741e-03 -7.49506720e-01] [-8.02367624e-02 7.61002289e-04 9.96775543e-01 -4.92541598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.42771942099999 meters 0.05166892702305232 Centerline is valid? [True, True] Translation: X:45.77, Y:-0.74, Z:-4.93 [[ 9.95479586e-01 4.26765359e-02 8.48475531e-02 4.57720225e+01] [-4.24826294e-02 9.99088832e-01 -4.09039646e-03 -7.37279473e-01] [-8.49448067e-02 4.67359023e-04 9.96385549e-01 -4.93291352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.487719420999994 meters 0.052089511963225574 Centerline is valid? [True, True] Translation: X:45.84, Y:-0.71, Z:-4.94 [[ 9.94891530e-01 5.73122033e-02 8.31032793e-02 4.58353949e+01] [-5.71775418e-02 9.98356007e-01 -4.00141223e-03 -7.09116789e-01] [-8.31959878e-02 -7.70670083e-04 9.96532906e-01 -4.94046215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.547719421 meters 0.05600136358688465 Centerline is valid? [True, True] Translation: X:45.90, Y:-0.69, Z:-4.95 [[ 9.94234894e-01 7.25919383e-02 7.89137837e-02 4.58959325e+01] [-7.25161217e-02 9.97359887e-01 -3.82986099e-03 -6.87387183e-01] [-7.89834595e-02 -1.91474010e-03 9.96874088e-01 -4.95033226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.60771942099999 meters 0.062418442428209944 Centerline is valid? [True, True] Translation: X:45.96, Y:-0.66, Z:-4.96 [[ 9.93151949e-01 8.82989314e-02 7.65016621e-02 4.59570226e+01] [-8.82741886e-02 9.96089299e-01 -3.71152981e-03 -6.60164988e-01] [-7.65302112e-02 -3.06700909e-03 9.97062546e-01 -4.95953268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.667719420999994 meters 0.0682881467359612 Centerline is valid? [True, True] Translation: X:46.02, Y:-0.65, Z:-4.97 [[ 9.92271028e-01 9.64251433e-02 7.81050512e-02 4.60168385e+01] [-9.64244299e-02 9.95333095e-01 -3.78935989e-03 -6.47306609e-01] [-7.81059319e-02 -3.77116300e-03 9.96937933e-01 -4.96664352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.727719420999996 meters 0.06532593319205819 Centerline is valid? [True, True] Translation: X:46.08, Y:-0.66, Z:-4.98 [[ 9.93065942e-01 9.11643693e-02 7.42232681e-02 4.60770709e+01] [-9.11490753e-02 9.95830750e-01 -3.60048826e-03 -6.64135258e-01] [-7.42420490e-02 -3.18985999e-03 9.97235149e-01 -4.97679430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.78771942099999 meters 0.062383548890521945 Centerline is valid? [True, True] Translation: X:46.14, Y:-0.68, Z:-4.98 [[ 9.93414221e-01 8.54384881e-02 7.63442863e-02 4.61370759e+01] [-8.54047547e-02 9.96339422e-01 -3.71260309e-03 -6.75418523e-01] [-7.63820213e-02 -2.83201233e-03 9.97074604e-01 -4.98278347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.847719420999994 meters 0.05921672199667907 Centerline is valid? [True, True] Translation: X:46.19, Y:-0.70, Z:-4.99 [[ 9.94315295e-01 7.63066570e-02 7.42589229e-02 4.61945910e+01] [-7.62492027e-02 9.97082248e-01 -3.61255676e-03 -6.97721574e-01] [-7.43179159e-02 -2.07016322e-03 9.97232451e-01 -4.99426364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.907719420999996 meters 0.05515482423639234 Centerline is valid? [True, True] Translation: X:46.25, Y:-0.71, Z:-5.00 [[ 9.94763871e-01 6.63635471e-02 7.77220691e-02 4.62540099e+01] [-6.62705085e-02 9.97794539e-01 -3.77855760e-03 -7.14501356e-01] [-7.78014146e-02 -1.39190845e-03 9.96967904e-01 -4.99702504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.96771942099999 meters 0.053523191272772795 Centerline is valid? [True, True] Translation: X:46.31, Y:-0.73, Z:-5.00 [[ 9.94889370e-01 5.91637509e-02 8.18217108e-02 4.63130862e+01] [-5.90362431e-02 9.98247910e-01 -3.97889416e-03 -7.30389257e-01] [-8.19137581e-02 -8.71886909e-04 9.96639040e-01 -5.00066396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.02771942099999 meters 0.054548194658870536 Centerline is valid? [True, True] Translation: X:46.37, Y:-0.72, Z:-5.01 [[ 9.94924365e-01 6.49214335e-02 7.68811801e-02 4.63739272e+01] [-6.48261286e-02 9.97889576e-01 -3.73728576e-03 -7.24113957e-01] [-7.69615582e-02 -1.26559261e-03 9.97033258e-01 -5.00649358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.087719420999996 meters 0.05864863453873912 Centerline is valid? [True, True] Translation: X:46.43, Y:-0.71, Z:-5.02 [[ 9.94192562e-01 7.61321976e-02 7.60594399e-02 4.64347391e+01] [-7.60713001e-02 9.97095509e-01 -3.70173083e-03 -7.07981770e-01] [-7.61203468e-02 -2.10570722e-03 9.97096414e-01 -5.01587324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.14771942099999 meters 0.059884091403408155 Centerline is valid? [True, True] Translation: X:46.50, Y:-0.71, Z:-5.02 [[ 9.93610361e-01 8.20881260e-02 7.74596003e-02 4.64962583e+01] [-8.20430338e-02 9.96621659e-01 -3.76965253e-03 -7.09894361e-01] [-7.75073590e-02 -2.60945480e-03 9.96988365e-01 -5.01858991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.20771942099999 meters 0.059422782243684455 Centerline is valid? [True, True] Translation: X:46.56, Y:-0.71, Z:-5.02 [[ 9.93137712e-01 8.34037230e-02 8.19835604e-02 4.65583793e+01] [-8.33579410e-02 9.96511695e-01 -3.98702487e-03 -7.12168652e-01] [-8.20301094e-02 -2.87431603e-03 9.96625707e-01 -5.02083315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.267719420999995 meters 0.06161723115208848 Centerline is valid? [True, True] Translation: X:46.62, Y:-0.72, Z:-5.03 [[ 9.92794765e-01 8.64616796e-02 8.29634421e-02 4.66190625e+01] [-8.64230870e-02 9.96250241e-01 -4.06300304e-03 -7.15056800e-01] [-8.30036432e-02 -3.13622863e-03 9.96544309e-01 -5.02585051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.32771942099999 meters 0.05816010711985172 Centerline is valid? [True, True] Translation: X:46.68, Y:-0.73, Z:-5.03 [[ 9.92950756e-01 8.17258212e-02 8.58468812e-02 4.66790775e+01] [-8.16655115e-02 9.96650859e-01 -4.22005523e-03 -7.33284681e-01] [-8.59042554e-02 -2.82042243e-03 9.96299405e-01 -5.02773678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.38771942099999 meters 0.055870463227937886 Centerline is valid? [True, True] Translation: X:46.74, Y:-0.75, Z:-5.04 [[ 9.93549360e-01 7.38271698e-02 8.60768108e-02 4.67376107e+01] [-7.37367638e-02 9.97268753e-01 -4.23360240e-03 -7.47157053e-01] [-8.61542686e-02 -2.14073251e-03 9.96279509e-01 -5.03774973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.447719420999995 meters 0.054625451268231345 Centerline is valid? [True, True] Translation: X:46.80, Y:-0.76, Z:-5.05 [[ 9.94348511e-01 6.79124955e-02 8.16022820e-02 4.67981287e+01] [-6.78119437e-02 9.97690077e-01 -4.00623278e-03 -7.59329257e-01] [-8.16858603e-02 -1.55001776e-03 9.96656921e-01 -5.04938340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.50771942099999 meters 0.053459148007026676 Centerline is valid? [True, True] Translation: X:46.86, Y:-0.77, Z:-5.06 [[ 9.95103083e-01 6.04963598e-02 7.81667688e-02 4.68589535e+01] [-6.03796210e-02 9.98168030e-01 -3.85822836e-03 -7.71421574e-01] [-7.82569784e-02 -8.80344941e-04 9.96932831e-01 -5.05985241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.56771942099999 meters 0.05374059038757101 Centerline is valid? [True, True] Translation: X:46.92, Y:-0.78, Z:-5.08 [[ 9.96181967e-01 4.94782585e-02 7.19262799e-02 4.69167586e+01] [-4.93487466e-02 9.98775201e-01 -3.57763725e-03 -7.84428029e-01] [-7.20151999e-02 1.45059612e-05 9.97403535e-01 -5.07562920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.627719420999995 meters 0.05516427132908197 Centerline is valid? [True, True] Translation: X:46.98, Y:-0.80, Z:-5.08 [[ 9.96516978e-01 3.55340919e-02 7.54403143e-02 4.69786845e+01] [-3.53523374e-02 9.99367899e-01 -3.74370594e-03 -8.01497605e-01] [-7.55256575e-02 1.06367509e-03 9.97143291e-01 -5.07711600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.68771942099999 meters 0.05969437827457708 Centerline is valid? [True, True] Translation: X:47.04, Y:-0.82, Z:-5.08 [[ 9.96650573e-01 2.21416788e-02 7.87234470e-02 4.70392578e+01] [-2.18997007e-02 9.99752425e-01 -3.93590332e-03 -8.18268736e-01] [-7.87911045e-02 2.19870037e-03 9.96888724e-01 -5.07937697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.74771942099999 meters 0.06190799115172281 Centerline is valid? [True, True] Translation: X:47.10, Y:-0.82, Z:-5.09 [[ 9.96851378e-01 1.87123438e-02 7.70530902e-02 4.70999299e+01] [-1.84701378e-02 9.99821981e-01 -3.85487900e-03 -8.15918504e-01] [-7.71115071e-02 2.41956025e-03 9.97019539e-01 -5.08807794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.807719420999994 meters 0.05692163149640145 Centerline is valid? [True, True] Translation: X:47.16, Y:-0.80, Z:-5.09 [[ 9.96739980e-01 2.38840990e-02 7.70646562e-02 4.71625651e+01] [-2.36569107e-02 9.99712685e-01 -3.85972092e-03 -8.02045425e-01] [-7.71347003e-02 2.02402647e-03 9.97018626e-01 -5.08767284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.86771942099999 meters 0.05507042695920633 Centerline is valid? [True, True] Translation: X:47.22, Y:-0.78, Z:-5.10 [[ 9.96265766e-01 3.70620627e-02 7.79803037e-02 4.72224363e+01] [-3.68693209e-02 9.99312444e-01 -3.91045173e-03 -7.81114361e-01] [-7.80716173e-02 1.02076834e-03 9.96947231e-01 -5.10151471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.92771942099999 meters 0.05379832132930293 Centerline is valid? [True, True] Translation: X:47.29, Y:-0.75, Z:-5.11 [[ 9.95811642e-01 5.08212008e-02 7.60024883e-02 4.72859529e+01] [-5.06787526e-02 9.98707766e-01 -3.80298144e-03 -7.48836854e-01] [-7.60975473e-02 -6.46581005e-05 9.97100376e-01 -5.10966853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.987719420999994 meters 0.054348859123935105 Centerline is valid? [True, True] Translation: X:47.35, Y:-0.73, Z:-5.11 [[ 9.95191622e-01 6.22582981e-02 7.56144107e-02 4.73492056e+01] [-6.21488341e-02 9.98059651e-01 -3.80213497e-03 -7.30346073e-01] [-7.57044068e-02 -9.15494600e-04 9.97129884e-01 -5.10845893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.047719421 meters 0.05559198800180232 Centerline is valid? [True, True] Translation: X:47.41, Y:-0.72, Z:-5.12 [[ 9.94878621e-01 6.80067983e-02 7.47770305e-02 4.74113502e+01] [-6.79140356e-02 9.97683995e-01 -3.78554923e-03 -7.16127828e-01] [-7.48612896e-02 -1.31224791e-03 9.97193093e-01 -5.11685039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.10771942099999 meters 0.058835229801991296 Centerline is valid? [True, True] Translation: X:47.47, Y:-0.70, Z:-5.13 [[ 9.94843432e-01 7.29000528e-02 7.05133147e-02 4.74705974e+01] [-7.28294193e-02 9.97338002e-01 -3.57554533e-03 -7.03281808e-01] [-7.05862659e-02 -1.57833597e-03 9.97504430e-01 -5.13223890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.167719420999994 meters 0.05777620479836071 Centerline is valid? [True, True] Translation: X:47.53, Y:-0.71, Z:-5.13 [[ 9.94521911e-01 7.55167359e-02 7.22730314e-02 4.75343487e+01] [-7.54497446e-02 9.97142887e-01 -3.66045088e-03 -7.09169321e-01] [-7.23429645e-02 -1.81258316e-03 9.97378168e-01 -5.13017883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.227719420999996 meters 0.05977117417982412 Centerline is valid? [True, True] Translation: X:47.60, Y:-0.70, Z:-5.13 [[ 9.93737919e-01 8.22864856e-02 7.55902316e-02 4.75966983e+01] [-8.22305274e-02 9.96605869e-01 -3.85766044e-03 -7.04511397e-01] [-7.56511018e-02 -2.38232116e-03 9.97131504e-01 -5.13248855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.28771942099999 meters 0.06487980072414803 Centerline is valid? [True, True] Translation: X:47.66, Y:-0.70, Z:-5.14 [[ 9.92838531e-01 9.15848441e-02 7.67063720e-02 4.76562918e+01] [-9.15524646e-02 9.95792436e-01 -3.94596312e-03 -6.95484765e-01] [-7.67450155e-02 -3.10495319e-03 9.97045918e-01 -5.14139946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.347719420999994 meters 0.06683052740096723 Centerline is valid? [True, True] Translation: X:47.72, Y:-0.71, Z:-5.15 [[ 9.92723168e-01 9.41619869e-02 7.50615164e-02 4.77168860e+01] [-9.41381854e-02 9.95551646e-01 -3.86300914e-03 -7.05539607e-01] [-7.50913647e-02 -3.23125627e-03 9.97171423e-01 -5.15000457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.407719420999996 meters 0.06318716606120946 Centerline is valid? [True, True] Translation: X:47.78, Y:-0.73, Z:-5.15 [[ 9.92617521e-01 9.02159230e-02 8.10650612e-02 4.77766612e+01] [-9.01747253e-02 9.95917203e-01 -4.17661353e-03 -7.25164930e-01] [-8.11108861e-02 -3.16423986e-03 9.96700061e-01 -5.14995392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.46771942099999 meters 0.06037221702104638 Centerline is valid? [True, True] Translation: X:47.84, Y:-0.74, Z:-5.16 [[ 9.93133455e-01 8.32981729e-02 8.21422810e-02 4.78351390e+01] [-8.32322463e-02 9.96521189e-01 -4.23248452e-03 -7.37132885e-01] [-8.22090818e-02 -2.63346459e-03 9.96611625e-01 -5.15721466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.52771942099999 meters 0.06047918955513142 Centerline is valid? [True, True] Translation: X:47.89, Y:-0.75, Z:-5.18 [[ 9.94292701e-01 7.86467506e-02 7.20882391e-02 4.78931073e+01] [-7.85838188e-02 9.96900595e-01 -3.71315773e-03 -7.54430351e-01] [-7.21568363e-02 -1.97300350e-03 9.97391347e-01 -5.17584360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.587719420999996 meters 0.058044175102228576 Centerline is valid? [True, True] Translation: X:47.95, Y:-0.77, Z:-5.18 [[ 9.94686142e-01 7.23052927e-02 7.32899928e-02 4.79518256e+01] [-7.22229019e-02 9.97381364e-01 -3.77721082e-03 -7.72119920e-01] [-7.33711853e-02 -1.53607670e-03 9.97303519e-01 -5.18263322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.64771942099999 meters 0.054890203820750265 Centerline is valid? [True, True] Translation: X:48.01, Y:-0.79, Z:-5.19 [[ 9.94963740e-01 6.25219875e-02 7.83463938e-02 4.80101473e+01] [-6.23975090e-02 9.98043207e-01 -4.03829764e-03 -7.90466766e-01] [-7.84455685e-02 -8.70660092e-04 9.96918018e-01 -5.18584603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.70771942099999 meters 0.053136706412664644 Centerline is valid? [True, True] Translation: X:48.07, Y:-0.82, Z:-5.19 [[ 9.95530300e-01 4.95946305e-02 8.03728520e-02 4.80703990e+01] [-4.94217742e-02 9.98769418e-01 -4.13978798e-03 -8.15233279e-01] [-8.04792579e-02 1.49115424e-04 9.96756273e-01 -5.18701253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.767719420999995 meters 0.05471470197290565 Centerline is valid? [True, True] Translation: X:48.13, Y:-0.84, Z:-5.20 [[ 9.96318199e-01 3.74148276e-02 7.71373859e-02 4.81301953e+01] [-3.72189348e-02 9.99299225e-01 -3.97610230e-03 -8.36196973e-01] [-7.72320952e-02 1.09049175e-03 9.97012545e-01 -5.19521076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.82771942099999 meters 0.05503657084438321 Centerline is valid? [True, True] Translation: X:48.19, Y:-0.83, Z:-5.19 [[ 9.96193361e-01 3.12839279e-02 8.13640203e-02 4.81943211e+01] [-3.10458837e-02 9.99509180e-01 -4.18944261e-03 -8.34852059e-01] [-8.14551475e-02 1.64747701e-03 9.96675647e-01 -5.19252526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.88771942099999 meters 0.05479720064243953 Centerline is valid? [True, True] Translation: X:48.26, Y:-0.83, Z:-5.20 [[ 9.96089532e-01 3.33490433e-02 8.18137259e-02 4.82561415e+01] [-3.31128495e-02 9.99442615e-01 -4.24246992e-03 -8.30117734e-01] [-8.19096064e-02 1.51679428e-03 9.96638608e-01 -5.19896894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.947719420999995 meters 0.05382784348282535 Centerline is valid? [True, True] Translation: X:48.32, Y:-0.81, Z:-5.21 [[ 9.95985322e-01 4.19744904e-02 7.90656745e-02 4.83173283e+01] [-4.17791696e-02 9.99118359e-01 -4.12371510e-03 -8.10639531e-01] [-7.91690578e-02 8.03861486e-04 9.96860880e-01 -5.21036180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.00771942099999 meters 0.05313233328219402 Centerline is valid? [True, True] Translation: X:48.38, Y:-0.78, Z:-5.21 [[ 9.95301046e-01 5.55769391e-02 7.92908085e-02 4.83812307e+01] [-5.54218530e-02 9.98454374e-01 -4.15697293e-03 -7.84451832e-01] [-7.93992864e-02 -2.57004033e-04 9.96842860e-01 -5.21348466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.06771942099999 meters 0.05531275602209782 Centerline is valid? [True, True] Translation: X:48.44, Y:-0.77, Z:-5.23 [[ 9.95071299e-01 6.61922016e-02 7.38356496e-02 4.84422463e+01] [-6.60847333e-02 9.97806392e-01 -3.90029031e-03 -7.68273254e-01] [-7.39318520e-02 -9.98342268e-04 9.97262796e-01 -5.22769993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.127719420999995 meters 0.05713499978384245 Centerline is valid? [True, True] Translation: X:48.50, Y:-0.76, Z:-5.23 [[ 9.94494333e-01 7.41451921e-02 7.40507394e-02 4.85047198e+01] [-7.40591380e-02 9.97246182e-01 -3.91105789e-03 -7.55512423e-01] [-7.41368033e-02 -1.59460902e-03 9.97246806e-01 -5.23399024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.18771942099999 meters 0.0582891710928874 Centerline is valid? [True, True] Translation: X:48.57, Y:-0.75, Z:-5.24 [[ 9.93788821e-01 7.98289002e-02 7.75314512e-02 4.85671502e+01] [-7.97517718e-02 9.96806341e-01 -4.09555862e-03 -7.50414508e-01] [-7.76107861e-02 -2.11315023e-03 9.96981495e-01 -5.23593677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.24771942099999 meters 0.05964082053597745 Centerline is valid? [True, True] Translation: X:48.63, Y:-0.75, Z:-5.25 [[ 9.94210569e-01 8.01128500e-02 7.16050018e-02 4.86264723e+01] [-8.00456978e-02 9.96783908e-01 -3.81147853e-03 -7.46136796e-01] [-7.16800619e-02 -1.94226009e-03 9.97425785e-01 -5.25051351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.307719420999994 meters 0.05537391609878095 Centerline is valid? [True, True] Translation: X:48.69, Y:-0.77, Z:-5.25 [[ 9.95078545e-01 6.50296926e-02 7.47651537e-02 4.86858423e+01] [-6.49137697e-02 9.97882932e-01 -3.98207996e-03 -7.68454841e-01] [-7.48658242e-02 -8.90805629e-04 9.97193218e-01 -5.25405200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.36771942099999 meters 0.05417029411512243 Centerline is valid? [True, True] Translation: X:48.75, Y:-0.78, Z:-5.26 [[ 9.95778142e-01 5.30033041e-02 7.49435940e-02 4.87468765e+01] [-5.28535477e-02 9.98594337e-01 -3.98155164e-03 -7.83227209e-01] [-7.50492839e-02 3.70727383e-06 9.97179826e-01 -5.25897584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.42771942099999 meters 0.055778803912337145 Centerline is valid? [True, True] Translation: X:48.81, Y:-0.80, Z:-5.27 [[ 9.96097976e-01 4.32722141e-02 7.69177281e-02 4.88070944e+01] [-4.30836461e-02 9.99063014e-01 -4.11005368e-03 -8.00871894e-01] [-7.70235085e-02 7.80119980e-04 9.97028972e-01 -5.26830952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.487719420999994 meters 0.05690881288848159 Centerline is valid? [True, True] Translation: X:48.87, Y:-0.81, Z:-5.26 [[ 9.96249082e-01 3.06571005e-02 8.09191452e-02 4.88696808e+01] [-3.04040378e-02 9.99528190e-01 -4.35794776e-03 -8.14694529e-01] [-8.10145688e-02 1.88133271e-03 9.96711142e-01 -5.26233060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.54771942099999 meters 0.06099128884119235 Centerline is valid? [True, True] Translation: X:48.93, Y:-0.83, Z:-5.27 [[ 9.96798064e-01 2.13896390e-02 7.70461118e-02 4.89273757e+01] [-2.11321377e-02 9.99768053e-01 -4.15600251e-03 -8.29788310e-01] [-7.71171366e-02 2.51454621e-03 9.97018869e-01 -5.27228731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.60771942099999 meters 0.0638836347234122 Centerline is valid? [True, True] Translation: X:48.99, Y:-0.83, Z:-5.28 [[ 9.97067096e-01 1.52466349e-02 7.49983112e-02 4.89871971e+01] [-1.49847988e-02 9.99879508e-01 -4.05273115e-03 -8.31865130e-01] [-7.50510650e-02 2.91701027e-03 9.97175425e-01 -5.27942778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.667719420999994 meters 0.06296617344739501 Centerline is valid? [True, True] Translation: X:49.05, Y:-0.83, Z:-5.28 [[ 9.96800130e-01 1.75065286e-02 7.79937264e-02 4.90479898e+01] [-1.72300825e-02 9.99842662e-01 -4.21605227e-03 -8.26317402e-01] [-7.80552635e-02 2.85872311e-03 9.96944935e-01 -5.28283995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.727719420999996 meters 0.05848677119607499 Centerline is valid? [True, True] Translation: X:49.11, Y:-0.81, Z:-5.29 [[ 9.96465335e-01 2.82815755e-02 7.91011322e-02 4.91098575e+01] [-2.80309185e-02 9.99597904e-01 -4.27762467e-03 -8.07716295e-01] [-7.91903039e-02 2.04522731e-03 9.96857418e-01 -5.28701820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.78771942099999 meters 0.05329040159080961 Centerline is valid? [True, True] Translation: X:49.17, Y:-0.76, Z:-5.29 [[ 9.95272086e-01 5.59828495e-02 7.93687306e-02 4.91715771e+01] [-5.58180854e-02 9.98431718e-01 -4.29476884e-03 -7.56386032e-01] [-7.94846915e-02 -1.55747045e-04 9.96836075e-01 -5.29492520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.847719420999994 meters 0.057280627682708606 Centerline is valid? [True, True] Translation: X:49.23, Y:-0.73, Z:-5.32 [[ 9.95099257e-01 6.99569127e-02 6.98820440e-02 4.92321050e+01] [-6.98637695e-02 9.97549383e-01 -3.77908181e-03 -7.29357209e-01] [-6.99751628e-02 -1.12166152e-03 9.97548103e-01 -5.31582007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.907719420999996 meters 0.057726616200957676 Centerline is valid? [True, True] Translation: X:49.29, Y:-0.73, Z:-5.33 [[ 9.95529271e-01 6.79797499e-02 6.55761021e-02 4.92912042e+01] [-6.78936254e-02 9.97686273e-01 -3.54354628e-03 -7.29411446e-01] [-6.56652663e-02 -9.24495266e-04 9.97841279e-01 -5.32912973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.96771942099999 meters 0.05548061096573615 Centerline is valid? [True, True] Translation: X:49.35, Y:-0.73, Z:-5.33 [[ 9.95753337e-01 6.12759521e-02 6.87062516e-02 4.93523542e+01] [-6.11647744e-02 9.98120740e-01 -3.72266756e-03 -7.33444936e-01] [-6.88052447e-02 -4.95543731e-04 9.97629988e-01 -5.32939724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.02771942099999 meters 0.05520184270742383 Centerline is valid? [True, True] Translation: X:49.41, Y:-0.74, Z:-5.34 [[ 9.95936049e-01 5.81887320e-02 6.87419713e-02 4.94131795e+01] [-5.80706652e-02 9.98305558e-01 -3.71629867e-03 -7.39515260e-01] [-6.88417387e-02 -2.90696188e-04 9.97627551e-01 -5.33847435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.087719420999996 meters 0.05572581230177477 Centerline is valid? [True, True] Translation: X:49.47, Y:-0.75, Z:-5.35 [[ 9.96606835e-01 5.06006621e-02 6.49183299e-02 4.94729432e+01] [-5.04775699e-02 9.98718935e-01 -3.53595323e-03 -7.48928320e-01] [-6.50140869e-02 2.47035624e-04 9.97884316e-01 -5.34948252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.14771942099999 meters 0.056265642245047015 Centerline is valid? [True, True] Translation: X:49.54, Y:-0.76, Z:-5.35 [[ 9.96811846e-01 3.84563011e-02 6.99089142e-02 4.95357310e+01] [-3.82837920e-02 9.99259658e-01 -3.80627998e-03 -7.60048580e-01] [-7.00035332e-02 1.11776664e-03 9.97546117e-01 -5.34682073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.20771942099999 meters 0.05909607522860607 Centerline is valid? [True, True] Translation: X:49.59, Y:-0.77, Z:-5.35 [[ 9.97100288e-01 3.03839280e-02 6.97698536e-02 4.95948240e+01] [-3.01918641e-02 9.99536876e-01 -3.80594318e-03 -7.69051249e-01] [-6.98531810e-02 1.68842511e-03 9.97555854e-01 -5.35487364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.267719420999995 meters 0.0635177722819603 Centerline is valid? [True, True] Translation: X:49.65, Y:-0.78, Z:-5.37 [[ 9.97348665e-01 2.33636205e-02 6.89186581e-02 4.96536380e+01] [-2.31590026e-02 9.99724699e-01 -3.76658725e-03 -7.81139878e-01] [-6.89876859e-02 2.16051338e-03 9.97615172e-01 -5.36601511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.32771942099999 meters 0.06256380321570751 Centerline is valid? [True, True] Translation: X:49.72, Y:-0.77, Z:-5.37 [[ 9.97415540e-01 1.98385036e-02 6.90555928e-02 4.97166695e+01] [-1.96243562e-02 9.99800285e-01 -3.77817032e-03 -7.72818480e-01] [-6.91167546e-02 2.41323424e-03 9.97605659e-01 -5.36718832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.38771942099999 meters 0.06111390709315045 Centerline is valid? [True, True] Translation: X:49.78, Y:-0.77, Z:-5.37 [[ 9.97084755e-01 2.34714498e-02 7.26022241e-02 4.97767079e+01] [-2.32436369e-02 9.99721903e-01 -3.98123295e-03 -7.66022546e-01] [-7.26754789e-02 2.28208694e-03 9.97353030e-01 -5.37121597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.447719420999995 meters 0.056599573022075925 Centerline is valid? [True, True] Translation: X:49.84, Y:-0.75, Z:-5.37 [[ 9.96485862e-01 3.29155857e-02 7.70226682e-02 4.98382007e+01] [-3.26872522e-02 9.99456705e-01 -4.22366771e-03 -7.51427761e-01] [-7.71198466e-02 1.69116578e-03 9.97020396e-01 -5.37495048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.50771942099999 meters 0.05294343110043996 Centerline is valid? [True, True] Translation: X:49.90, Y:-0.73, Z:-5.38 [[ 9.95873567e-01 4.23326312e-02 8.02732054e-02 4.99004033e+01] [-4.21151479e-02 9.99103070e-01 -4.40121011e-03 -7.31511455e-01] [-8.03875207e-02 1.00233090e-03 9.96763182e-01 -5.37584606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.56771942099999 meters 0.05190948759833551 Centerline is valid? [True, True] Translation: X:49.96, Y:-0.71, Z:-5.39 [[ 9.95392456e-01 5.37270868e-02 7.94182561e-02 4.99625901e+01] [-5.35508653e-02 9.98555654e-01 -4.34860880e-03 -7.11838215e-01] [-7.95371867e-02 7.56560590e-05 9.96831897e-01 -5.38632972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.627719420999995 meters 0.0546050307478103 Centerline is valid? [True, True] Translation: X:50.02, Y:-0.69, Z:-5.40 [[ 9.94780267e-01 7.20985262e-02 7.22081874e-02 5.00238293e+01] [-7.19991985e-02 9.97396745e-01 -3.98089861e-03 -6.87534629e-01] [-7.23072280e-02 -1.23881223e-03 9.97381637e-01 -5.39686032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.68771942099999 meters 0.059342464196799546 Centerline is valid? [True, True] Translation: X:50.09, Y:-0.68, Z:-5.41 [[ 9.93876957e-01 8.59086979e-02 6.94858977e-02 5.00850302e+01] [-8.58504294e-02 9.96300675e-01 -3.82998739e-03 -6.78288545e-01] [-6.95578760e-02 -2.15885795e-03 9.97575582e-01 -5.40784450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.74771942099999 meters 0.0591957130326684 Centerline is valid? [True, True] Translation: X:50.15, Y:-0.69, Z:-5.41 [[ 9.93465482e-01 8.76757565e-02 7.30705026e-02 5.01473851e+01] [-8.76166142e-02 9.96146156e-01 -4.02058249e-03 -6.85002025e-01] [-7.31414079e-02 -2.40788012e-03 9.97318674e-01 -5.41007582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.807719420999994 meters 0.05641677638349128 Centerline is valid? [True, True] Translation: X:50.21, Y:-0.71, Z:-5.42 [[ 9.94205931e-01 7.82879166e-02 7.36584642e-02 5.02052737e+01] [-7.81995612e-02 9.96929347e-01 -4.08716209e-03 -7.07446607e-01] [-7.37522600e-02 -1.69657879e-03 9.97275150e-01 -5.41636255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.86771942099999 meters 0.05399181758520888 Centerline is valid? [True, True] Translation: X:50.26, Y:-0.73, Z:-5.42 [[ 9.94455251e-01 7.19837681e-02 7.66621842e-02 5.02647621e+01] [-7.18695470e-02 9.97404980e-01 -4.25138411e-03 -7.29989063e-01] [-7.67692749e-02 -1.28186519e-03 9.97048061e-01 -5.41850516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.92771942099999 meters 0.05395719121600426 Centerline is valid? [True, True] Translation: X:50.33, Y:-0.74, Z:-5.43 [[ 9.94717841e-01 7.05037629e-02 7.46031906e-02 5.03255900e+01] [-7.03922055e-02 9.97510855e-01 -4.12698379e-03 -7.41619675e-01] [-7.47084603e-02 -1.14629871e-03 9.97204759e-01 -5.42773291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.987719420999994 meters 0.05479477547649602 Centerline is valid? [True, True] Translation: X:50.38, Y:-0.75, Z:-5.44 [[ 9.95213525e-01 6.64093037e-02 7.16927101e-02 5.03846101e+01] [-6.62940986e-02 9.97792158e-01 -3.98783727e-03 -7.54121966e-01] [-7.17992534e-02 -7.84054005e-04 9.97418795e-01 -5.44247297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.04771942099999 meters 0.05413084787170475 Centerline is valid? [True, True] Translation: X:50.45, Y:-0.78, Z:-5.45 [[ 9.95779131e-01 5.84901647e-02 7.07306345e-02 5.04453926e+01] [-5.83566854e-02 9.98287967e-01 -3.95384706e-03 -7.76837005e-01] [-7.08408024e-02 -1.90447000e-04 9.97487616e-01 -5.44879261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.10771942099999 meters 0.05346275976442921 Centerline is valid? [True, True] Translation: X:50.51, Y:-0.79, Z:-5.45 [[ 9.96113323e-01 5.37716621e-02 6.97628583e-02 5.05069969e+01] [-5.36289816e-02 9.98553245e-01 -3.91790908e-03 -7.91088759e-01] [-6.98726010e-02 1.61370392e-04 9.97555910e-01 -5.44841641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.167719420999994 meters 0.054088428742448964 Centerline is valid? [True, True] Translation: X:50.57, Y:-0.79, Z:-5.46 [[ 9.95444247e-01 6.32339498e-02 7.13597834e-02 5.05683721e+01] [-6.31072595e-02 9.97998611e-01 -4.03077947e-03 -7.88241692e-01] [-7.14718468e-02 -4.90904135e-04 9.97442497e-01 -5.45735212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.22771942099999 meters 0.057019805275421984 Centerline is valid? [True, True] Translation: X:50.63, Y:-0.78, Z:-5.46 [[ 9.94052498e-01 8.04225510e-02 7.34291790e-02 5.06297192e+01] [-8.03327309e-02 9.96759337e-01 -4.18058232e-03 -7.80058326e-01] [-7.35274329e-02 -1.74304818e-03 9.97291672e-01 -5.46062498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.28771942099999 meters 0.059418483860713064 Centerline is valid? [True, True] Translation: X:50.69, Y:-0.78, Z:-5.47 [[ 9.93367735e-01 8.71060823e-02 7.50538050e-02 5.06919343e+01] [-8.70313015e-02 9.96196415e-01 -4.27266954e-03 -7.76863715e-01] [-7.51405069e-02 -2.28769827e-03 9.97170332e-01 -5.46507198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.347719420999994 meters 0.05816514641611466 Centerline is valid? [True, True] Translation: X:50.75, Y:-0.80, Z:-5.47 [[ 9.93522994e-01 8.54572703e-02 7.48940310e-02 5.07525325e+01] [-8.53782036e-02 9.96339497e-01 -4.26262624e-03 -7.98138969e-01] [-7.49841535e-02 -2.15930064e-03 9.97182388e-01 -5.47169855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.407719420999996 meters 0.059638444692534695 Centerline is valid? [True, True] Translation: X:50.81, Y:-0.80, Z:-5.48 [[ 9.93227128e-01 8.66038111e-02 7.74574263e-02 5.08135414e+01] [-8.65207179e-02 9.96240183e-01 -4.43433956e-03 -7.99445479e-01] [-7.75502312e-02 -2.29736578e-03 9.96985799e-01 -5.47806051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.46771942099999 meters 0.05965792142601345 Centerline is valid? [True, True] Translation: X:50.87, Y:-0.81, Z:-5.48 [[ 9.92837958e-01 9.11954952e-02 7.71762298e-02 5.08743222e+01] [-9.11245959e-02 9.95829569e-01 -4.44713341e-03 -8.11259322e-01] [-7.72599303e-02 -2.61736990e-03 9.97007549e-01 -5.48101481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.52771942099999 meters 0.06141172995890595 Centerline is valid? [True, True] Translation: X:50.93, Y:-0.81, Z:-5.49 [[ 9.92528773e-01 9.67514829e-02 7.43356301e-02 5.09345044e+01] [-9.67009103e-02 9.95304250e-01 -4.28766584e-03 -8.14865421e-01] [-7.44014065e-02 -2.93269138e-03 9.97224062e-01 -5.48977748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.587719420999996 meters 0.0633644635824315 Centerline is valid? [True, True] Translation: X:50.99, Y:-0.82, Z:-5.50 [[ 9.92685622e-01 9.90223327e-02 6.90639859e-02 5.09938676e+01] [-9.89840992e-02 9.95081040e-01 -3.98404018e-03 -8.19580147e-01] [-6.91187719e-02 -2.88133703e-03 9.97604277e-01 -5.50223464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.64771942099999 meters 0.061424143107722276 Centerline is valid? [True, True] Translation: X:51.05, Y:-0.84, Z:-5.51 [[ 9.93338135e-01 9.21630968e-02 6.91759531e-02 5.10520197e+01] [-9.21079770e-02 9.95741019e-01 -3.99285876e-03 -8.41210306e-01] [-6.92493283e-02 -2.40539823e-03 9.97596484e-01 -5.51160540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.70771942099999 meters 0.057037443642031505 Centerline is valid? [True, True] Translation: X:51.11, Y:-0.87, Z:-5.52 [[ 9.94260757e-01 7.90248847e-02 7.21152883e-02 5.11102992e+01] [-7.89304095e-02 9.96871435e-01 -4.16335424e-03 -8.65502044e-01] [-7.22186795e-02 -1.55262950e-03 9.97387614e-01 -5.51553863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.767719420999995 meters 0.053751504719834614 Centerline is valid? [True, True] Translation: X:51.17, Y:-0.90, Z:-5.52 [[ 9.95121706e-01 6.27423471e-02 7.61327039e-02 5.11689067e+01] [-6.25896511e-02 9.98029680e-01 -4.39238592e-03 -8.99257309e-01] [-7.62582867e-02 -3.94160804e-04 9.97088019e-01 -5.51913352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.82771942099999 meters 0.05432427129243646 Centerline is valid? [True, True] Translation: X:51.23, Y:-0.93, Z:-5.52 [[ 9.95887894e-01 4.60436182e-02 7.80210667e-02 5.12305808e+01] [-4.58327552e-02 9.98939027e-01 -4.49213323e-03 -9.31001053e-01] [-7.81451225e-02 8.97740646e-04 9.96941590e-01 -5.52296301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.88771942099999 meters 0.05707338406560311 Centerline is valid? [True, True] Translation: X:51.29, Y:-0.95, Z:-5.53 [[ 9.96368884e-01 3.61294207e-02 7.70954775e-02 5.12893921e+01] [-3.58911738e-02 9.99345689e-01 -4.47408877e-03 -9.51207300e-01] [-7.72066793e-02 1.69079566e-03 9.97013676e-01 -5.53150520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.947719420999995 meters 0.05627449902472288 Centerline is valid? [True, True] Translation: X:51.35, Y:-0.95, Z:-5.54 [[ 9.96201667e-01 3.90841399e-02 7.78117569e-02 5.13514070e+01] [-3.88509104e-02 9.99234843e-01 -4.50950722e-03 -9.53146883e-01] [-7.79284689e-02 1.46932101e-03 9.96957870e-01 -5.53832648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.00771942099999 meters 0.05352495502511375 Centerline is valid? [True, True] Translation: X:51.41, Y:-0.95, Z:-5.54 [[ 9.95692044e-01 4.71854462e-02 7.98178401e-02 5.14139321e+01] [-4.69636306e-02 9.98885753e-01 -4.65505723e-03 -9.47558760e-01] [-7.99485543e-02 8.86467886e-04 9.96798597e-01 -5.53985507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.06771942099999 meters 0.05196679664671762 Centerline is valid? [True, True] Translation: X:51.48, Y:-0.94, Z:-5.54 [[ 9.95036574e-01 5.35835125e-02 8.38511949e-02 5.14764415e+01] [-5.33608582e-02 9.98563293e-01 -4.89585253e-03 -9.40787257e-01] [-8.39930622e-02 3.97180606e-04 9.96466260e-01 -5.53971091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.127719420999995 meters 0.05194517770237647 Centerline is valid? [True, True] Translation: X:51.54, Y:-0.93, Z:-5.55 [[ 9.94637221e-01 5.89254921e-02 8.49975613e-02 5.15377556e+01] [-5.87160856e-02 9.98262382e-01 -4.96364693e-03 -9.34345640e-01] [-8.51423533e-02 -5.36960965e-05 9.96368796e-01 -5.54849738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.18771942099999 meters 0.05229685986757648 Centerline is valid? [True, True] Translation: X:51.60, Y:-0.94, Z:-5.56 [[ 9.95131550e-01 5.52695828e-02 8.15994547e-02 5.15991993e+01] [-5.50626287e-02 9.98471432e-01 -4.78606604e-03 -9.37713397e-01] [-8.17392483e-02 2.69684838e-04 9.96653712e-01 -5.55778396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.24771942099999 meters 0.052803044262231695 Centerline is valid? [True, True] Translation: X:51.66, Y:-0.93, Z:-5.57 [[ 9.95173308e-01 5.96098064e-02 7.79535696e-02 5.16611126e+01] [-5.94319772e-02 9.98221753e-01 -4.60130444e-03 -9.29192464e-01] [-7.80892318e-02 -5.38394171e-05 9.96946372e-01 -5.56885587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.307719420999994 meters 0.05487353795716308 Centerline is valid? [True, True] Translation: X:51.72, Y:-0.92, Z:-5.58 [[ 9.94827033e-01 7.12380378e-02 7.24176521e-02 5.17215129e+01] [-7.11147550e-02 9.97458947e-01 -4.28262272e-03 -9.17438397e-01] [-7.25387206e-02 -8.89494730e-04 9.97365200e-01 -5.58231577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.36771942099999 meters 0.05638657480255425 Centerline is valid? [True, True] Translation: X:51.78, Y:-0.91, Z:-5.59 [[ 9.94168251e-01 7.86751354e-02 7.37544038e-02 5.17838976e+01] [-7.85682498e-02 9.96899229e-01 -4.35394092e-03 -9.11572081e-01] [-7.38682552e-02 -1.46620460e-03 9.97266931e-01 -5.59050310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.42771942099999 meters 0.05660121555958445 Centerline is valid? [True, True] Translation: X:51.85, Y:-0.91, Z:-5.59 [[ 9.94048672e-01 7.90033320e-02 7.50047459e-02 5.18457031e+01] [-7.88919833e-02 9.96873234e-01 -4.45086328e-03 -9.10537511e-01] [-7.51218566e-02 -1.49289843e-03 9.97173244e-01 -5.59497267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.487719420999994 meters 0.056228559874073984 Centerline is valid? [True, True] Translation: X:51.91, Y:-0.93, Z:-5.61 [[ 9.94409048e-01 7.58212235e-02 7.34968557e-02 5.19050949e+01] [-7.57040299e-02 9.97120699e-01 -4.38303186e-03 -9.26472101e-01] [-7.36175630e-02 -1.20548162e-03 9.97285817e-01 -5.60557251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.54771942099999 meters 0.053969120323088975 Centerline is valid? [True, True] Translation: X:51.97, Y:-0.94, Z:-5.61 [[ 9.94704859e-01 6.78396900e-02 7.72011630e-02 5.19651481e+01] [-6.76840572e-02 9.97696044e-01 -4.63373656e-03 -9.36608383e-01] [-7.73376462e-02 -6.16087659e-04 9.97004769e-01 -5.60993677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.60771942099999 meters 0.053496460909542666 Centerline is valid? [True, True] Translation: X:52.03, Y:-0.95, Z:-5.62 [[ 9.95159513e-01 6.15027712e-02 7.66482387e-02 5.20261540e+01] [-6.13310985e-02 9.98106904e-01 -4.59390042e-03 -9.49697331e-01] [-7.67856739e-02 -1.29256972e-04 9.97047613e-01 -5.61556672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.667719420999994 meters 0.05382358128601765 Centerline is valid? [True, True] Translation: X:52.09, Y:-0.96, Z:-5.62 [[ 9.95731665e-01 5.19431977e-02 7.62912481e-02 5.20867735e+01] [-5.17434014e-02 9.98649844e-01 -4.59453755e-03 -9.64644913e-01] [-7.64268980e-02 6.27357849e-04 9.97074990e-01 -5.62136641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.72771942099999 meters 0.054602785027727876 Centerline is valid? [True, True] Translation: X:52.15, Y:-0.97, Z:-5.63 [[ 9.96047560e-01 4.52387018e-02 7.64376808e-02 5.21489115e+01] [-4.50168844e-02 9.98975528e-01 -4.62335023e-03 -9.68658857e-01] [-7.65685269e-02 1.16409047e-03 9.97063642e-01 -5.62634497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.78771942099999 meters 0.05525555031507837 Centerline is valid? [True, True] Translation: X:52.21, Y:-0.97, Z:-5.63 [[ 9.96147362e-01 4.12189644e-02 7.74043259e-02 5.22107386e+01] [-4.09775939e-02 9.99148989e-01 -4.70470610e-03 -9.72680671e-01] [-7.75323771e-02 1.51473754e-03 9.96988684e-01 -5.63157861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.847719420999994 meters 0.05509068916588788 Centerline is valid? [True, True] Translation: X:52.27, Y:-0.97, Z:-5.64 [[ 9.96136496e-01 4.13983017e-02 7.74484533e-02 5.22733533e+01] [-4.11554734e-02 9.99141561e-01 -4.72952951e-03 -9.70180541e-01] [-7.75777630e-02 1.52382919e-03 9.96985140e-01 -5.63756155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.90771942099999 meters 0.05537962875831049 Centerline is valid? [True, True] Translation: X:52.33, Y:-0.97, Z:-5.65 [[ 9.96227240e-01 4.25036664e-02 7.56619163e-02 5.23344071e+01] [-4.22730241e-02 9.99095285e-01 -4.64797241e-03 -9.70715201e-01] [-7.57910197e-02 1.43197871e-03 9.97122696e-01 -5.64659954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.96771942099999 meters 0.052981163505538595 Centerline is valid? [True, True] Translation: X:52.40, Y:-0.95, Z:-5.65 [[ 9.95278138e-01 5.86380479e-02 7.73499082e-02 5.23950208e+01] [-5.84432127e-02 9.98279281e-01 -4.78211721e-03 -9.52177638e-01] [-7.74972248e-02 2.38959574e-04 9.96992539e-01 -5.65420250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.02771942099999 meters 0.053747162510484094 Centerline is valid? [True, True] Translation: X:52.46, Y:-0.94, Z:-5.66 [[ 9.94318867e-01 7.18556075e-02 7.85287413e-02 5.24591553e+01] [-7.16966556e-02 9.97414714e-01 -4.84539641e-03 -9.36202863e-01] [-7.86738909e-02 -8.12379050e-04 9.96900075e-01 -5.65999703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.087719420999996 meters 0.05666421210037501 Centerline is valid? [True, True] Translation: X:52.52, Y:-0.93, Z:-5.67 [[ 9.93453286e-01 8.56351828e-02 7.56120611e-02 5.25202686e+01] [-8.55250566e-02 9.96324938e-01 -4.69924483e-03 -9.25175087e-01] [-7.57366028e-02 -1.79824559e-03 9.97126237e-01 -5.66606386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.14771942099999 meters 0.06125544633773909 Centerline is valid? [True, True] Translation: X:52.58, Y:-0.92, Z:-5.68 [[ 9.92932353e-01 9.33682187e-02 7.32647090e-02 5.25796570e+01] [-9.32858317e-02 9.95628958e-01 -4.55310409e-03 -9.17758635e-01] [-7.33695811e-02 -2.31363496e-03 9.97302137e-01 -5.68114602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.20771942099999 meters 0.06155882144210504 Centerline is valid? [True, True] Translation: X:52.64, Y:-0.92, Z:-5.68 [[ 9.92318809e-01 9.90963793e-02 7.40492332e-02 5.26408838e+01] [-9.90278175e-02 9.95074006e-01 -4.60592468e-03 -9.16398351e-01] [-7.41408976e-02 -2.76238826e-03 9.97243950e-01 -5.68261011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.267719420999995 meters 0.0584848920946492 Centerline is valid? [True, True] Translation: X:52.70, Y:-0.94, Z:-5.69 [[ 9.92740598e-01 9.11467063e-02 7.84753713e-02 5.27004608e+01] [-9.10447352e-02 9.95834828e-01 -4.88382259e-03 -9.36084692e-01] [-7.85936522e-02 -2.29640044e-03 9.96904090e-01 -5.68556720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.32771942099999 meters 0.055529541993594736 Centerline is valid? [True, True] Translation: X:52.76, Y:-0.96, Z:-5.69 [[ 9.93699233e-01 8.10065786e-02 7.74581709e-02 5.27599783e+01] [-8.08765179e-02 9.96712475e-01 -4.81980958e-03 -9.55794621e-01] [-7.75939616e-02 -1.47510607e-03 9.96983952e-01 -5.69394351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.38771942099999 meters 0.05287897335637305 Centerline is valid? [True, True] Translation: X:52.82, Y:-0.99, Z:-5.70 [[ 9.94834758e-01 6.44069041e-02 7.84573475e-02 5.28180208e+01] [-6.42216801e-02 9.97923704e-01 -4.88439445e-03 -9.87675633e-01] [-7.86090355e-02 -1.79497300e-04 9.96905506e-01 -5.70064113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.447719420999995 meters 0.05344923449591801 Centerline is valid? [True, True] Translation: X:52.88, Y:-1.01, Z:-5.71 [[ 9.95709506e-01 5.50575678e-02 7.43723284e-02 5.28773216e+01] [-5.48652069e-02 9.98483042e-01 -4.62859961e-03 -1.00742474e+00] [-7.45143482e-02 5.28287452e-04 9.97219802e-01 -5.71131480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.50771942099999 meters 0.053933263866763274 Centerline is valid? [True, True] Translation: X:52.94, Y:-1.02, Z:-5.72 [[ 9.95864090e-01 5.19762085e-02 7.45197141e-02 5.29376359e+01] [-5.17745247e-02 9.98648034e-01 -4.63700871e-03 -1.01685765e+00] [-7.46599801e-02 7.59607682e-04 9.97208760e-01 -5.71826419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.56771942099999 meters 0.05472095715502015 Centerline is valid? [True, True] Translation: X:53.00, Y:-1.03, Z:-5.72 [[ 9.96136057e-01 4.54121387e-02 7.51711004e-02 5.29987219e+01] [-4.51872484e-02 9.98967522e-01 -4.69068851e-03 -1.02755213e+00] [-7.53065021e-02 1.27578877e-03 9.97159618e-01 -5.72219881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.627719420999995 meters 0.05569839582146937 Centerline is valid? [True, True] Translation: X:53.06, Y:-1.03, Z:-5.73 [[ 9.96354704e-01 4.35879429e-02 7.33307215e-02 5.30595870e+01] [-4.33684967e-02 9.99048633e-01 -4.58292327e-03 -1.03201141e+00] [-7.34607173e-02 1.38597401e-03 9.97297148e-01 -5.73250968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.68771942099999 meters 0.05571550944746969 Centerline is valid? [True, True] Translation: X:53.12, Y:-1.03, Z:-5.74 [[ 9.96450187e-01 4.18676989e-02 7.30350687e-02 5.31214781e+01] [-4.16440143e-02 9.99121999e-01 -4.58345824e-03 -1.03117895e+00] [-7.31628426e-02 1.52571437e-03 9.97318841e-01 -5.73845567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.74771942099999 meters 0.05655594887497624 Centerline is valid? [True, True] Translation: X:53.18, Y:-1.03, Z:-5.74 [[ 9.96511880e-01 3.86772722e-02 7.39468897e-02 5.31832804e+01] [-3.84374556e-02 9.99250123e-01 -4.66399520e-03 -1.02952281e+00] [-7.40718293e-02 1.80539633e-03 9.97251275e-01 -5.74441073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.807719420999994 meters 0.05768679786852297 Centerline is valid? [True, True] Translation: X:53.24, Y:-1.04, Z:-5.75 [[ 9.96736874e-01 3.51012528e-02 7.26877349e-02 5.32446011e+01] [-3.48579133e-02 9.99381627e-01 -4.61397731e-03 -1.03566432e+00] [-7.28047431e-02 2.06517855e-03 9.97344075e-01 -5.75147347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.86771942099999 meters 0.05729758619866041 Centerline is valid? [True, True] Translation: X:53.31, Y:-1.03, Z:-5.76 [[ 9.96422786e-01 3.64098714e-02 7.62624008e-02 5.33056851e+01] [-3.61451290e-02 9.99334786e-01 -4.84932077e-03 -1.02717511e+00] [-7.63882331e-02 2.07545939e-03 9.97075990e-01 -5.75620802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.92771942099999 meters 0.05518688347227851 Centerline is valid? [True, True] Translation: X:53.37, Y:-1.02, Z:-5.76 [[ 9.96099696e-01 4.12584079e-02 7.79944856e-02 5.33673678e+01] [-4.09960293e-02 9.99146984e-01 -4.96293400e-03 -1.01870139e+00] [-7.81327178e-02 1.74611284e-03 9.96941437e-01 -5.76059079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.987719420999994 meters 0.05444008367603621 Centerline is valid? [True, True] Translation: X:53.43, Y:-1.01, Z:-5.76 [[ 9.95848260e-01 4.26269862e-02 8.04312344e-02 5.34305256e+01] [-4.23522177e-02 9.99089624e-01 -5.11986753e-03 -1.01179622e+00] [-8.05762562e-02 1.69217002e-03 9.96747011e-01 -5.76496295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.04771942099999 meters 0.05366077032015936 Centerline is valid? [True, True] Translation: X:53.49, Y:-1.00, Z:-5.77 [[ 9.95830537e-01 4.63214637e-02 7.85866600e-02 5.34925013e+01] [-4.60704676e-02 9.98925654e-01 -5.00492036e-03 -1.00126305e+00] [-7.87340660e-02 1.36352836e-03 9.96894722e-01 -5.77463225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.10771942099999 meters 0.05591302907944247 Centerline is valid? [True, True] Translation: X:53.55, Y:-1.01, Z:-5.78 [[ 9.96175213e-01 3.74936137e-02 7.89251187e-02 5.35530866e+01] [-3.72103302e-02 9.99294658e-01 -5.05744323e-03 -1.01137959e+00] [-7.90590713e-02 2.10126986e-03 9.96867718e-01 -5.78179445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.167719420999994 meters 0.06276901760117959 Centerline is valid? [True, True] Translation: X:53.61, Y:-1.02, Z:-5.79 [[ 9.96494162e-01 2.21728555e-02 8.06706189e-02 5.36125813e+01] [-2.18264447e-02 9.99748389e-01 -5.17353024e-03 -1.01867020e+00] [-8.07650332e-02 3.39463989e-03 9.96727388e-01 -5.78821623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.22771942099999 meters 0.06597967767461345 Centerline is valid? [True, True] Translation: X:53.67, Y:-1.03, Z:-5.79 [[ 9.96364284e-01 1.43305764e-02 8.39812400e-02 5.36724024e+01] [-1.39271841e-02 9.99888499e-01 -5.38727152e-03 -1.02972593e+00] [-8.40490788e-02 4.19806274e-03 9.96452773e-01 -5.79081532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.28771942099999 meters 0.06722531976878927 Centerline is valid? [True, True] Translation: X:53.73, Y:-1.03, Z:-5.80 [[ 9.96373953e-01 9.66226629e-03 8.45315701e-02 5.37336000e+01] [-9.23682223e-03 9.99942636e-01 -5.42262423e-03 -1.02909674e+00] [-8.45791159e-02 4.62215846e-03 9.96406046e-01 -5.79707340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.347719420999994 meters 0.068676209745698 Centerline is valid? [True, True] Translation: X:53.79, Y:-1.02, Z:-5.81 [[ 9.96874501e-01 9.88360174e-03 7.83807605e-02 5.37929864e+01] [-9.51835033e-03 9.99942037e-01 -5.03220600e-03 -1.02072002e+00] [-7.84259537e-02 4.27042231e-03 9.96910795e-01 -5.81108671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.40771942099999 meters 0.06717356384048298 Centerline is valid? [True, True] Translation: X:53.85, Y:-1.02, Z:-5.82 [[ 9.97208234e-01 9.46115174e-03 7.40690559e-02 5.38531811e+01] [-9.13407215e-03 9.99946986e-01 -4.75337781e-03 -1.01762452e+00] [-7.41101016e-02 4.06355539e-03 9.97241786e-01 -5.82229012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.46771942099999 meters 0.06565060791044304 Centerline is valid? [True, True] Translation: X:53.91, Y:-1.00, Z:-5.83 [[ 9.96994103e-01 1.55169493e-02 7.59077312e-02 5.39130561e+01] [-1.51903076e-02 9.99872719e-01 -4.87864887e-03 -1.00494105e+00] [-7.59737713e-02 3.71092236e-03 9.97102911e-01 -5.82691694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.52771942099999 meters 0.05804028922549491 Centerline is valid? [True, True] Translation: X:53.98, Y:-0.98, Z:-5.83 [[ 9.96623507e-01 2.90346240e-02 7.68021875e-02 5.39757050e+01] [-2.87404160e-02 9.99574734e-01 -4.93348374e-03 -9.76909770e-01] [-7.69127680e-02 2.70949904e-03 9.97034144e-01 -5.83094032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.58771942099999 meters 0.05534864958103994 Centerline is valid? [True, True] Translation: X:54.04, Y:-0.96, Z:-5.84 [[ 9.96379577e-01 4.11556970e-02 7.43905007e-02 5.40357985e+01] [-4.09133198e-02 9.99151267e-01 -4.77978453e-03 -9.62806363e-01] [-7.45240784e-02 1.71891735e-03 9.97217733e-01 -5.84473728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.64771942099999 meters 0.05232796073945969 Centerline is valid? [True, True] Translation: X:54.10, Y:-0.94, Z:-5.84 [[ 9.95640935e-01 5.01816145e-02 7.86189123e-02 5.40981594e+01] [-4.99389380e-02 9.98739500e-01 -5.05107022e-03 -9.44343322e-01] [-7.87732841e-02 1.10290729e-03 9.96891947e-01 -5.84368905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.70771942099999 meters 0.05136716272660738 Centerline is valid? [True, True] Translation: X:54.16, Y:-0.93, Z:-5.85 [[ 9.94894185e-01 5.99984172e-02 8.11526324e-02 5.41603351e+01] [-5.97723804e-02 9.98198415e-01 -5.21401774e-03 -9.32374631e-01] [-8.13192618e-02 3.36709915e-04 9.96688048e-01 -5.84877648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.767719420999995 meters 0.05232668874837117 Centerline is valid? [True, True] Translation: X:54.22, Y:-0.92, Z:-5.86 [[ 9.94511450e-01 6.92996183e-02 7.83871139e-02 5.42210164e+01] [-6.91175671e-02 9.97595808e-01 -5.03650147e-03 -9.22708964e-01] [-7.85476838e-02 -4.09068233e-04 9.96910274e-01 -5.85987043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.82771942099999 meters 0.05324542404757387 Centerline is valid? [True, True] Translation: X:54.28, Y:-0.92, Z:-5.86 [[ 9.93767790e-01 7.68515588e-02 8.07429079e-02 5.42834136e+01] [-7.66826263e-02 9.97042015e-01 -5.19561487e-03 -9.22015840e-01] [-8.09033627e-02 -1.02834352e-03 9.96721420e-01 -5.86446572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.88771942099999 meters 0.053486547901719236 Centerline is valid? [True, True] Translation: X:54.35, Y:-0.93, Z:-5.87 [[ 9.93284953e-01 7.95592122e-02 8.39960299e-02 5.43452423e+01] [-7.93837407e-02 9.96829330e-01 -5.43217371e-03 -9.27846820e-01] [-8.41618857e-02 -1.27222265e-03 9.96451283e-01 -5.86844743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.947719420999995 meters 0.05350001902097608 Centerline is valid? [True, True] Translation: X:54.41, Y:-0.94, Z:-5.88 [[ 9.93421837e-01 7.87256773e-02 8.31584142e-02 5.44074653e+01] [-7.85489465e-02 9.96895634e-01 -5.39987703e-03 -9.39638821e-01] [-8.33253690e-02 -1.16765006e-03 9.96521710e-01 -5.87742924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.00771942099999 meters 0.05171201588821371 Centerline is valid? [True, True] Translation: X:54.47, Y:-0.96, Z:-5.88 [[ 9.93887140e-01 7.12372965e-02 8.43421653e-02 5.44678808e+01] [-7.10258070e-02 9.97459264e-01 -5.50928644e-03 -9.62713630e-01] [-8.45203408e-02 -5.14861415e-04 9.96421621e-01 -5.88206693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.06771942099999 meters 0.05252532225403932 Centerline is valid? [True, True] Translation: X:54.53, Y:-1.00, Z:-5.90 [[ 9.94957739e-01 5.72045091e-02 8.23816824e-02 5.45257643e+01] [-5.69546991e-02 9.98362262e-01 -5.38110435e-03 -9.99192859e-01] [-8.25545862e-02 6.61947483e-04 9.96586324e-01 -5.89609196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.127719420999995 meters 0.05744767318945156 Centerline is valid? [True, True] Translation: X:54.58, Y:-1.03, Z:-5.90 [[ 9.96031917e-01 3.98302807e-02 7.95862347e-02 5.45840599e+01] [-3.95396228e-02 9.99204341e-01 -5.22531342e-03 -1.02746852e+00] [-7.97310369e-02 2.05776924e-03 9.96814289e-01 -5.90202316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.18771942099999 meters 0.06509892985143241 Centerline is valid? [True, True] Translation: X:54.64, Y:-1.06, Z:-5.91 [[ 9.96342051e-01 2.88419128e-02 8.04404269e-02 5.46406757e+01] [-2.85092808e-02 9.99579579e-01 -5.28082396e-03 -1.05528689e+00] [-8.05589171e-02 2.96820825e-03 9.96745429e-01 -5.91357825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.24771942099999 meters 0.06938278655561698 Centerline is valid? [True, True] Translation: X:54.70, Y:-1.07, Z:-5.92 [[ 9.96701563e-01 2.35625910e-02 7.76582169e-02 5.46996455e+01] [-2.32365305e-02 9.99716988e-01 -5.09973482e-03 -1.06908775e+00] [-7.77564016e-02 3.27840615e-03 9.96966997e-01 -5.92360722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.307719420999994 meters 0.06287164973858131 Centerline is valid? [True, True] Translation: X:54.76, Y:-1.05, Z:-5.92 [[ 9.96412226e-01 3.10406938e-02 7.87346840e-02 5.47614188e+01] [-3.07287318e-02 9.99514385e-01 -5.17098609e-03 -1.05029632e+00] [-7.88569603e-02 2.73301678e-03 9.96882195e-01 -5.92467264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.36771942099999 meters 0.05411709902501342 Centerline is valid? [True, True] Translation: X:54.82, Y:-1.03, Z:-5.92 [[ 9.95414954e-01 4.68377626e-02 8.33984063e-02 5.48247685e+01] [-4.65429387e-02 9.98901276e-01 -5.47688664e-03 -1.02976107e+00] [-8.35632995e-02 1.57016794e-03 9.96501234e-01 -5.92239807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.42771942099999 meters 0.05204911004924704 Centerline is valid? [True, True] Translation: X:54.89, Y:-1.02, Z:-5.93 [[ 9.94937260e-01 5.77501048e-02 8.22482479e-02 5.48864597e+01] [-5.75005032e-02 9.98330861e-01 -5.40216711e-03 -1.01725878e+00] [-8.24229399e-02 6.45501697e-04 9.96597232e-01 -5.93042969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.487719420999994 meters 0.05232377248446444 Centerline is valid? [True, True] Translation: X:54.95, Y:-1.00, Z:-5.94 [[ 9.94609821e-01 6.68569688e-02 7.92555922e-02 5.49484028e+01] [-6.66540850e-02 9.97762564e-01 -5.20560160e-03 -1.00380402e+00] [-7.94262937e-02 -1.05166505e-04 9.96840736e-01 -5.94163438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.54771942099999 meters 0.053657868476049746 Centerline is valid? [True, True] Translation: X:55.01, Y:-0.99, Z:-5.95 [[ 9.93962282e-01 7.62027731e-02 7.89437754e-02 5.50091472e+01] [-7.60297241e-02 9.97091993e-01 -5.19986329e-03 -9.94513595e-01] [-7.91104503e-02 -8.33605484e-04 9.96865508e-01 -5.95084927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.60771942099999 meters 0.053784384675350995 Centerline is valid? [True, True] Translation: X:55.07, Y:-1.00, Z:-5.95 [[ 9.93715830e-01 8.02538108e-02 7.80267573e-02 5.50711412e+01] [-8.00975831e-02 9.96773801e-01 -5.13490264e-03 -9.95577009e-01] [-7.81871230e-02 -1.14712063e-03 9.96938041e-01 -5.95462355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.667719420999994 meters 0.056559268656043 Centerline is valid? [True, True] Translation: X:55.13, Y:-0.99, Z:-5.96 [[ 9.93166547e-01 8.84949239e-02 7.60845488e-02 5.51314223e+01] [-8.83681678e-02 9.96075142e-01 -5.03763053e-03 -9.91368729e-01] [-7.62317325e-02 -1.72024605e-03 9.97088644e-01 -5.96163545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.72771942099999 meters 0.06261024196562386 Centerline is valid? [True, True] Translation: X:55.19, Y:-0.99, Z:-5.97 [[ 9.92171936e-01 9.84259632e-02 7.68581693e-02 5.51906192e+01] [-9.83261417e-02 9.95141221e-01 -5.09112891e-03 -9.86674282e-01] [-7.69858318e-02 -2.50589202e-03 9.97029038e-01 -5.97264968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.78771942099999 meters 0.06434319879657642 Centerline is valid? [True, True] Translation: X:55.25, Y:-0.99, Z:-5.97 [[ 9.91341130e-01 1.04617427e-01 7.93596737e-02 5.52524579e+01] [-1.04530873e-01 9.94507755e-01 -5.25567746e-03 -9.86662856e-01] [-7.94736464e-02 -3.08536672e-03 9.96832193e-01 -5.97387846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.847719420999994 meters 0.06472512246077121 Centerline is valid? [True, True] Translation: X:55.31, Y:-1.00, Z:-5.98 [[ 9.91279952e-01 1.05218272e-01 7.93295175e-02 5.53137426e+01] [-1.05133985e-01 9.94444207e-01 -5.25011569e-03 -9.99622904e-01] [-7.94411873e-02 -3.13589390e-03 9.96834622e-01 -5.98058915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.90771942099999 meters 0.060326633024285904 Centerline is valid? [True, True] Translation: X:55.37, Y:-1.02, Z:-5.98 [[ 9.91485356e-01 1.00432831e-01 8.28856712e-02 5.53734275e+01] [-1.00321593e-01 9.94939771e-01 -5.51635472e-03 -1.02083297e+00] [-8.30202739e-02 -2.84583767e-03 9.96543795e-01 -5.98214713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.96771942099999 meters 0.059264555968284664 Centerline is valid? [True, True] Translation: X:55.43, Y:-1.05, Z:-6.00 [[ 9.93011444e-01 9.29382615e-02 7.27375473e-02 5.54312859e+01] [-9.28330199e-02 9.95669959e-01 -4.83359419e-03 -1.05095221e+00] [-7.28718166e-02 -1.95263183e-03 9.97339403e-01 -5.99998984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.02771942099999 meters 0.05715303180422304 Centerline is valid? [True, True] Translation: X:55.49, Y:-1.07, Z:-6.01 [[ 9.93677637e-01 8.63181142e-02 7.17909237e-02 5.54915159e+01] [-8.61964401e-02 9.96266612e-01 -4.79698932e-03 -1.07314357e+00] [-7.19369674e-02 -1.42146104e-03 9.97408167e-01 -6.00557810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.08771942099999 meters 0.057105432520576094 Centerline is valid? [True, True] Translation: X:55.55, Y:-1.09, Z:-6.01 [[ 9.93312200e-01 8.67875277e-02 7.61498426e-02 5.55507528e+01] [-8.66517560e-02 9.96225652e-01 -5.09147386e-03 -1.09211640e+00] [-7.63043030e-02 -1.54109448e-03 9.97083386e-01 -6.00876976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.14771942099999 meters 0.05637635409731508 Centerline is valid? [True, True] Translation: X:55.61, Y:-1.12, Z:-6.01 [[ 9.93554426e-01 8.57584646e-02 7.41288685e-02 5.56117910e+01] [-8.56267274e-02 9.96314945e-01 -4.95928250e-03 -1.11594988e+00] [-7.42810000e-02 -1.42009534e-03 9.97236339e-01 -6.01278224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.20771942099999 meters 0.055683358167722276 Centerline is valid? [True, True] Translation: X:55.67, Y:-1.13, Z:-6.02 [[ 9.94022060e-01 8.12674513e-02 7.29091581e-02 5.56719917e+01] [-8.11264268e-02 9.96691782e-01 -4.89846525e-03 -1.13300559e+00] [-7.30660445e-02 -1.04567696e-03 9.97326556e-01 -6.02191115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.26771942099999 meters 0.054094938921106936 Centerline is valid? [True, True] Translation: X:55.73, Y:-1.16, Z:-6.03 [[ 9.94794990e-01 7.00327633e-02 7.40158092e-02 5.57301590e+01] [-6.98540754e-02 9.97544673e-01 -5.00333178e-03 -1.16140758e+00] [-7.41844733e-02 -1.93016528e-04 9.97244517e-01 -6.02830693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.32771942099999 meters 0.05389658548671647 Centerline is valid? [True, True] Translation: X:55.79, Y:-1.18, Z:-6.03 [[ 9.95359671e-01 5.94574020e-02 7.56567399e-02 5.57908717e+01] [-5.92406848e-02 9.98230662e-01 -5.10745249e-03 -1.18147512e+00] [-7.58265534e-02 6.01795152e-04 9.97120841e-01 -6.02993096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.38771942099999 meters 0.05443610529899855 Centerline is valid? [True, True] Translation: X:55.85, Y:-1.20, Z:-6.03 [[ 9.95416024e-01 5.33115181e-02 7.94029007e-02 5.58518453e+01] [-5.30513286e-02 9.98577271e-01 -5.38428260e-03 -1.19902398e+00] [-7.95769762e-02 1.14717180e-03 9.96828064e-01 -6.03243976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.447719420999995 meters 0.05631295574961193 Centerline is valid? [True, True] Translation: X:55.91, Y:-1.21, Z:-6.05 [[ 9.96022065e-01 4.97726546e-02 7.39102774e-02 5.59112188e+01] [-4.95354841e-02 9.98759650e-01 -5.03967689e-03 -1.20517090e+00] [-7.40694408e-02 1.35844801e-03 9.97252161e-01 -6.04581046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.50771942099999 meters 0.05744330744385637 Centerline is valid? [True, True] Translation: X:55.97, Y:-1.22, Z:-6.05 [[ 9.96108203e-01 4.67423755e-02 7.47234799e-02 5.59723831e+01] [-4.64919512e-02 9.98905705e-01 -5.08824865e-03 -1.21704593e+00] [-7.48795472e-02 1.59440584e-03 9.97191311e-01 -6.05154708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.56771942099999 meters 0.05362623303864203 Centerline is valid? [True, True] Translation: X:56.04, Y:-1.21, Z:-6.05 [[ 9.95369865e-01 5.23487886e-02 8.06128751e-02 5.60351649e+01] [-5.20730295e-02 9.98628019e-01 -5.52073992e-03 -1.20774334e+00] [-8.07912798e-02 1.29742153e-03 9.96730197e-01 -6.04503044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.627719420999995 meters 0.05309072367230561 Centerline is valid? [True, True] Translation: X:56.10, Y:-1.18, Z:-6.06 [[ 9.94589416e-01 7.22206605e-02 7.46730926e-02 5.60969241e+01] [-7.20404844e-02 9.97388633e-01 -5.10709498e-03 -1.18320829e+00] [-7.48469315e-02 -3.00023151e-04 9.97194989e-01 -6.06040758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.68771942099999 meters 0.058977805037806655 Centerline is valid? [True, True] Translation: X:56.16, Y:-1.16, Z:-6.08 [[ 9.93520319e-01 8.88928927e-02 7.08196944e-02 5.61568237e+01] [-8.87711549e-02 9.96040139e-01 -4.87072167e-03 -1.15700453e+00] [-7.09722308e-02 -1.44758512e-03 9.97477241e-01 -6.07972742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.74771942099999 meters 0.06024559028344133 Centerline is valid? [True, True] Translation: X:56.22, Y:-1.15, Z:-6.08 [[ 9.92675406e-01 9.72825648e-02 7.16354684e-02 5.62186957e+01] [-9.71798105e-02 9.95254648e-01 -4.92656684e-03 -1.15188541e+00] [-7.17748019e-02 -2.07103950e-03 9.97418713e-01 -6.08090936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.807719420999994 meters 0.06076375449703665 Centerline is valid? [True, True] Translation: X:56.28, Y:-1.16, Z:-6.09 [[ 9.92428998e-01 1.00499395e-01 7.06013879e-02 5.62807019e+01] [-1.00407523e-01 9.94934535e-01 -4.85799320e-03 -1.15783603e+00] [-7.07319844e-02 -2.26769715e-03 9.97492779e-01 -6.08634723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.86771942099999 meters 0.06262256632506487 Centerline is valid? [True, True] Translation: X:56.34, Y:-1.16, Z:-6.10 [[ 9.92535413e-01 1.01965074e-01 6.69072272e-02 5.63391907e+01] [-1.01885300e-01 9.94785460e-01 -4.61242545e-03 -1.16447628e+00] [-6.70286431e-02 -2.23886732e-03 9.97748540e-01 -6.09784766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.92771942099999 meters 0.06034183153474011 Centerline is valid? [True, True] Translation: X:56.40, Y:-1.18, Z:-6.10 [[ 9.93181708e-01 9.55174225e-02 6.68320089e-02 5.63979262e+01] [-9.54232506e-02 9.95426128e-01 -4.60724008e-03 -1.18410431e+00] [-6.69663995e-02 -1.80150096e-03 9.97753605e-01 -6.10440546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.987719420999994 meters 0.057662961717320396 Centerline is valid? [True, True] Translation: X:56.45, Y:-1.21, Z:-6.11 [[ 9.94003348e-01 8.53143283e-02 6.84018307e-02 5.64548648e+01] [-8.51915081e-02 9.96353435e-01 -4.71595287e-03 -1.21133941e+00] [-6.85547373e-02 -1.13958217e-03 9.97646706e-01 -6.11371956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.04771942099999 meters 0.05463634193699306 Centerline is valid? [True, True] Translation: X:56.51, Y:-1.24, Z:-6.12 [[ 9.94973110e-01 7.13050743e-02 7.03142773e-02 5.65131301e+01] [-7.11404129e-02 9.97454537e-01 -4.84641344e-03 -1.24417986e+00] [-7.04808688e-02 -1.80135663e-04 9.97513115e-01 -6.11723579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.10771942099999 meters 0.05633105617914472 Centerline is valid? [True, True] Translation: X:56.57, Y:-1.28, Z:-6.12 [[ 9.96000245e-01 5.60277027e-02 6.96017864e-02 5.65726023e+01] [-5.58292811e-02 9.98428818e-01 -4.79435013e-03 -1.27800202e+00] [-6.97610458e-02 8.89356198e-04 9.97563334e-01 -6.12331446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.167719420999994 meters 0.05686658828144347 Centerline is valid? [True, True] Translation: X:56.63, Y:-1.29, Z:-6.13 [[ 9.96022349e-01 5.45211251e-02 7.04764278e-02 5.66328633e+01] [-5.43139592e-02 9.98512110e-01 -4.85391220e-03 -1.28784204e+00] [-7.06362074e-02 1.00675120e-03 9.97501635e-01 -6.12933262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.22771942099999 meters 0.05595864603940886 Centerline is valid? [True, True] Translation: X:56.70, Y:-1.28, Z:-6.14 [[ 9.95789107e-01 6.16995174e-02 6.78028254e-02 5.66954040e+01] [-6.15233718e-02 9.98094648e-01 -4.68497542e-03 -1.27998641e+00] [-6.79626978e-02 4.93789054e-04 9.97687741e-01 -6.13752165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.28771942099999 meters 0.05507595068289238 Centerline is valid? [True, True] Translation: X:56.76, Y:-1.28, Z:-6.14 [[ 9.95423857e-01 6.43507169e-02 7.06422627e-02 5.67574488e+01] [-6.41642186e-02 9.97927282e-01 -4.90842146e-03 -1.28051242e+00] [-7.08117017e-02 3.53254235e-04 9.97489638e-01 -6.14071635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.347719420999994 meters 0.05438000346326172 Centerline is valid? [True, True] Translation: X:56.82, Y:-1.29, Z:-6.14 [[ 9.95184944e-01 6.31284398e-02 7.49781820e-02 5.68174851e+01] [-6.29144095e-02 9.98005299e-01 -5.21544274e-03 -1.28819692e+00] [-7.51578656e-02 4.73122055e-04 9.97171536e-01 -6.14325217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.40771942099999 meters 0.05485138109799647 Centerline is valid? [True, True] Translation: X:56.88, Y:-1.29, Z:-6.15 [[ 9.95278755e-01 6.43213856e-02 7.26839721e-02 5.68780008e+01] [-6.41236347e-02 9.97929168e-01 -5.05332120e-03 -1.28648226e+00] [-7.28584923e-02 3.68702754e-04 9.97342220e-01 -6.15422443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.46771942099999 meters 0.0551338357575965 Centerline is valid? [True, True] Translation: X:56.94, Y:-1.28, Z:-6.16 [[ 9.95126990e-01 6.78631861e-02 7.15322364e-02 5.69388562e+01] [-6.76804155e-02 9.97694630e-01 -4.97856887e-03 -1.28134203e+00] [-7.17051897e-02 1.12976774e-04 9.97425863e-01 -6.16270663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.52771942099999 meters 0.05358012059799783 Centerline is valid? [True, True] Translation: X:57.00, Y:-1.27, Z:-6.15 [[ 9.93655706e-01 8.26228532e-02 7.63007315e-02 5.70037834e+01] [-8.24569696e-02 9.96580387e-01 -5.32729726e-03 -1.26720896e+00] [-7.64799691e-02 -9.98027777e-04 9.97070618e-01 -6.15068010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.58771942099999 meters 0.05662114306241077 Centerline is valid? [True, True] Translation: X:57.07, Y:-1.25, Z:-6.16 [[ 9.92603533e-01 9.44854972e-02 7.62280570e-02 5.70658439e+01] [-9.43524603e-02 9.95524465e-01 -5.35286513e-03 -1.25143669e+00] [-7.63926638e-02 -1.87903188e-03 9.97076040e-01 -6.15858320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.64771942099999 meters 0.05879215909893415 Centerline is valid? [True, True] Translation: X:57.13, Y:-1.25, Z:-6.16 [[ 9.91833154e-01 1.02533921e-01 7.58537352e-02 5.71272985e+01] [-1.02425408e-01 9.94726409e-01 -5.32978213e-03 -1.24852083e+00] [-7.60001971e-02 -2.48309512e-03 9.97104711e-01 -6.16476427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.70771942099999 meters 0.06186856110160138 Centerline is valid? [True, True] Translation: X:57.19, Y:-1.25, Z:-6.18 [[ 9.91643253e-01 1.05667720e-01 7.40134572e-02 5.71861507e+01] [-1.05572759e-01 9.94397958e-01 -5.20515153e-03 -1.25191065e+00] [-7.41488472e-02 -2.65215148e-03 9.97243659e-01 -6.17623074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.76771942099999 meters 0.06384892605380066 Centerline is valid? [True, True] Translation: X:57.25, Y:-1.25, Z:-6.19 [[ 9.91545959e-01 1.09592695e-01 6.94697917e-02 5.72456337e+01] [-1.09518635e-01 9.93972737e-01 -4.88544641e-03 -1.25337387e+00] [-6.95864882e-02 -2.76409209e-03 9.97572093e-01 -6.18834495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.82771942099999 meters 0.062430925331075526 Centerline is valid? [True, True] Translation: X:57.31, Y:-1.27, Z:-6.20 [[ 9.91955012e-01 1.06795464e-01 6.79704502e-02 5.73063701e+01] [-1.06718786e-01 9.94277809e-01 -4.76861234e-03 -1.27060845e+00] [-6.80907765e-02 -2.52347505e-03 9.97675938e-01 -6.19602704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.88771942099999 meters 0.056806150846964526 Centerline is valid? [True, True] Translation: X:57.37, Y:-1.30, Z:-6.20 [[ 9.92946298e-01 9.49508273e-02 7.10069736e-02 5.73658599e+01] [-9.48345573e-02 9.95480417e-01 -5.01453072e-03 -1.29865704e+00] [-7.11621855e-02 -1.75475519e-03 9.97463214e-01 -6.19729770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.94771942099999 meters 0.05470052227147744 Centerline is valid? [True, True] Translation: X:57.42, Y:-1.32, Z:-6.21 [[ 9.93890138e-01 8.28856276e-02 7.28859809e-02 5.74240079e+01] [-8.27305335e-02 9.96558649e-01 -5.14951883e-03 -1.32023446e+00] [-7.30619758e-02 -9.11840108e-04 9.97326986e-01 -6.20697264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.00771942099999 meters 0.052919391301103166 Centerline is valid? [True, True] Translation: X:57.48, Y:-1.34, Z:-6.21 [[ 9.94523910e-01 7.37754776e-02 7.40227719e-02 5.74844482e+01] [-7.35904081e-02 9.97274846e-01 -5.22822422e-03 -1.33533824e+00] [-7.42067632e-02 -2.47771998e-04 9.97242847e-01 -6.20873991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.06771942099999 meters 0.053754591267888945 Centerline is valid? [True, True] Translation: X:57.55, Y:-1.35, Z:-6.22 [[ 9.95421112e-01 6.25760837e-02 7.22567954e-02 5.75452027e+01] [-6.23707213e-02 9.98040035e-01 -5.09715414e-03 -1.34859420e+00] [-7.24341346e-02 5.67106397e-04 9.97373037e-01 -6.21579344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.127719420999995 meters 0.05588032594200873 Centerline is valid? [True, True] Translation: X:57.61, Y:-1.36, Z:-6.22 [[ 9.95894283e-01 4.95344884e-02 7.57687980e-02 5.76056791e+01] [-4.92689242e-02 9.98771106e-01 -5.37128476e-03 -1.36328532e+00] [-7.59417500e-02 1.61618463e-03 9.97110946e-01 -6.21894070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.18771942099999 meters 0.06344958008897723 Centerline is valid? [True, True] Translation: X:57.66, Y:-1.38, Z:-6.22 [[ 9.96496027e-01 3.13728471e-02 7.75333058e-02 5.76640246e+01] [-3.10373819e-02 9.99502936e-01 -5.52827087e-03 -1.37976375e+00] [-7.76682044e-02 3.10246914e-03 9.96974435e-01 -6.22331760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.24771942099999 meters 0.06616096095164607 Centerline is valid? [True, True] Translation: X:57.72, Y:-1.39, Z:-6.22 [[ 9.96682101e-01 1.84791254e-02 7.92673462e-02 5.77249210e+01] [-1.80879897e-02 9.99820437e-01 -5.64963706e-03 -1.38689804e+00] [-7.93575131e-02 4.19710519e-03 9.96837384e-01 -6.22463702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.307719420999994 meters 0.06328446300770663 Centerline is valid? [True, True] Translation: X:57.79, Y:-1.37, Z:-6.23 [[ 9.96631800e-01 2.06939935e-02 7.93524694e-02 5.77878906e+01] [-2.03089539e-02 9.99777751e-01 -5.65634572e-03 -1.36871605e+00] [-7.94518858e-02 4.02572837e-03 9.96830573e-01 -6.22935308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.36771942099999 meters 0.061295446795980923 Centerline is valid? [True, True] Translation: X:57.85, Y:-1.35, Z:-6.25 [[ 9.96745992e-01 3.40848757e-02 7.30455299e-02 5.78478336e+01] [-3.37938737e-02 9.99415211e-01 -5.21640452e-03 -1.35216858e+00] [-7.31806142e-02 2.73093888e-03 9.97314965e-01 -6.24579748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.42771942099999 meters 0.05633734927285834 Centerline is valid? [True, True] Translation: X:57.91, Y:-1.33, Z:-6.25 [[ 9.96190132e-01 4.53847084e-02 7.44677697e-02 5.79095760e+01] [-4.51137059e-02 9.98967703e-01 -5.31812982e-03 -1.33441335e+00] [-7.46322586e-02 1.93835139e-03 9.97209240e-01 -6.25183874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.487719420999994 meters 0.052606203312264205 Centerline is valid? [True, True] Translation: X:57.97, Y:-1.32, Z:-6.25 [[ 9.95235172e-01 5.82239932e-02 7.82107289e-02 5.79719271e+01] [-5.79645483e-02 9.98303018e-01 -5.58530637e-03 -1.31510875e+00] [-7.84032055e-02 1.02524378e-03 9.96921204e-01 -6.25305724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.54771942099999 meters 0.052007814849883434 Centerline is valid? [True, True] Translation: X:58.03, Y:-1.29, Z:-6.26 [[ 9.94211368e-01 7.49697474e-02 7.69629268e-02 5.80336980e+01] [-7.47692311e-02 9.97185764e-01 -5.48764618e-03 -1.29313105e+00] [-7.71577424e-02 -2.98578639e-04 9.97018853e-01 -6.26292261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.60771942099999 meters 0.05456987591025798 Centerline is valid? [True, True] Translation: X:58.10, Y:-1.27, Z:-6.27 [[ 9.92989457e-01 9.05917496e-02 7.59280849e-02 5.80961224e+01] [-9.04399333e-02 9.95887040e-01 -5.44263777e-03 -1.27001289e+00] [-7.61088538e-02 -1.46244901e-03 9.97098442e-01 -6.27309585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.667719420999994 meters 0.056517463677266 Centerline is valid? [True, True] Translation: X:58.16, Y:-1.27, Z:-6.29 [[ 9.93188846e-01 9.26847908e-02 7.06076932e-02 5.81555428e+01] [-9.25585410e-02 9.95694363e-01 -5.06479094e-03 -1.27181861e+00] [-7.07731112e-02 -1.50505121e-03 9.97491304e-01 -6.28648577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.72771942099999 meters 0.055413571663643156 Centerline is valid? [True, True] Translation: X:58.22, Y:-1.28, Z:-6.29 [[ 9.93471403e-01 8.91819603e-02 7.11417522e-02 5.82170051e+01] [-8.90454211e-02 9.96014536e-01 -5.09474940e-03 -1.28433631e+00] [-7.13125790e-02 -1.27335944e-03 9.97453204e-01 -6.29287351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.78771942099999 meters 0.05462100790394047 Centerline is valid? [True, True] Translation: X:58.28, Y:-1.30, Z:-6.30 [[ 9.93660220e-01 8.61855581e-02 7.21901397e-02 5.82777220e+01] [-8.60354833e-02 9.96278547e-01 -5.19164070e-03 -1.29564088e+00] [-7.23689319e-02 -1.05218671e-03 9.97377376e-01 -6.29834441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.847719420999994 meters 0.055074258564482746 Centerline is valid? [True, True] Translation: X:58.34, Y:-1.31, Z:-6.31 [[ 9.93769013e-01 8.59833486e-02 7.09225793e-02 5.83385502e+01] [-8.58365573e-02 9.96296073e-01 -5.12053776e-03 -1.30980769e+00] [-7.11001682e-02 -9.99118285e-04 9.97468680e-01 -6.30714147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.90771942099999 meters 0.05382781983137831 Centerline is valid? [True, True] Translation: X:58.40, Y:-1.32, Z:-6.31 [[ 9.93989659e-01 8.15950917e-02 7.29849241e-02 5.83987808e+01] [-8.14256352e-02 9.96665332e-01 -5.29917391e-03 -1.32489278e+00] [-7.31739303e-02 -6.75519742e-04 9.97318966e-01 -6.31045964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.96771942099999 meters 0.052394913013279275 Centerline is valid? [True, True] Translation: X:58.46, Y:-1.35, Z:-6.31 [[ 9.94854575e-01 7.08778314e-02 7.23927296e-02 5.84603361e+01] [-7.06832247e-02 9.97484998e-01 -5.24975457e-03 -1.34560833e+00] [-7.25827530e-02 1.05790778e-04 9.97362388e-01 -6.31096448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.02771942099999 meters 0.05415252362097635 Centerline is valid? [True, True] Translation: X:58.52, Y:-1.37, Z:-6.32 [[ 9.95852609e-01 5.68228077e-02 7.10545473e-02 5.85193235e+01] [-5.65973974e-02 9.98383628e-01 -5.18327176e-03 -1.37381269e+00] [-7.12342247e-02 1.14027226e-03 9.97458964e-01 -6.31815543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.08771942099999 meters 0.056802914885345834 Centerline is valid? [True, True] Translation: X:58.58, Y:-1.38, Z:-6.33 [[ 9.95908330e-01 5.17700466e-02 7.40706461e-02 5.85797644e+01] [-5.15115278e-02 9.98657814e-01 -5.39757547e-03 -1.38482280e+00] [-7.42506622e-02 1.55999822e-03 9.97238390e-01 -6.32614720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.14771942099999 meters 0.05238874304933502 Centerline is valid? [True, True] Translation: X:58.64, Y:-1.37, Z:-6.32 [[ 9.95469893e-01 5.93917917e-02 7.42449081e-02 5.86431053e+01] [-5.91508455e-02 9.98234223e-01 -5.44189752e-03 -1.37395449e+00] [-7.44370121e-02 1.02559606e-03 9.97225190e-01 -6.32391073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.20771942099999 meters 0.05180469906276567 Centerline is valid? [True, True] Translation: X:58.71, Y:-1.37, Z:-6.33 [[ 9.95116426e-01 6.61133077e-02 7.32961795e-02 5.87055922e+01] [-6.58964381e-02 9.97811987e-01 -5.37576360e-03 -1.37011982e+00] [-7.34912160e-02 5.19553498e-04 9.97295729e-01 -6.33322508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.26771942099999 meters 0.052504202585791734 Centerline is valid? [True, True] Translation: X:58.77, Y:-1.37, Z:-6.35 [[ 9.94496266e-01 7.25188962e-02 7.56186938e-02 5.87658466e+01] [-7.23060106e-02 9.97367037e-01 -5.55284755e-03 -1.36633051e+00] [-7.58222790e-02 5.46000814e-05 9.97121346e-01 -6.34682063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.32771942099999 meters 0.05136755024930281 Centerline is valid? [True, True] Translation: X:58.83, Y:-1.37, Z:-6.34 [[ 9.94247920e-01 7.72766191e-02 7.41579309e-02 5.88286544e+01] [-7.70844695e-02 9.97009648e-01 -5.45405410e-03 -1.36509089e+00] [-7.43576434e-02 -2.93742821e-04 9.97231595e-01 -6.34342368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.38771942099999 meters 0.05174438522909699 Centerline is valid? [True, True] Translation: X:58.89, Y:-1.37, Z:-6.35 [[ 9.94219687e-01 7.97928696e-02 7.18353103e-02 5.88903097e+01] [-7.96176430e-02 9.96811366e-01 -5.30395536e-03 -1.36752341e+00] [-7.20294716e-02 -4.46061247e-04 9.97402404e-01 -6.35186942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.44771942099999 meters 0.05266866693456663 Centerline is valid? [True, True] Translation: X:58.95, Y:-1.37, Z:-6.36 [[ 9.93805042e-01 8.54338600e-02 7.10816074e-02 5.89516476e+01] [-8.52751733e-02 9.96343503e-01 -5.26963473e-03 -1.36787506e+00] [-7.12719030e-02 -8.24506834e-04 9.97456584e-01 -6.36077404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.50771942099999 meters 0.05495517783647799 Centerline is valid? [True, True] Translation: X:59.01, Y:-1.36, Z:-6.36 [[ 9.92672212e-01 9.65087264e-02 7.27182628e-02 5.90149095e+01] [-9.63702439e-02 9.95330806e-01 -5.41879335e-03 -1.35668046e+00] [-7.29016880e-02 -1.62879115e-03 9.97337802e-01 -6.36440394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.56771942099999 meters 0.05884687588695111 Centerline is valid? [True, True] Translation: X:59.08, Y:-1.35, Z:-6.37 [[ 9.91822174e-01 1.07239237e-01 6.91991366e-02 5.90757269e+01] [-1.07139346e-01 9.94230603e-01 -5.16410129e-03 -1.35351139e+00] [-6.93536936e-02 -2.29208010e-03 9.97589501e-01 -6.37275538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.62771942099999 meters 0.061761660822060714 Centerline is valid? [True, True] Translation: X:59.14, Y:-1.36, Z:-6.38 [[ 9.91158764e-01 1.13089357e-01 6.93909387e-02 5.91353336e+01] [-1.13003221e-01 9.93581128e-01 -5.17816048e-03 -1.35699817e+00] [-6.95311220e-02 -2.70902048e-03 9.97576105e-01 -6.37918176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.68771942099999 meters 0.06323714074140341 Centerline is valid? [True, True] Translation: X:59.19, Y:-1.37, Z:-6.39 [[ 9.91207461e-01 1.14350542e-01 6.65711842e-02 5.91949402e+01] [-1.14273482e-01 9.93436864e-01 -4.97686437e-03 -1.36852103e+00] [-6.67033756e-02 -2.67421592e-03 9.97769266e-01 -6.38942403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.74771942099999 meters 0.05858579819076048 Centerline is valid? [True, True] Translation: X:59.25, Y:-1.40, Z:-6.39 [[ 9.92017515e-01 1.06183388e-01 6.80171937e-02 5.92535767e+01] [-1.06083626e-01 9.94344198e-01 -5.08725383e-03 -1.39692873e+00] [-6.81726838e-02 -2.16886566e-03 9.97671179e-01 -6.39270389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.807719420999994 meters 0.05548809439685608 Centerline is valid? [True, True] Translation: X:59.31, Y:-1.43, Z:-6.40 [[ 9.93422690e-01 9.45653930e-02 6.45658162e-02 5.93124018e+01] [-9.44510813e-02 9.95517800e-01 -4.82739529e-03 -1.42692136e+00] [-6.47329238e-02 -1.30266713e-03 9.97901775e-01 -6.40205246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.86771942099999 meters 0.054181606012019747 Centerline is valid? [True, True] Translation: X:59.37, Y:-1.45, Z:-6.41 [[ 9.94413873e-01 8.54918114e-02 6.19047651e-02 5.93723033e+01] [-8.53697250e-02 9.96338633e-01 -4.61928377e-03 -1.45153127e+00] [-6.20730200e-02 -6.91312906e-04 9.98071371e-01 -6.41281131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.92771942099999 meters 0.052815662351196634 Centerline is valid? [True, True] Translation: X:59.43, Y:-1.47, Z:-6.42 [[ 9.95066275e-01 7.60539684e-02 6.37095124e-02 5.94328744e+01] [-7.59033739e-02 9.97103700e-01 -4.78430552e-03 -1.47216088e+00] [-6.38888559e-02 -7.50658629e-05 9.97957017e-01 -6.41542084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.987719420999994 meters 0.053281890669325094 Centerline is valid? [True, True] Translation: X:59.49, Y:-1.50, Z:-6.41 [[ 9.95934105e-01 6.04053953e-02 6.68314738e-02 5.94941904e+01] [-6.02042466e-02 9.98173448e-01 -5.02157356e-03 -1.49937696e+00] [-6.70127328e-02 9.77617839e-04 9.97751641e-01 -6.41432252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.04771942099999 meters 0.056992737783545626 Centerline is valid? [True, True] Translation: X:59.55, Y:-1.52, Z:-6.42 [[ 9.96753896e-01 4.55574215e-02 6.63791529e-02 5.95530008e+01] [-4.53253332e-02 9.98959771e-01 -4.99899209e-03 -1.52008764e+00] [-6.65378446e-02 1.97410762e-03 9.97781949e-01 -6.41915975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.10771942099999 meters 0.05848689742150897 Centerline is valid? [True, True] Translation: X:59.62, Y:-1.52, Z:-6.42 [[ 9.96603846e-01 4.07894780e-02 7.15331553e-02 5.96150374e+01] [-4.05083500e-02 9.99164732e-01 -5.37695241e-03 -1.52486544e+00] [-7.16927291e-02 2.46100136e-03 9.97423729e-01 -6.42096271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.167719420999994 meters 0.060049201925268685 Centerline is valid? [True, True] Translation: X:59.68, Y:-1.53, Z:-6.43 [[ 9.96606468e-01 3.82231628e-02 7.29008821e-02 5.96767637e+01] [-3.79226255e-02 9.99265527e-01 -5.50274686e-03 -1.53030790e+00] [-7.30576708e-02 2.71948026e-03 9.97324010e-01 -6.42698226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.22771942099999 meters 0.06397427130764222 Centerline is valid? [True, True] Translation: X:59.74, Y:-1.53, Z:-6.44 [[ 9.97129129e-01 3.14052059e-02 6.89000256e-02 5.97365780e+01] [-3.11186224e-02 9.99502020e-01 -5.22905402e-03 -1.53271862e+00] [-6.90299343e-02 3.06996820e-03 9.97609865e-01 -6.43840842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.28771942099999 meters 0.06484682164395009 Centerline is valid? [True, True] Translation: X:59.80, Y:-1.52, Z:-6.44 [[ 9.97294298e-01 2.82794365e-02 6.78554133e-02 5.97982389e+01] [-2.79939968e-02 9.99594804e-01 -5.15396553e-03 -1.52445854e+00] [-6.79736698e-02 3.24047621e-03 9.97681853e-01 -6.44398712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.347719420999994 meters 0.06365483132401421 Centerline is valid? [True, True] Translation: X:59.86, Y:-1.52, Z:-6.45 [[ 9.96984347e-01 3.03775114e-02 7.14102155e-02 5.98594292e+01] [-3.00665013e-02 9.99533171e-01 -5.42638208e-03 -1.51554800e+00] [-7.15417191e-02 3.26296266e-03 9.97432271e-01 -6.44744675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.40771942099999 meters 0.05732535543189953 Centerline is valid? [True, True] Translation: X:59.92, Y:-1.49, Z:-6.45 [[ 9.96445044e-01 4.24186620e-02 7.27868955e-02 5.99228338e+01] [-4.21275803e-02 9.99096933e-01 -5.53034302e-03 -1.48513066e+00] [-7.29557538e-02 2.44434711e-03 9.97332183e-01 -6.45221579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.46771942099999 meters 0.051235573529494954 Centerline is valid? [True, True] Translation: X:59.99, Y:-1.45, Z:-6.46 [[ 9.95248972e-01 6.43743207e-02 7.30440270e-02 5.99850976e+01] [-6.41399667e-02 9.97925468e-01 -5.55196896e-03 -1.44746281e+00] [-7.32498991e-02 8.40549942e-04 9.97313264e-01 -6.46231178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.52771942099999 meters 0.050411117044187076 Centerline is valid? [True, True] Translation: X:60.05, Y:-1.42, Z:-6.47 [[ 9.94128786e-01 8.08573793e-02 7.19029931e-02 6.00485881e+01] [-8.06740929e-02 9.96725610e-01 -5.45432920e-03 -1.42093791e+00] [-7.21085774e-02 -3.78403080e-04 9.97396716e-01 -6.47009652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.58771942099999 meters 0.05223943881457657 Centerline is valid? [True, True] Translation: X:60.11, Y:-1.41, Z:-6.48 [[ 9.93591325e-01 8.82010241e-02 7.06884658e-02 6.01098757e+01] [-8.80405546e-02 9.96102316e-01 -5.38861735e-03 -1.40978443e+00] [-7.08882260e-02 -8.69368284e-04 9.97483886e-01 -6.48177712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.64771942099999 meters 0.05212258473645803 Centerline is valid? [True, True] Translation: X:60.17, Y:-1.41, Z:-6.49 [[ 9.93669949e-01 8.91541357e-02 6.83489091e-02 6.01716699e+01] [-8.90055566e-02 9.96017440e-01 -5.22213452e-03 -1.41290333e+00] [-6.85422803e-02 -8.94354550e-04 9.97647812e-01 -6.48753842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.70771942099999 meters 0.05285988360575328 Centerline is valid? [True, True] Translation: X:60.23, Y:-1.42, Z:-6.49 [[ 9.93118020e-01 9.40154735e-02 6.98404490e-02 6.02347203e+01] [-9.38725895e-02 9.95569938e-01 -5.33242455e-03 -1.41631893e+00] [-7.00323819e-02 -1.26037688e-03 9.97543922e-01 -6.49273055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.76771942099999 meters 0.05258306978498557 Centerline is valid? [True, True] Translation: X:60.29, Y:-1.43, Z:-6.50 [[ 9.93217845e-01 9.09264303e-02 7.24616883e-02 6.02935587e+01] [-9.07616189e-02 9.95857065e-01 -5.57078612e-03 -1.43149833e+00] [-7.26680160e-02 -1.04373595e-03 9.97355639e-01 -6.49988222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.82771942099999 meters 0.05159149524711281 Centerline is valid? [True, True] Translation: X:60.35, Y:-1.46, Z:-6.51 [[ 9.94707617e-01 7.77333045e-02 6.71884686e-02 6.03533247e+01] [-7.75616106e-02 9.96974186e-01 -5.16417672e-03 -1.45538657e+00] [-6.73865974e-02 -7.43999244e-05 9.97726937e-01 -6.51110464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.88771942099999 meters 0.055146233824439735 Centerline is valid? [True, True] Translation: X:60.41, Y:-1.49, Z:-6.52 [[ 9.96216550e-01 5.82999259e-02 6.44492321e-02 6.04092532e+01] [-5.81008096e-02 9.98298394e-01 -4.96102520e-03 -1.48919391e+00] [-6.46287923e-02 1.19770285e-03 9.97908655e-01 -6.52223739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.94771942099999 meters 0.05844037884745071 Centerline is valid? [True, True] Translation: X:60.47, Y:-1.51, Z:-6.52 [[ 9.96736098e-01 4.25181221e-02 6.86247814e-02 6.04693345e+01] [-4.22548476e-02 9.99092892e-01 -5.28412162e-03 -1.51482709e+00] [-6.87872022e-02 2.36714508e-03 9.97628547e-01 -6.51808174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.00771942099999 meters 0.05988492606046987 Centerline is valid? [True, True] Translation: X:60.53, Y:-1.52, Z:-6.53 [[ 9.96643827e-01 4.36126018e-02 6.92749869e-02 6.05295357e+01] [-4.33473347e-02 9.99045852e-01 -5.32855283e-03 -1.52059624e+00] [-6.94412804e-02 2.30778324e-03 9.97583371e-01 -6.52755261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.06771942099999 meters 0.056802618243644964 Centerline is valid? [True, True] Translation: X:60.59, Y:-1.51, Z:-6.53 [[ 9.96113099e-01 5.15296392e-02 7.14380153e-02 6.05898039e+01] [-5.12656044e-02 9.98669767e-01 -5.52580731e-03 -1.51276391e+00] [-7.16277289e-02 1.84201601e-03 9.97429735e-01 -6.53347244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.12771942099999 meters 0.05625573648186192 Centerline is valid? [True, True] Translation: X:60.65, Y:-1.51, Z:-6.54 [[ 9.96021846e-01 5.35368154e-02 7.12340693e-02 6.06515350e+01] [-5.32802515e-02 9.98564461e-01 -5.49830655e-03 -1.51429971e+00] [-7.14261719e-02 1.68106430e-03 9.97444473e-01 -6.54053934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.18771942099999 meters 0.05218813379102168 Centerline is valid? [True, True] Translation: X:60.71, Y:-1.50, Z:-6.54 [[ 9.95467373e-01 6.15886151e-02 7.24675926e-02 6.07136551e+01] [-6.13422109e-02 9.98100954e-01 -5.62300990e-03 -1.49877436e+00] [-7.26762867e-02 1.15220054e-03 9.97354917e-01 -6.53977468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.24771942099999 meters 0.050773490812764124 Centerline is valid? [True, True] Translation: X:60.77, Y:-1.48, Z:-6.55 [[ 9.94652689e-01 7.16565024e-02 7.43732069e-02 6.07749227e+01] [-7.14253409e-02 9.97429279e-01 -5.76667537e-03 -1.48427261e+00] [-7.45952339e-02 4.23707508e-04 9.97213804e-01 -6.54678435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.307719420999994 meters 0.0505951186503606 Centerline is valid? [True, True] Translation: X:60.84, Y:-1.47, Z:-6.55 [[ 9.93481245e-01 8.36237136e-02 7.74731603e-02 6.08376720e+01] [-8.34081816e-02 9.96497287e-01 -6.01936982e-03 -1.46905615e+00] [-7.77051561e-02 -4.81764408e-04 9.96976267e-01 -6.55293902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.36771942099999 meters 0.051418127568301414 Centerline is valid? [True, True] Translation: X:60.90, Y:-1.46, Z:-6.56 [[ 9.93103865e-01 8.84662044e-02 7.69314255e-02 6.09000669e+01] [-8.82683415e-02 9.96078811e-01 -5.97519783e-03 -1.46408997e+00] [-7.71583658e-02 -8.56617279e-04 9.97018482e-01 -6.56116483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.42771942099999 meters 0.05244321554211494 Centerline is valid? [True, True] Translation: X:60.96, Y:-1.46, Z:-6.57 [[ 9.92723577e-01 9.51798949e-02 7.37610172e-02 6.09613315e+01] [-9.50144451e-02 9.95459248e-01 -5.75679287e-03 -1.46440434e+00] [-7.39740176e-02 -1.29345810e-03 9.97259330e-01 -6.56633071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.487719420999994 meters 0.055113619106110665 Centerline is valid? [True, True] Translation: X:61.02, Y:-1.47, Z:-6.57 [[ 9.91671345e-01 1.04637478e-01 7.50928809e-02 6.10220270e+01] [-1.04492721e-01 9.94508358e-01 -5.86486346e-03 -1.46725375e+00] [-7.52941822e-02 -2.03064239e-03 9.97159297e-01 -6.57212675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.54771942099999 meters 0.058037722766382506 Centerline is valid? [True, True] Translation: X:61.08, Y:-1.47, Z:-6.58 [[ 9.91083521e-01 1.11840018e-01 7.24241989e-02 6.10819467e+01] [-1.11724401e-01 9.93723121e-01 -5.65831488e-03 -1.47440066e+00] [-7.26024270e-02 -2.48368763e-03 9.97357869e-01 -6.57989989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.60771942099999 meters 0.05995682654831839 Centerline is valid? [True, True] Translation: X:61.14, Y:-1.49, Z:-6.59 [[ 9.91013397e-01 1.13899077e-01 7.01387717e-02 6.11413128e+01] [-1.13795808e-01 9.93489049e-01 -5.47935788e-03 -1.49419597e+00] [-7.03061954e-02 -2.55138117e-03 9.97522195e-01 -6.58955497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.667719420999994 meters 0.05632654140643818 Centerline is valid? [True, True] Translation: X:61.20, Y:-1.53, Z:-6.60 [[ 9.92231571e-01 1.02902750e-01 6.99108995e-02 6.11990963e+01] [-1.02772558e-01 9.94689862e-01 -5.46618330e-03 -1.52608186e+00] [-7.01021483e-02 -1.76120234e-03 9.97538263e-01 -6.59567145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.72771942099999 meters 0.052642546555542714 Centerline is valid? [True, True] Translation: X:61.26, Y:-1.56, Z:-6.60 [[ 9.93536534e-01 8.81974305e-02 7.14588562e-02 6.12575286e+01] [-8.80233748e-02 9.96102739e-01 -5.58731939e-03 -1.55519771e+00] [-7.16731496e-02 -7.38843735e-04 9.97427899e-01 -6.59794234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.78771942099999 meters 0.05192805780737679 Centerline is valid? [True, True] Translation: X:61.32, Y:-1.58, Z:-6.60 [[ 9.94307730e-01 7.87259514e-02 7.17938967e-02 6.13181007e+01] [-7.85262862e-02 9.96896294e-01 -5.60376121e-03 -1.57733150e+00] [-7.20122309e-02 -6.58449895e-05 9.97403747e-01 -6.60471762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.847719420999994 meters 0.05208154951699104 Centerline is valid? [True, True] Translation: X:61.38, Y:-1.59, Z:-6.61 [[ 9.94558539e-01 7.51390486e-02 7.21625688e-02 6.13798269e+01] [-7.49263738e-02 9.97173043e-01 -5.65346884e-03 -1.59080431e+00] [-7.23833646e-02 2.15826102e-04 9.97376861e-01 -6.61145215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.90771942099999 meters 0.05242384405972109 Centerline is valid? [True, True] Translation: X:61.44, Y:-1.60, Z:-6.62 [[ 9.94597554e-01 7.59536222e-02 7.07584172e-02 6.14411877e+01] [-7.57493967e-02 9.97111335e-01 -5.56899143e-03 -1.59574686e+00] [-7.09770049e-02 1.78997842e-04 9.97477936e-01 -6.62121957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.96771942099999 meters 0.05220023782682689 Centerline is valid? [True, True] Translation: X:61.50, Y:-1.60, Z:-6.62 [[ 9.93969225e-01 8.38502323e-02 7.06704911e-02 6.15048757e+01] [-8.36650864e-02 9.96478301e-01 -5.58105679e-03 -1.59608727e+00] [-7.08895839e-02 -3.65254051e-04 9.97484102e-01 -6.62352490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.02771942099999 meters 0.053643351950458086 Centerline is valid? [True, True] Translation: X:61.57, Y:-1.59, Z:-6.63 [[ 9.93139120e-01 9.23182734e-02 7.17776107e-02 6.15662040e+01] [-9.21472906e-02 9.95729091e-01 -5.69692127e-03 -1.59319078e+00] [-7.19969850e-02 -9.56276977e-04 9.97404391e-01 -6.63287670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.08771942099999 meters 0.0551777103662648 Centerline is valid? [True, True] Translation: X:61.63, Y:-1.60, Z:-6.64 [[ 9.92699924e-01 9.93867977e-02 6.83309998e-02 6.16266672e+01] [-9.92466567e-02 9.95047932e-01 -5.45109664e-03 -1.59508281e+00] [-6.85343871e-02 -1.37032007e-03 9.97647814e-01 -6.64011347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.14771942099999 meters 0.05812804634803784 Centerline is valid? [True, True] Translation: X:61.69, Y:-1.59, Z:-6.65 [[ 9.91819724e-01 1.07054623e-01 6.95193722e-02 6.16862396e+01] [-1.06928183e-01 9.94251266e-01 -5.54829225e-03 -1.59433440e+00] [-6.97136941e-02 -1.93067447e-03 9.97565172e-01 -6.64840886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.20771942099999 meters 0.06039427948461029 Centerline is valid? [True, True] Translation: X:61.75, Y:-1.60, Z:-6.65 [[ 9.91071003e-01 1.13159833e-01 7.05203503e-02 6.17471247e+01] [-1.13045192e-01 9.93573911e-01 -5.62739898e-03 -1.59694854e+00] [-7.07039758e-02 -2.39483458e-03 9.97494467e-01 -6.65300556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.26771942099999 meters 0.06046903052143956 Centerline is valid? [True, True] Translation: X:61.81, Y:-1.61, Z:-6.67 [[ 9.92062169e-01 1.08571965e-01 6.34411714e-02 6.18056717e+01] [-1.08470434e-01 9.94086835e-01 -5.05266985e-03 -1.61400520e+00] [-6.36146115e-02 -1.86892877e-03 9.97972789e-01 -6.67090616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.32771942099999 meters 0.05433676431016591 Centerline is valid? [True, True] Translation: X:61.86, Y:-1.64, Z:-6.67 [[ 9.93100987e-01 9.63789057e-02 6.67947287e-02 6.18646729e+01] [-9.62367406e-02 9.95344093e-01 -5.35030948e-03 -1.64156056e+00] [-6.69993957e-02 -1.11470935e-03 9.97752393e-01 -6.66753436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.38771942099999 meters 0.0512145834534034 Centerline is valid? [True, True] Translation: X:61.92, Y:-1.67, Z:-6.66 [[ 9.93314979e-01 8.64384289e-02 7.65098119e-02 6.19244823e+01] [-8.62224333e-02 9.96257064e-01 -6.12811527e-03 -1.67029865e+00] [-7.67531453e-02 -5.09713471e-04 9.97049996e-01 -6.66317325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.44771942099999 meters 0.05200088182211678 Centerline is valid? [True, True] Translation: X:61.98, Y:-1.70, Z:-6.68 [[ 9.94780012e-01 7.24434153e-02 7.18657032e-02 6.19817183e+01] [-7.22163536e-02 9.97372380e-01 -5.75624336e-03 -1.69656677e+00] [-7.20938693e-02 5.36316809e-04 9.97397707e-01 -6.67657551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.50771942099999 meters 0.055864726490735005 Centerline is valid? [True, True] Translation: X:62.04, Y:-1.72, Z:-6.69 [[ 9.96085190e-01 5.68502764e-02 6.76929893e-02 6.20399814e+01] [-5.66127397e-02 9.98381480e-01 -5.42377446e-03 -1.72296649e+00] [-6.78917699e-02 1.57025582e-03 9.97691456e-01 -6.68747119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.56771942099999 meters 0.05581778266873977 Centerline is valid? [True, True] Translation: X:62.10, Y:-1.73, Z:-6.69 [[ 9.96029578e-01 5.57616898e-02 6.93953422e-02 6.21022891e+01] [-5.55101217e-02 9.98442701e-01 -5.54978217e-03 -1.72884001e+00] [-6.95967381e-02 1.67560331e-03 9.97573800e-01 -6.68993158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.62771942099999 meters 0.055977526427846556 Centerline is valid? [True, True] Translation: X:62.16, Y:-1.74, Z:-6.69 [[ 9.95936209e-01 5.49223719e-02 7.13764707e-02 6.21640689e+01] [-5.46524042e-02 9.98488992e-01 -5.73123775e-03 -1.73521467e+00] [-7.15833935e-02 1.80705147e-03 9.97432981e-01 -6.69473166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.68771942099999 meters 0.053922725884111254 Centerline is valid? [True, True] Translation: X:62.22, Y:-1.72, Z:-6.70 [[ 9.95413805e-01 6.24015188e-02 7.25079748e-02 6.22245984e+01] [-6.21402307e-02 9.98050249e-01 -5.85601603e-03 -1.72187534e+00] [-7.27320266e-02 1.32349692e-03 9.97350641e-01 -6.70196462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.74771942099999 meters 0.050631289112848185 Centerline is valid? [True, True] Translation: X:62.29, Y:-1.69, Z:-6.70 [[ 9.93357061e-01 8.49744435e-02 7.75957010e-02 6.22894088e+01] [-8.47437866e-02 9.96383069e-01 -6.26655798e-03 -1.68620438e+00] [-7.78475400e-02 -3.50823917e-04 9.96965214e-01 -6.69825594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.80771942099999 meters 0.05680698226584987 Centerline is valid? [True, True] Translation: X:62.35, Y:-1.66, Z:-6.73 [[ 9.92385699e-01 1.02336578e-01 6.85408596e-02 6.23487175e+01] [-1.02197823e-01 9.94748685e-01 -5.53710642e-03 -1.66277082e+00] [-6.87475785e-02 -1.50978142e-03 9.97632944e-01 -6.72502227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.86771942099999 meters 0.058244847290893124 Centerline is valid? [True, True] Translation: X:62.41, Y:-1.66, Z:-6.73 [[ 9.91934602e-01 1.09528346e-01 6.37909672e-02 6.24091236e+01] [-1.09423116e-01 9.93981913e-01 -5.15150871e-03 -1.66128574e+00] [-6.39713038e-02 -1.87024669e-03 9.97949986e-01 -6.73120514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.92771942099999 meters 0.0570794207241001 Centerline is valid? [True, True] Translation: X:62.47, Y:-1.67, Z:-6.73 [[ 9.91490411e-01 1.09023448e-01 7.11382664e-02 6.24695893e+01] [-1.08891277e-01 9.94037064e-01 -5.74503117e-03 -1.66823226e+00] [-7.13404166e-02 -2.05019334e-03 9.97449919e-01 -6.72885522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.987719420999994 meters 0.058495746505360435 Centerline is valid? [True, True] Translation: X:62.53, Y:-1.68, Z:-6.74 [[ 9.91135616e-01 1.12077203e-01 7.13364654e-02 6.25304294e+01] [-1.11952897e-01 9.93696872e-01 -5.75109256e-03 -1.67535422e+00] [-7.15313889e-02 -2.28621130e-03 9.97435729e-01 -6.73801762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.047719421 meters 0.05893845546846319 Centerline is valid? [True, True] Translation: X:62.59, Y:-1.68, Z:-6.75 [[ 9.91196949e-01 1.12833696e-01 6.92615753e-02 6.25911599e+01] [-1.12716910e-01 9.93611336e-01 -5.60458116e-03 -1.68236669e+00] [-6.94514719e-02 -2.25170702e-03 9.97582790e-01 -6.74709999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.10771942099998 meters 0.05780873827046419 Centerline is valid? [True, True] Translation: X:62.65, Y:-1.70, Z:-6.76 [[ 9.91966082e-01 1.06975720e-01 6.75239800e-02 6.26496226e+01] [-1.06849238e-01 9.94260064e-01 -5.49236125e-03 -1.69768799e+00] [-6.77239459e-02 -1.76664971e-03 9.97702534e-01 -6.75959346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.16771942099999 meters 0.05372288130715697 Centerline is valid? [True, True] Translation: X:62.71, Y:-1.73, Z:-6.77 [[ 9.93403169e-01 9.20602352e-02 6.83743809e-02 6.27064095e+01] [-9.18950201e-02 9.95753153e-01 -5.56444170e-03 -1.72933001e+00] [-6.85962692e-02 -7.55531091e-04 9.97644216e-01 -6.76644428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.22771942099999 meters 0.05454961913187273 Centerline is valid? [True, True] Translation: X:62.76, Y:-1.75, Z:-6.78 [[ 9.94856464e-01 8.06589609e-02 6.12759988e-02 6.27641501e+01] [-8.05048179e-02 9.96741758e-01 -4.98426779e-03 -1.75144180e+00] [-6.14783726e-02 2.56179067e-05 9.98108415e-01 -6.78293199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.28771942099999 meters 0.05195545969393841 Centerline is valid? [True, True] Translation: X:62.83, Y:-1.77, Z:-6.77 [[ 9.94734768e-01 7.78442465e-02 6.66559446e-02 6.28257831e+01] [-7.76554081e-02 9.96965509e-01 -5.42328988e-03 -1.76551709e+00] [-6.68758497e-02 2.18540420e-04 9.97761281e-01 -6.77205447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.347719421 meters 0.052288688063716275 Centerline is valid? [True, True] Translation: X:62.89, Y:-1.77, Z:-6.78 [[ 9.94119004e-01 8.44528020e-02 6.77873832e-02 6.28869853e+01] [-8.42735277e-02 9.96427452e-01 -5.50507760e-03 -1.76541823e+00] [-6.80101288e-02 -2.39979656e-04 9.97684602e-01 -6.78141597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.407719421 meters 0.05513023372723159 Centerline is valid? [True, True] Translation: X:62.95, Y:-1.75, Z:-6.79 [[ 9.93144802e-01 9.80867786e-02 6.35797621e-02 6.29466112e+01] [-9.79549493e-02 9.95177292e-01 -5.19482797e-03 -1.75357798e+00] [-6.37826794e-02 -1.06873598e-03 9.97963240e-01 -6.79387052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.46771942099998 meters 0.05613813906590891 Centerline is valid? [True, True] Translation: X:63.01, Y:-1.76, Z:-6.79 [[ 9.91853137e-01 1.07605615e-01 6.81790704e-02 6.30097136e+01] [-1.07477172e-01 9.94192006e-01 -5.55994422e-03 -1.75587521e+00] [-6.83813679e-02 -1.81304559e-03 9.97657607e-01 -6.79290221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.52771942099999 meters 0.05525146550435803 Centerline is valid? [True, True] Translation: X:63.07, Y:-1.76, Z:-6.79 [[ 9.91201385e-01 1.07686714e-01 7.69635327e-02 6.30697615e+01] [-1.07519904e-01 9.94182845e-01 -6.31994844e-03 -1.76120331e+00] [-7.71963984e-02 -2.01077002e-03 9.97013878e-01 -6.79183670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.58771942099999 meters 0.05633014349443122 Centerline is valid? [True, True] Translation: X:63.13, Y:-1.77, Z:-6.80 [[ 9.90860759e-01 1.10593868e-01 7.72266325e-02 6.31311573e+01] [-1.10435544e-01 9.93863124e-01 -6.33098135e-03 -1.76928570e+00] [-7.74528700e-02 -2.25544420e-03 9.96993463e-01 -6.79882454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.64771942099999 meters 0.06005232885303329 Centerline is valid? [True, True] Translation: X:63.19, Y:-1.77, Z:-6.81 [[ 9.89963453e-01 1.19068652e-01 7.61250148e-02 6.31913244e+01] [-1.18937350e-01 9.92881949e-01 -6.27238743e-03 -1.77145881e+00] [-7.63299977e-02 -2.84467321e-03 9.97078552e-01 -6.80824043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.707719421 meters 0.0623368171030888 Centerline is valid? [True, True] Translation: X:63.25, Y:-1.78, Z:-6.82 [[ 9.89157617e-01 1.26082870e-01 7.53015244e-02 6.32512672e+01] [-1.25974622e-01 9.92014061e-01 -6.20469763e-03 -1.77551632e+00] [-7.54824771e-02 -3.34865713e-03 9.97141506e-01 -6.81549475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.767719421 meters 0.06523719461239817 Centerline is valid? [True, True] Translation: X:63.31, Y:-1.79, Z:-6.83 [[ 9.89101047e-01 1.29773077e-01 6.95562214e-02 6.33104129e+01] [-1.29689717e-01 9.91538057e-01 -5.73220603e-03 -1.78740263e+00] [-6.97115267e-02 -3.35099566e-03 9.97561564e-01 -6.82903571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.827719421 meters 0.06185025347031158 Centerline is valid? [True, True] Translation: X:63.37, Y:-1.82, Z:-6.84 [[ 9.89764573e-01 1.22599065e-01 7.30449066e-02 6.33684538e+01] [-1.22487617e-01 9.92451782e-01 -6.02035007e-03 -1.81650202e+00] [-7.32316370e-02 -2.98836736e-03 9.97310482e-01 -6.83508168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.88771942099999 meters 0.057163390634036755 Centerline is valid? [True, True] Translation: X:63.43, Y:-1.84, Z:-6.84 [[ 9.90597061e-01 1.12856930e-01 7.73354820e-02 6.34277855e+01] [-1.12702445e-01 9.93608344e-01 -6.37322750e-03 -1.84159867e+00] [-7.75604431e-02 -2.40259750e-03 9.96984757e-01 -6.83698456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.94771942099999 meters 0.05270586555038121 Centerline is valid? [True, True] Translation: X:63.48, Y:-1.87, Z:-6.85 [[ 9.92553260e-01 9.69236011e-02 7.37823923e-02 6.34848464e+01] [-9.67388255e-02 9.95291216e-01 -6.08237555e-03 -1.87456710e+00] [-7.40244927e-02 -1.10054029e-03 9.97255816e-01 -6.84718101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.00771942099999 meters 0.051302341812141695 Centerline is valid? [True, True] Translation: X:63.54, Y:-1.90, Z:-6.85 [[ 9.93666374e-01 8.56587336e-02 7.27304578e-02 6.35444138e+01] [-8.54498231e-02 9.96324500e-01 -5.98482528e-03 -1.90314407e+00] [-7.29757896e-02 -2.67885122e-04 9.97333677e-01 -6.85417860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.06771942099999 meters 0.05195465747922268 Centerline is valid? [True, True] Translation: X:63.61, Y:-1.91, Z:-6.86 [[ 9.93855698e-01 8.54799447e-02 7.03138079e-02 6.36058915e+01] [-8.52827702e-02 9.96339866e-01 -5.80696207e-03 -1.90948283e+00] [-7.05528287e-02 -2.25273982e-04 9.97508019e-01 -6.86407383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.127719421 meters 0.05254984675774405 Centerline is valid? [True, True] Translation: X:63.67, Y:-1.90, Z:-6.87 [[ 9.92957185e-01 9.40756155e-02 7.20125431e-02 6.36682917e+01] [-9.38897240e-02 9.95564706e-01 -5.96960529e-03 -1.90252661e+00] [-7.22547406e-02 -8.33675327e-04 9.97385862e-01 -6.86913804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.187719421 meters 0.053082466612147626 Centerline is valid? [True, True] Translation: X:63.73, Y:-1.90, Z:-6.87 [[ 9.92512543e-01 9.84645543e-02 7.22743567e-02 6.37302914e+01] [-9.82870979e-02 9.95139915e-01 -6.01638894e-03 -1.89872339e+00] [-7.25154982e-02 -1.13229528e-03 9.97366643e-01 -6.87482467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.24771942099999 meters 0.05351054550385126 Centerline is valid? [True, True] Translation: X:63.79, Y:-1.90, Z:-6.88 [[ 9.92082067e-01 1.01951975e-01 7.33414388e-02 6.37940686e+01] [-1.01777362e-01 9.94788352e-01 -6.12397852e-03 -1.89609312e+00] [-7.35835607e-02 -1.38900888e-03 9.97288088e-01 -6.87842593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.30771942099999 meters 0.05252031202697448 Centerline is valid? [True, True] Translation: X:63.85, Y:-1.90, Z:-6.88 [[ 9.92053651e-01 9.95923134e-02 7.68825414e-02 6.38547940e+01] [-9.93903645e-02 9.95027561e-01 -6.45819877e-03 -1.90388638e+00] [-7.71434346e-02 -1.23450415e-03 9.97019241e-01 -6.88129415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.36771942099999 meters 0.051138307453493716 Centerline is valid? [True, True] Translation: X:63.91, Y:-1.91, Z:-6.88 [[ 9.92300719e-01 9.27914187e-02 8.20306988e-02 6.39143058e+01] [-9.25378618e-02 9.95685288e-01 -6.89575558e-03 -1.91431925e+00] [-8.23166269e-02 -7.48282242e-04 9.96605947e-01 -6.88270262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.42771942099999 meters 0.051897089122424904 Centerline is valid? [True, True] Translation: X:63.98, Y:-1.92, Z:-6.89 [[ 9.92114892e-01 9.71131108e-02 7.92280596e-02 6.39756768e+01] [-9.68905493e-02 9.95272775e-01 -6.65772318e-03 -1.91565194e+00] [-7.95000829e-02 -1.07122390e-03 9.96834284e-01 -6.89226682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.487719421 meters 0.05449547188452386 Centerline is valid? [True, True] Translation: X:64.04, Y:-1.91, Z:-6.90 [[ 9.91366636e-01 1.05795376e-01 7.74566364e-02 6.40360107e+01] [-1.05608386e-01 9.94386437e-01 -6.51792651e-03 -1.90566787e+00] [-7.77113951e-02 -1.71841545e-03 9.96974416e-01 -6.90183934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.547719421 meters 0.05974547953530237 Centerline is valid? [True, True] Translation: X:64.10, Y:-1.90, Z:-6.91 [[ 9.90286102e-01 1.19921582e-01 7.03722226e-02 6.40967694e+01] [-1.19802794e-01 9.92780049e-01 -5.92153630e-03 -1.89586512e+00] [-7.05742586e-02 -2.56677381e-03 9.97503226e-01 -6.91405753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.60771942099998 meters 0.062480302757680406 Centerline is valid? [True, True] Translation: X:64.16, Y:-1.90, Z:-6.92 [[ 9.89739902e-01 1.22802563e-01 7.30373672e-02 6.41579359e+01] [-1.22683186e-01 9.92426920e-01 -6.13556314e-03 -1.89660897e+00] [-7.32377122e-02 -2.88784522e-03 9.97310332e-01 -6.92288268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.66771942099999 meters 0.061354822062618906 Centerline is valid? [True, True] Translation: X:64.22, Y:-1.91, Z:-6.93 [[ 9.90092841e-01 1.19348084e-01 7.39743269e-02 6.42180379e+01] [-1.19213527e-01 9.92848983e-01 -6.24762660e-03 -1.90506791e+00] [-7.41909775e-02 -2.63301006e-03 9.97240576e-01 -6.93056631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.72771942099999 meters 0.055325336952951484 Centerline is valid? [True, True] Translation: X:64.28, Y:-1.93, Z:-6.93 [[ 9.91068208e-01 1.10796770e-01 7.42151099e-02 6.42769031e+01] [-1.10637128e-01 9.93841081e-01 -6.27151585e-03 -1.93211917e+00] [-7.44528888e-02 -1.99544664e-03 9.97222536e-01 -6.93020701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.78771942099999 meters 0.05163398575592215 Centerline is valid? [True, True] Translation: X:64.33, Y:-1.96, Z:-6.94 [[ 9.92859196e-01 9.25537315e-02 7.52623639e-02 6.43346186e+01] [-9.23369674e-02 9.95707490e-01 -6.36223001e-03 -1.95942082e+00] [-7.55281476e-02 -6.32699871e-04 9.97143469e-01 -6.93675913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.847719421 meters 0.05181868414720953 Centerline is valid? [True, True] Translation: X:64.39, Y:-1.98, Z:-6.95 [[ 9.94251815e-01 7.93011363e-02 7.19350970e-02 6.43944176e+01] [-7.90691975e-02 9.96850645e-01 -6.07069157e-03 -1.98251329e+00] [-7.21899606e-02 3.47945722e-04 9.97390840e-01 -6.94576464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.907719421 meters 0.05236268140922357 Centerline is valid? [True, True] Translation: X:64.46, Y:-1.99, Z:-6.95 [[ 9.94413034e-01 7.65969146e-02 7.26335343e-02 6.44555826e+01] [-7.63516761e-02 9.97061977e-01 -6.15100541e-03 -1.99145942e+00] [-7.28912834e-02 5.70947873e-04 9.97339729e-01 -6.95332157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.96771942099998 meters 0.05325252309549358 Centerline is valid? [True, True] Translation: X:64.52, Y:-2.00, Z:-6.96 [[ 9.94695328e-01 7.21043267e-02 7.33632836e-02 6.45169213e+01] [-7.18400183e-02 9.97396657e-01 -6.23859500e-03 -2.00451004e+00] [-7.36221236e-02 9.35081650e-04 9.97285771e-01 -6.95992416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.02771942099999 meters 0.05222138360070824 Centerline is valid? [True, True] Translation: X:64.58, Y:-2.01, Z:-6.96 [[ 9.94282252e-01 7.51870144e-02 7.58268805e-02 6.45785536e+01] [-7.49111755e-02 9.97169159e-01 -6.47949161e-03 -2.00542732e+00] [-7.60994003e-02 7.62162756e-04 9.97099945e-01 -6.96246552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.08771942099999 meters 0.05191340782244465 Centerline is valid? [True, True] Translation: X:64.64, Y:-2.00, Z:-6.97 [[ 9.93868563e-01 8.27272103e-02 7.33586323e-02 6.46403922e+01] [-8.24899748e-02 9.96572214e-01 -6.26301883e-03 -2.00012089e+00] [-7.36252967e-02 1.73265788e-04 9.97285960e-01 -6.97206744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.14771942099999 meters 0.05169166929575968 Centerline is valid? [True, True] Translation: X:64.70, Y:-1.99, Z:-6.98 [[ 9.93161136e-01 8.93558611e-02 7.51431121e-02 6.47035293e+01] [-8.91241213e-02 9.95999718e-01 -6.43836704e-03 -1.99246752e+00] [-7.54178243e-02 -3.02727915e-04 9.97151974e-01 -6.97585871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.207719421 meters 0.05201010334506037 Centerline is valid? [True, True] Translation: X:64.76, Y:-2.00, Z:-6.98 [[ 9.93023405e-01 9.30554841e-02 7.24237182e-02 6.47649713e+01] [-9.28480659e-02 9.95660781e-01 -6.23267459e-03 -1.99905638e+00] [-7.26894404e-02 -5.35210417e-04 9.97354480e-01 -6.98449290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.267719421 meters 0.05300158708515525 Centerline is valid? [True, True] Translation: X:64.83, Y:-1.99, Z:-6.99 [[ 9.92651084e-01 9.76371721e-02 7.14899163e-02 6.48273732e+01] [-9.74470362e-02 9.95221705e-01 -6.15089242e-03 -1.99261364e+00] [-7.17488721e-02 -8.60790439e-04 9.97422357e-01 -6.99499556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.32771942099998 meters 0.05405798385714728 Centerline is valid? [True, True] Translation: X:64.89, Y:-2.00, Z:-7.00 [[ 9.92319016e-01 1.02153563e-01 6.97683279e-02 6.48892496e+01] [-1.01981643e-01 9.94767999e-01 -6.03099357e-03 -1.99513941e+00] [-7.00193874e-02 -1.13041909e-03 9.97544990e-01 -7.00263558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.38771942099999 meters 0.05432801479342141 Centerline is valid? [True, True] Translation: X:64.95, Y:-2.00, Z:-7.01 [[ 9.91998380e-01 1.04257944e-01 7.12003833e-02 6.49513639e+01] [-1.04084389e-01 9.94549433e-01 -6.15353401e-03 -2.00039253e+00] [-7.14538557e-02 -1.30655264e-03 9.97443051e-01 -7.00825825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.44771942099999 meters 0.053520759303356556 Centerline is valid? [True, True] Translation: X:65.01, Y:-2.01, Z:-7.01 [[ 9.91617125e-01 1.05298075e-01 7.48851946e-02 6.50128868e+01] [-1.05106640e-01 9.94439689e-01 -6.50383472e-03 -2.00596229e+00] [-7.51536509e-02 -1.42161730e-03 9.97170952e-01 -7.00927643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.50771942099999 meters 0.05339729887435793 Centerline is valid? [True, True] Translation: X:65.07, Y:-2.01, Z:-7.01 [[ 9.91284804e-01 1.04129611e-01 8.06936293e-02 6.50720221e+01] [-1.03903025e-01 9.94562705e-01 -7.01340310e-03 -2.01319006e+00] [-8.09851772e-02 -1.43203230e-03 9.96714277e-01 -7.01420750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.56771942099999 meters 0.051736855886558665 Centerline is valid? [True, True] Translation: X:65.13, Y:-2.03, Z:-7.02 [[ 9.92349933e-01 9.54287697e-02 7.83259839e-02 6.51324967e+01] [-9.51888798e-02 9.95436009e-01 -6.79921415e-03 -2.03192028e+00] [-7.86173455e-02 -7.08562959e-04 9.96904615e-01 -7.02129131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.627719421 meters 0.05174349908623147 Centerline is valid? [True, True] Translation: X:65.19, Y:-2.05, Z:-7.03 [[ 9.93854399e-01 8.27798061e-02 7.34910742e-02 6.51920959e+01] [-8.25326513e-02 9.96567819e-01 -6.39876638e-03 -2.05186311e+00] [-7.37685282e-02 2.94028903e-04 9.97275347e-01 -7.03088678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.687719421 meters 0.0525433247383018 Centerline is valid? [True, True] Translation: X:65.25, Y:-2.06, Z:-7.04 [[ 9.94094270e-01 8.25083669e-02 7.04907929e-02 6.52526948e+01] [-8.22789519e-02 9.96590320e-01 -6.15690599e-03 -2.05619569e+00] [-7.07584381e-02 3.20636404e-04 9.97493429e-01 -7.04120183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.74771942099999 meters 0.052311298210585375 Centerline is valid? [True, True] Translation: X:65.32, Y:-2.04, Z:-7.04 [[ 9.92907953e-01 9.53226173e-02 7.10450260e-02 6.53175385e+01] [-9.51209988e-02 9.95446264e-01 -6.22347575e-03 -2.04397933e+00] [-7.13147437e-02 -5.78535274e-04 9.97453694e-01 -7.04353215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.80771942099999 meters 0.054578404002434744 Centerline is valid? [True, True] Translation: X:65.38, Y:-2.03, Z:-7.05 [[ 9.91785062e-01 1.07061798e-01 7.00011610e-02 6.53792464e+01] [-1.06892706e-01 9.94251430e-01 -6.16785468e-03 -2.03028123e+00] [-7.02590961e-02 -1.36542739e-03 9.97527842e-01 -7.05131104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.86771942099999 meters 0.05563712981419302 Centerline is valid? [True, True] Translation: X:65.44, Y:-2.03, Z:-7.06 [[ 9.91336210e-01 1.10449986e-01 7.10867006e-02 6.54396316e+01] [-1.10284585e-01 9.93880339e-01 -6.25949676e-03 -2.03135142e+00] [-7.13430354e-02 -1.63450150e-03 9.97450500e-01 -7.06001784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.92771942099999 meters 0.0540994827676029 Centerline is valid? [True, True] Translation: X:65.50, Y:-2.04, Z:-7.06 [[ 9.91081912e-01 1.09683070e-01 7.56721010e-02 6.55013966e+01] [-1.09491148e-01 9.93965238e-01 -6.69285790e-03 -2.03664594e+00] [-7.59495311e-02 -1.65225481e-03 9.97110294e-01 -7.05922952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.987719421 meters 0.0540586493232996 Centerline is valid? [True, True] Translation: X:65.56, Y:-2.04, Z:-7.07 [[ 9.91192822e-01 1.08806569e-01 7.54845755e-02 6.55627880e+01] [-1.08613261e-01 9.94061679e-01 -6.67363259e-03 -2.04439682e+00] [-7.57624590e-02 -1.58376916e-03 9.97124637e-01 -7.06572683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.047719421 meters 0.05412414868990072 Centerline is valid? [True, True] Translation: X:65.62, Y:-2.05, Z:-7.07 [[ 9.91380419e-01 1.08679840e-01 7.31680083e-02 6.56239908e+01] [-1.08496289e-01 9.94075666e-01 -6.49037434e-03 -2.05388492e+00] [-7.34399095e-02 -1.50402738e-03 9.97298510e-01 -7.07315630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.10771942099998 meters 0.05298971048638006 Centerline is valid? [True, True] Translation: X:65.68, Y:-2.06, Z:-7.08 [[ 9.91257966e-01 1.06188842e-01 7.83043663e-02 6.56846782e+01] [-1.05968066e-01 9.94345027e-01 -6.98119094e-03 -2.05640215e+00] [-7.86028817e-02 -1.37760112e-03 9.96905055e-01 -7.07591990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.16771942099999 meters 0.051540387979425784 Centerline is valid? [True, True] Translation: X:65.75, Y:-2.07, Z:-7.08 [[ 9.92356547e-01 9.61374227e-02 7.73697643e-02 6.57450130e+01] [-9.58920747e-02 9.95367900e-01 -6.88869160e-03 -2.07366037e+00] [-7.76736408e-02 -5.83109008e-04 9.96978669e-01 -7.08322693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.22771942099999 meters 0.05225977168856496 Centerline is valid? [True, True] Translation: X:65.80, Y:-2.09, Z:-7.09 [[ 9.94055547e-01 7.83477300e-02 7.55989570e-02 6.58045899e+01] [-7.80602966e-02 9.96925761e-01 -6.75405409e-03 -2.09460720e+00] [-7.58957125e-02 8.12627923e-04 9.97115430e-01 -7.09197077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.28771942099999 meters 0.05448810600081107 Centerline is valid? [True, True] Translation: X:65.86, Y:-2.10, Z:-7.10 [[ 9.94881367e-01 6.91961746e-02 7.36407092e-02 6.58646050e+01] [-6.88962668e-02 9.97601943e-01 -6.60811286e-03 -2.10087150e+00] [-7.39213708e-02 1.50071841e-03 9.97262944e-01 -7.10034252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.347719421 meters 0.054234900031259574 Centerline is valid? [True, True] Translation: X:65.93, Y:-2.10, Z:-7.11 [[ 9.94855412e-01 7.38463305e-02 6.93500439e-02 6.59267869e+01] [-7.35923501e-02 9.97269050e-01 -6.21357990e-03 -2.09564270e+00] [-6.96195025e-02 1.07798087e-03 9.97573036e-01 -7.11032852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.407719421 meters 0.052505159456882076 Centerline is valid? [True, True] Translation: X:65.99, Y:-2.08, Z:-7.12 [[ 9.93778365e-01 8.43136450e-02 7.27720405e-02 6.59879614e+01] [-8.40593869e-02 9.96439186e-01 -6.55498575e-03 -2.08246908e+00] [-7.30655875e-02 3.97029914e-04 9.97327059e-01 -7.11583978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.46771942099998 meters 0.05254113392320496 Centerline is valid? [True, True] Translation: X:66.05, Y:-2.06, Z:-7.12 [[ 9.91960556e-01 1.02012362e-01 7.48848002e-02 6.60530056e+01] [-1.01794126e-01 9.94782685e-01 -6.73533271e-03 -2.05714823e+00] [-7.51811899e-02 -9.41648391e-04 9.97169445e-01 -7.11678210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.52771942099999 meters 0.05792822981217575 Centerline is valid? [True, True] Translation: X:66.11, Y:-2.04, Z:-7.13 [[ 9.90443045e-01 1.17972261e-01 7.14501267e-02 6.61128683e+01] [-1.17812700e-01 9.93014834e-01 -6.45815036e-03 -2.04412061e+00] [-7.17129183e-02 -2.02130225e-03 9.97423266e-01 -7.12991928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.58771942099999 meters 0.06083860931028806 Centerline is valid? [True, True] Translation: X:66.17, Y:-2.04, Z:-7.14 [[ 9.90034896e-01 1.22630129e-01 6.92297375e-02 6.61726421e+01] [-1.22491958e-01 9.92449804e-01 -6.25359585e-03 -2.04062239e+00] [-6.94739187e-02 -2.28880798e-03 9.97581143e-01 -7.14157698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.64771942099999 meters 0.05931068416686766 Centerline is valid? [True, True] Translation: X:66.23, Y:-2.05, Z:-7.15 [[ 9.90417017e-01 1.20549982e-01 6.73931387e-02 6.62347914e+01] [-1.20414593e-01 9.92705057e-01 -6.08243988e-03 -2.05238193e+00] [-6.76347476e-02 -2.09096541e-03 9.97707958e-01 -7.14874753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.707719421 meters 0.05671188557425025 Centerline is valid? [True, True] Translation: X:66.29, Y:-2.07, Z:-7.16 [[ 9.91182887e-01 1.15429013e-01 6.50586535e-02 6.62949029e+01] [-1.15290418e-01 9.93314346e-01 -5.89323038e-03 -2.07158546e+00] [-6.53039436e-02 -1.65937023e-03 9.97864040e-01 -7.15534768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.767719421 meters 0.05560951536851855 Centerline is valid? [True, True] Translation: X:66.35, Y:-2.09, Z:-7.16 [[ 9.91133903e-01 1.13798816e-01 6.85814568e-02 6.63549359e+01] [-1.13638663e-01 9.93502520e-01 -6.24482418e-03 -2.08522931e+00] [-6.88465037e-02 -1.60404809e-03 9.97625975e-01 -7.15936524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.82771942099998 meters 0.055590742426649756 Centerline is valid? [True, True] Translation: X:66.42, Y:-2.09, Z:-7.17 [[ 9.91094519e-01 1.13739515e-01 6.92457774e-02 6.64163623e+01] [-1.13576565e-01 9.93509281e-01 -6.29862435e-03 -2.09370437e+00] [-6.95127250e-02 -1.62216546e-03 9.97579746e-01 -7.16615272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.88771942099999 meters 0.05549147216246215 Centerline is valid? [True, True] Translation: X:66.48, Y:-2.10, Z:-7.18 [[ 9.91394354e-01 1.10797801e-01 6.97214546e-02 6.64757610e+01] [-1.10623781e-01 9.93841978e-01 -6.36410089e-03 -2.10433710e+00] [-6.99972368e-02 -1.40351720e-03 9.97546198e-01 -7.17604948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.94771942099999 meters 0.05277199624185202 Centerline is valid? [True, True] Translation: X:66.54, Y:-2.14, Z:-7.18 [[ 9.92568553e-01 1.01628648e-01 6.69274685e-02 6.65350296e+01] [-1.01446431e-01 9.94822151e-01 -6.12444362e-03 -2.13509227e+00] [-6.72033472e-02 -7.10622657e-04 9.97739047e-01 -7.18045293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.00771942099999 meters 0.05204864519700803 Centerline is valid? [True, True] Translation: X:66.59, Y:-2.16, Z:-7.19 [[ 9.93750495e-01 8.85719837e-02 6.79334724e-02 6.65946669e+01] [-8.83522418e-02 9.96069759e-01 -6.23831631e-03 -2.16060440e+00] [-6.82190176e-02 1.97255342e-04 9.97670350e-01 -7.18718495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.06771942099999 meters 0.05311231857817648 Centerline is valid? [True, True] Translation: X:66.66, Y:-2.17, Z:-7.19 [[ 9.94449275e-01 8.02803869e-02 6.80124951e-02 6.66554156e+01] [-8.00392781e-02 9.96772009e-01 -6.26709080e-03 -2.17417420e+00] [-6.82960759e-02 7.88632891e-04 9.97664785e-01 -7.19339589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.127719421 meters 0.05276806275672663 Centerline is valid? [True, True] Translation: X:66.72, Y:-2.18, Z:-7.20 [[ 9.94307659e-01 7.79922955e-02 7.25911912e-02 6.67165102e+01] [-7.77090162e-02 9.96953416e-01 -6.72279136e-03 -2.18064108e+00] [-7.28943619e-02 1.04353289e-03 9.97339121e-01 -7.19535624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.187719421 meters 0.05396206484929871 Centerline is valid? [True, True] Translation: X:66.78, Y:-2.18, Z:-7.20 [[ 9.94539572e-01 7.13331253e-02 7.61749612e-02 6.67795324e+01] [-7.10020878e-02 9.97451262e-01 -7.04863917e-03 -2.18011284e+00] [-7.64836126e-02 1.60156930e-03 9.97069552e-01 -7.19859803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.24771942099999 meters 0.05614983522371885 Centerline is valid? [True, True] Translation: X:66.84, Y:-2.19, Z:-7.21 [[ 9.95018501e-01 6.52361328e-02 7.53818976e-02 6.68400525e+01] [-6.48917349e-02 9.97867676e-01 -7.01165106e-03 -2.18546365e+00] [-7.56785720e-02 2.08506042e-03 9.97130085e-01 -7.20605795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.30771942099999 meters 0.06173106506038883 Centerline is valid? [True, True] Translation: X:66.90, Y:-2.20, Z:-7.22 [[ 9.95952618e-01 5.42083963e-02 7.16926231e-02 6.68989602e+01] [-5.38682180e-02 9.98525767e-01 -6.67136589e-03 -2.20114862e+00] [-7.19485755e-02 2.78241048e-03 9.97404462e-01 -7.21680079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.36771942099999 meters 0.06369242371901837 Centerline is valid? [True, True] Translation: X:66.96, Y:-2.20, Z:-7.22 [[ 9.96036119e-01 4.97484133e-02 7.37370007e-02 6.69616719e+01] [-4.93761673e-02 9.98756668e-01 -6.86376504e-03 -2.19616711e+00] [-7.39867825e-02 3.19570741e-03 9.97254102e-01 -7.22049227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.42771942099999 meters 0.062222523990282684 Centerline is valid? [True, True] Translation: X:67.02, Y:-2.19, Z:-7.23 [[ 9.95930253e-01 5.52105897e-02 7.12370851e-02 6.70229274e+01] [-5.48766003e-02 9.98471075e-01 -6.63854269e-03 -2.19066914e+00] [-7.14946868e-02 2.70227646e-03 9.97437320e-01 -7.23099751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.487719421 meters 0.05930558341891922 Centerline is valid? [True, True] Translation: X:67.08, Y:-2.18, Z:-7.24 [[ 9.95585472e-01 6.26316380e-02 6.99059756e-02 6.70845563e+01] [-6.23280173e-02 9.98034434e-01 -6.51822353e-03 -2.17837158e+00] [-7.01768178e-02 2.13234779e-03 9.97532289e-01 -7.23984494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.547719421 meters 0.05441175364488327 Centerline is valid? [True, True] Translation: X:67.15, Y:-2.16, Z:-7.24 [[ 9.94457028e-01 7.62572602e-02 7.23881926e-02 6.71477478e+01] [-7.59675272e-02 9.97087436e-01 -6.75130373e-03 -2.15719135e+00] [-7.26921933e-02 1.21472945e-03 9.97353683e-01 -7.24281383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.60771942099998 meters 0.051509766550061856 Centerline is valid? [True, True] Translation: X:67.21, Y:-2.14, Z:-7.25 [[ 9.92990869e-01 9.39037939e-02 7.17719380e-02 6.72118773e+01] [-9.36649655e-02 9.95581273e-01 -6.69346779e-03 -2.13620333e+00] [-7.20833394e-02 -7.59636976e-05 9.97398610e-01 -7.24511281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.66771942099999 meters 0.05345209623734532 Centerline is valid? [True, True] Translation: X:67.27, Y:-2.12, Z:-7.26 [[ 9.91526908e-01 1.08797189e-01 7.09757913e-02 6.72724884e+01] [-1.08601151e-01 9.94063317e-01 -6.62664579e-03 -2.11850653e+00] [-7.12753909e-02 -1.13755500e-03 9.97456026e-01 -7.25719887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.72771942099999 meters 0.054340811031263904 Centerline is valid? [True, True] Translation: X:67.34, Y:-2.11, Z:-7.26 [[ 9.90633657e-01 1.15009127e-01 7.36060960e-02 6.73357099e+01] [-1.14816172e-01 9.93363058e-01 -6.86157111e-03 -2.10881302e+00] [-7.39067200e-02 -1.65386693e-03 9.97263787e-01 -7.25851441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.78771942099999 meters 0.052783683179718405 Centerline is valid? [True, True] Translation: X:67.40, Y:-2.13, Z:-7.27 [[ 9.91757239e-01 1.06260349e-01 7.15983102e-02 6.73958474e+01] [-1.06052910e-01 9.94337893e-01 -6.70337603e-03 -2.12930226e+00] [-7.19052160e-02 -9.45087422e-04 9.97411022e-01 -7.27031899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.847719421 meters 0.051510538050444435 Centerline is valid? [True, True] Translation: X:67.46, Y:-2.15, Z:-7.28 [[ 9.92517942e-01 9.74956946e-02 7.35032275e-02 6.74558193e+01] [-9.72522394e-02 9.95235899e-01 -6.89252371e-03 -2.14529950e+00] [-7.38250421e-02 -3.07400033e-04 9.97271161e-01 -7.27559314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.907719421 meters 0.051614441090249194 Centerline is valid? [True, True] Translation: X:67.52, Y:-2.16, Z:-7.28 [[ 9.93151210e-01 9.14772117e-02 7.26814577e-02 6.75167614e+01] [-9.12235073e-02 9.95807161e-01 -6.80952005e-03 -2.15984239e+00] [-7.29996320e-02 1.32625591e-04 9.97331959e-01 -7.28124330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.96771942099998 meters 0.05181782865258287 Centerline is valid? [True, True] Translation: X:67.58, Y:-2.17, Z:-7.29 [[ 9.93721331e-01 8.70651617e-02 7.02678675e-02 6.75773723e+01] [-8.68155226e-02 9.96202511e-01 -6.60466857e-03 -2.17121569e+00] [-7.05760626e-02 4.62858398e-04 9.97506293e-01 -7.28775916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.02771942099999 meters 0.05214791341515004 Centerline is valid? [True, True] Translation: X:67.64, Y:-2.18, Z:-7.30 [[ 9.93846623e-01 8.64097486e-02 6.92982350e-02 6.76389755e+01] [-8.61640200e-02 9.96259546e-01 -6.53287398e-03 -2.17502305e+00] [-6.96035322e-02 5.21660237e-04 9.97574597e-01 -7.29636666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.08771942099999 meters 0.05252094890787193 Centerline is valid? [True, True] Translation: X:67.70, Y:-2.18, Z:-7.30 [[ 9.93924767e-01 8.30884554e-02 7.21794061e-02 6.76992957e+01] [-8.28112455e-02 9.96541846e-01 -6.82985512e-03 -2.18473472e+00] [-7.24972807e-02 8.11095644e-04 9.97368280e-01 -7.30384473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.14771942099999 meters 0.05405447024372082 Centerline is valid? [True, True] Translation: X:67.76, Y:-2.19, Z:-7.31 [[ 9.94640107e-01 7.54065187e-02 7.07454256e-02 6.77590850e+01] [-7.51187078e-02 9.97151930e-01 -6.72377124e-03 -2.19402898e+00] [-7.10509538e-02 1.37342759e-03 9.97471742e-01 -7.30974313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.207719421 meters 0.0518353797999643 Centerline is valid? [True, True] Translation: X:67.82, Y:-2.18, Z:-7.31 [[ 9.93594114e-01 8.44621292e-02 7.50791994e-02 6.78207474e+01] [-8.41635044e-02 9.96426390e-01 -7.13822097e-03 -2.18219804e+00] [-7.54138050e-02 7.73565805e-04 9.97152024e-01 -7.31322826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.267719421 meters 0.050875229101574986 Centerline is valid? [True, True] Translation: X:67.88, Y:-2.17, Z:-7.32 [[ 9.92512379e-01 9.56257634e-02 7.59927028e-02 6.78834345e+01] [-9.53531925e-02 9.95417353e-01 -7.21543367e-03 -2.17325683e+00] [-7.63344364e-02 -8.47395744e-05 9.97082267e-01 -7.31899467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.32771942099998 meters 0.05313341481361951 Centerline is valid? [True, True] Translation: X:67.95, Y:-2.15, Z:-7.32 [[ 9.90107570e-01 1.15434192e-01 7.97618113e-02 6.79477256e+01] [-1.15195353e-01 9.93313745e-01 -7.60487678e-03 -2.15341232e+00] [-8.01063663e-02 -1.65854390e-03 9.96784941e-01 -7.32278560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.38771942099999 meters 0.05526271960957314 Centerline is valid? [True, True] Translation: X:68.01, Y:-2.16, Z:-7.33 [[ 9.89831020e-01 1.20802755e-01 7.51082264e-02 6.80078581e+01] [-1.20605791e-01 9.92674591e-01 -7.16927761e-03 -2.15838713e+00] [-7.54240965e-02 -1.96211372e-03 9.97149616e-01 -7.33361525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.44771942099999 meters 0.05612228880675551 Centerline is valid? [True, True] Translation: X:68.07, Y:-2.17, Z:-7.34 [[ 9.89991588e-01 1.22141384e-01 7.06975062e-02 6.80670711e+01] [-1.21970187e-01 9.92510814e-01 -6.74966380e-03 -2.16935135e+00] [-7.09924527e-02 -1.94087770e-03 9.97474964e-01 -7.34379289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.50771942099999 meters 0.057566652167781084 Centerline is valid? [True, True] Translation: X:68.13, Y:-2.18, Z:-7.35 [[ 9.89872363e-01 1.24365669e-01 6.84535329e-02 6.81270846e+01] [-1.24210436e-01 9.92234372e-01 -6.53602119e-03 -2.17999980e+00] [-6.87348048e-02 -2.03281642e-03 9.97632896e-01 -7.35470083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.56771942099999 meters 0.05653871695854583 Centerline is valid? [True, True] Translation: X:68.19, Y:-2.19, Z:-7.36 [[ 9.89919146e-01 1.22168540e-01 7.16584451e-02 6.81863455e+01] [-1.21992382e-01 9.92507425e-01 -6.84621389e-03 -2.19344464e+00] [-7.19579307e-02 -1.96458616e-03 9.97405733e-01 -7.35755088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.627719421 meters 0.05534195330312196 Centerline is valid? [True, True] Translation: X:68.25, Y:-2.21, Z:-7.37 [[ 9.90571025e-01 1.17073415e-01 7.11537732e-02 6.82460044e+01] [-1.16886545e-01 9.93122003e-01 -6.79878945e-03 -2.20980372e+00] [-7.14603352e-02 -1.58223491e-03 9.97442187e-01 -7.36629357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.68771942099998 meters 0.05388426864707679 Centerline is valid? [True, True] Translation: X:68.31, Y:-2.23, Z:-7.37 [[ 9.91253241e-01 1.11359876e-01 7.08236529e-02 6.83066293e+01] [-1.11160608e-01 9.93779456e-01 -6.76107774e-03 -2.22682814e+00] [-7.11360041e-02 -1.17086009e-03 9.97465938e-01 -7.37388507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.74771942099999 meters 0.05226659761646234 Centerline is valid? [True, True] Translation: X:68.37, Y:-2.25, Z:-7.38 [[ 9.91851753e-01 1.04071539e-01 7.34793462e-02 6.83669774e+01] [-1.03834771e-01 9.94569607e-01 -7.04537411e-03 -2.24579539e+00] [-7.38135473e-02 -6.41744436e-04 9.97271853e-01 -7.37815504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.80771942099999 meters 0.051006222289936946 Centerline is valid? [True, True] Translation: X:68.43, Y:-2.27, Z:-7.38 [[ 9.92821320e-01 9.28986410e-02 7.53370376e-02 6.84270046e+01] [-9.26178178e-02 9.95675553e-01 -7.22037421e-03 -2.27372106e+00] [-7.56820095e-02 1.90989434e-04 9.97131986e-01 -7.37927319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.86771942099999 meters 0.051828715916942505 Centerline is valid? [True, True] Translation: X:68.49, Y:-2.28, Z:-7.39 [[ 9.93116385e-01 9.27353472e-02 7.15541796e-02 6.84879119e+01] [-9.24795630e-02 9.95690768e-01 -6.88652632e-03 -2.27992878e+00] [-7.18844605e-02 2.21822869e-04 9.97412941e-01 -7.39203293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.92771942099999 meters 0.052586560355459534 Centerline is valid? [True, True] Translation: X:68.55, Y:-2.28, Z:-7.40 [[ 9.92711043e-01 1.00471498e-01 6.65602148e-02 6.85483253e+01] [-1.00267137e-01 9.94939889e-01 -6.41233834e-03 -2.27791591e+00] [-6.68676700e-02 -3.08203116e-04 9.97761805e-01 -7.40234573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.987719421 meters 0.05214196917958842 Centerline is valid? [True, True] Translation: X:68.61, Y:-2.28, Z:-7.40 [[ 9.91497679e-01 1.08206264e-01 7.22755595e-02 6.86099020e+01] [-1.07985398e-01 9.94128061e-01 -6.96793366e-03 -2.28107151e+00] [-7.26051358e-02 -8.96015016e-04 9.97360362e-01 -7.40081204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.047719421 meters 0.05381365237100763 Centerline is valid? [True, True] Translation: X:68.67, Y:-2.27, Z:-7.40 [[ 9.90190877e-01 1.17432129e-01 7.57081419e-02 6.86717474e+01] [-1.17216951e-01 9.93079539e-01 -7.29497101e-03 -2.27344840e+00] [-7.60408706e-02 -1.65086381e-03 9.97103335e-01 -7.40487783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.10771942099998 meters 0.05802565790672213 Centerline is valid? [True, True] Translation: X:68.73, Y:-2.27, Z:-7.42 [[ 9.89314152e-01 1.27153658e-01 7.13404302e-02 6.87314278e+01] [-1.26985752e-01 9.91880523e-01 -6.90260287e-03 -2.27286812e+00] [-7.16388744e-02 -2.23037549e-03 9.97428141e-01 -7.41838743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.16771942099999 meters 0.060003016981916055 Centerline is valid? [True, True] Translation: X:68.79, Y:-2.28, Z:-7.42 [[ 9.88393994e-01 1.34584771e-01 7.04574552e-02 6.87921192e+01] [-1.34439763e-01 9.90898313e-01 -6.81784429e-03 -2.27594249e+00] [-7.07337515e-02 -2.73356727e-03 9.97491486e-01 -7.42201628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.22771942099999 meters 0.06146690003862954 Centerline is valid? [True, True] Translation: X:68.85, Y:-2.28, Z:-7.43 [[ 9.88160299e-01 1.36106365e-01 7.08115871e-02 6.88526106e+01] [-1.35964456e-01 9.90690084e-01 -6.84278789e-03 -2.28288102e+00] [-7.10836842e-02 -2.86608757e-03 9.97466238e-01 -7.43077187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.28771942099999 meters 0.05912288656037697 Centerline is valid? [True, True] Translation: X:68.91, Y:-2.30, Z:-7.44 [[ 9.88648565e-01 1.31403921e-01 7.28493323e-02 6.89124094e+01] [-1.31238790e-01 9.91325577e-01 -7.06974366e-03 -2.29724797e+00] [-7.31463983e-02 -2.57116629e-03 9.97317900e-01 -7.43612814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.347719421 meters 0.05890431473369382 Centerline is valid? [True, True] Translation: X:68.97, Y:-2.31, Z:-7.44 [[ 9.88931910e-01 1.27910936e-01 7.51829089e-02 6.89705229e+01] [-1.27724808e-01 9.91782791e-01 -7.29856013e-03 -2.31437166e+00] [-7.54986809e-02 -2.38494362e-03 9.97143050e-01 -7.44148801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.407719421 meters 0.058851414798986985 Centerline is valid? [True, True] Translation: X:69.03, Y:-2.33, Z:-7.45 [[ 9.88968376e-01 1.28746199e-01 7.32527705e-02 6.90307379e+01] [-1.28572507e-01 9.91674684e-01 -7.10147271e-03 -2.32722926e+00] [-7.35572056e-02 -2.39516044e-03 9.97288123e-01 -7.45116088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.46771942099998 meters 0.056567055192646716 Centerline is valid? [True, True] Translation: X:69.09, Y:-2.35, Z:-7.46 [[ 9.89224802e-01 1.26359677e-01 7.39426986e-02 6.90909735e+01] [-1.26173906e-01 9.91982030e-01 -7.19708281e-03 -2.34668758e+00] [-7.42592493e-02 -2.21010628e-03 9.97236521e-01 -7.45559359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.52771942099999 meters 0.05448762145462515 Centerline is valid? [True, True] Translation: X:69.15, Y:-2.37, Z:-7.47 [[ 9.90324708e-01 1.18759241e-01 7.17859045e-02 6.91498660e+01] [-1.18563822e-01 9.92921813e-01 -6.99243554e-03 -2.37052397e+00] [-7.21082068e-02 -1.58642953e-03 9.97395553e-01 -7.46520369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.58771942099999 meters 0.0524360738215134 Centerline is valid? [True, True] Translation: X:69.21, Y:-2.39, Z:-7.47 [[ 9.91352922e-01 1.09420858e-01 7.24324463e-02 6.92095935e+01] [-1.09196812e-01 9.93995092e-01 -7.05784458e-03 -2.38930625e+00] [-7.27697715e-02 -9.12577348e-04 9.97348348e-01 -7.47091463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.64771942099999 meters 0.05123749360705962 Centerline is valid? [True, True] Translation: X:69.27, Y:-2.41, Z:-7.48 [[ 9.92090060e-01 1.01333240e-01 7.40870296e-02 6.92691736e+01] [-1.01075881e-01 9.94852487e-01 -7.22460606e-03 -2.40959991e+00] [-7.44377584e-02 -3.20951905e-04 9.97225610e-01 -7.47562100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.707719421 meters 0.05087988010084853 Centerline is valid? [True, True] Translation: X:69.33, Y:-2.42, Z:-7.48 [[ 9.92438959e-01 9.52305082e-02 7.74342452e-02 6.93293061e+01] [-9.49304976e-02 9.95455237e-01 -7.55458814e-03 -2.42060468e+00] [-7.78017522e-02 1.46596157e-04 9.96968839e-01 -7.47911577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.767719421 meters 0.05087595535684663 Centerline is valid? [True, True] Translation: X:69.39, Y:-2.43, Z:-7.48 [[ 9.92612018e-01 9.04921162e-02 8.08242404e-02 6.93906965e+01] [-9.01497630e-02 9.95897027e-01 -7.88242849e-03 -2.42871726e+00] [-8.12059183e-02 5.37907141e-04 9.96697200e-01 -7.48369691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.82771942099998 meters 0.05238175282746668 Centerline is valid? [True, True] Translation: X:69.45, Y:-2.44, Z:-7.49 [[ 9.93505415e-01 8.25762292e-02 7.82825448e-02 6.94504594e+01] [-8.22282905e-02 9.96584057e-01 -7.66328698e-03 -2.44288402e+00] [-7.86479414e-02 1.17647727e-03 9.96901759e-01 -7.49055231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.88771942099999 meters 0.05274360936976513 Centerline is valid? [True, True] Translation: X:69.51, Y:-2.45, Z:-7.50 [[ 9.93711463e-01 8.08548600e-02 7.74597909e-02 6.95120701e+01] [-8.05093445e-02 9.96725046e-01 -7.57819507e-03 -2.44687850e+00] [-7.78188476e-02 1.29430231e-03 9.96966675e-01 -7.49761463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.94771942099999 meters 0.0507117321636604 Centerline is valid? [True, True] Translation: X:69.57, Y:-2.44, Z:-7.50 [[ 9.92741547e-01 8.93272087e-02 8.05286907e-02 6.95749297e+01] [-8.89788016e-02 9.96002096e-01 -7.91188746e-03 -2.43539665e+00] [-8.09134915e-02 6.89113010e-04 9.96720890e-01 -7.49987241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.00771942099999 meters 0.05059976423742662 Centerline is valid? [True, True] Translation: X:69.64, Y:-2.42, Z:-7.51 [[ 9.91695475e-01 1.02532695e-01 7.76345952e-02 6.96370748e+01] [-1.02249571e-01 9.94729563e-01 -7.62374291e-03 -2.41763180e+00] [-7.80071099e-02 -3.77672685e-04 9.96952731e-01 -7.51021582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.06771942099999 meters 0.05339970380608021 Centerline is valid? [True, True] Translation: X:69.70, Y:-2.40, Z:-7.52 [[ 9.90578793e-01 1.16040986e-01 7.27196268e-02 6.96991096e+01] [-1.15826872e-01 9.93243547e-01 -7.16886666e-03 -2.40033291e+00] [-7.30601824e-02 -1.32155963e-03 9.97326658e-01 -7.52357090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.127719421 meters 0.05577553210573803 Centerline is valid? [True, True] Translation: X:69.76, Y:-2.39, Z:-7.53 [[ 9.90030562e-01 1.22842825e-01 6.89139114e-02 6.97604964e+01] [-1.22666871e-01 9.92424638e-01 -6.79536882e-03 -2.39400580e+00] [-6.92266259e-02 -1.72583105e-03 9.97599467e-01 -7.53278933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.18771942099998 meters 0.05588450430605782 Centerline is valid? [True, True] Translation: X:69.82, Y:-2.39, Z:-7.54 [[ 9.89795628e-01 1.24305549e-01 6.96616508e-02 6.98233568e+01] [-1.24130055e-01 9.92242248e-01 -6.85931819e-03 -2.39260002e+00] [-6.99738844e-02 -1.85778139e-03 9.97547094e-01 -7.53795539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.24771942099999 meters 0.05498127293061494 Centerline is valid? [True, True] Translation: X:69.88, Y:-2.40, Z:-7.54 [[ 9.89096365e-01 1.26484694e-01 7.54321134e-02 6.98848535e+01] [-1.26282281e-01 9.91966249e-01 -7.46635739e-03 -2.39793398e+00] [-7.57704906e-02 -2.14079236e-03 9.97122986e-01 -7.53693350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.30771942099999 meters 0.055810365349637264 Centerline is valid? [True, True] Translation: X:69.95, Y:-2.41, Z:-7.54 [[ 9.88757255e-01 1.28412955e-01 7.66107258e-02 6.99463756e+01] [-1.28210340e-01 9.91718047e-01 -7.57779613e-03 -2.40603696e+00] [-7.69493266e-02 -2.32968632e-03 9.97032283e-01 -7.54313450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.36771942099999 meters 0.055039273989630745 Centerline is valid? [True, True] Translation: X:70.01, Y:-2.42, Z:-7.56 [[ 9.89372445e-01 1.24536042e-01 7.50529164e-02 7.00063822e+01] [-1.24328535e-01 9.92213146e-01 -7.44903187e-03 -2.42104650e+00] [-7.53961632e-02 -1.96135225e-03 9.97151730e-01 -7.55544302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.42771942099999 meters 0.05198877905240312 Centerline is valid? [True, True] Translation: X:70.06, Y:-2.45, Z:-7.56 [[ 9.90550799e-01 1.13924475e-01 7.63565829e-02 7.00646624e+01] [-1.13675709e-01 9.93488758e-01 -7.61061719e-03 -2.44890070e+00] [-7.67264423e-02 -1.14118572e-03 9.97051529e-01 -7.56280813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.487719421 meters 0.05118006372623135 Centerline is valid? [True, True] Translation: X:70.12, Y:-2.46, Z:-7.57 [[ 9.91332159e-01 1.07771834e-01 7.51384192e-02 7.01240470e+01] [-1.07513784e-01 9.94175435e-01 -7.48270144e-03 -2.46403013e+00] [-7.55071951e-02 -6.60573188e-04 9.97145038e-01 -7.57209602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.547719421 meters 0.052560813670588916 Centerline is valid? [True, True] Translation: X:70.18, Y:-2.47, Z:-7.59 [[ 9.91697186e-01 1.08666617e-01 6.87623310e-02 7.01833442e+01] [-1.08450899e-01 9.94078043e-01 -6.87363601e-03 -2.46813274e+00] [-6.91020582e-02 -6.40771092e-04 9.97609390e-01 -7.58591670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.60771942099998 meters 0.052721777469164295 Centerline is valid? [True, True] Translation: X:70.25, Y:-2.47, Z:-7.59 [[ 9.91507920e-01 1.10632669e-01 6.83553780e-02 7.02450530e+01] [-1.10424786e-01 9.93861057e-01 -6.82391428e-03 -2.47281392e+00] [-6.86906961e-02 -7.82162936e-04 9.97637698e-01 -7.59248593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.66771942099999 meters 0.05301706478469058 Centerline is valid? [True, True] Translation: X:70.31, Y:-2.48, Z:-7.60 [[ 9.91374655e-01 1.11589823e-01 6.87313936e-02 7.03080213e+01] [-1.11380651e-01 9.93754001e-01 -6.88009462e-03 -2.47686086e+00] [-6.90698459e-02 -8.34595964e-04 9.97611477e-01 -7.59987331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.72771942099999 meters 0.052032227097429655 Centerline is valid? [True, True] Translation: X:70.37, Y:-2.48, Z:-7.60 [[ 9.91155000e-01 1.12655639e-01 7.01460789e-02 7.03710149e+01] [-1.12438715e-01 9.93633680e-01 -7.04590114e-03 -2.47667874e+00] [-7.04932670e-02 -9.03554831e-04 9.97511846e-01 -7.60064070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.78771942099999 meters 0.053218211079324194 Centerline is valid? [True, True] Translation: X:70.43, Y:-2.48, Z:-7.61 [[ 9.91102378e-01 1.14697232e-01 6.75323687e-02 7.04310413e+01] [-1.14499512e-01 9.93400004e-01 -6.80402475e-03 -2.48129088e+00] [-6.78670581e-02 -9.88938137e-04 9.97693883e-01 -7.61053061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.847719421 meters 0.05369331342676643 Centerline is valid? [True, True] Translation: X:70.49, Y:-2.48, Z:-7.61 [[ 9.89381827e-01 1.23545561e-01 7.65512511e-02 7.04934017e+01] [-1.23315330e-01 9.92337310e-01 -7.74543158e-03 -2.48351363e+00] [-7.69215763e-02 -1.77675357e-03 9.97035563e-01 -7.60664488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.907719421 meters 0.056865879635694803 Centerline is valid? [True, True] Translation: X:70.55, Y:-2.48, Z:-7.62 [[ 9.88226461e-01 1.32497685e-01 7.65037588e-02 7.05540317e+01] [-1.32294158e-01 9.91180244e-01 -7.74471597e-03 -2.47985954e+00] [-7.68551712e-02 -2.46746710e-03 9.97039214e-01 -7.61583257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.96771942099998 meters 0.05877551155857678 Centerline is valid? [True, True] Translation: X:70.61, Y:-2.49, Z:-7.62 [[ 9.87493092e-01 1.38377316e-01 7.55586587e-02 7.06136422e+01] [-1.38195817e-01 9.90375375e-01 -7.65063220e-03 -2.48973621e+00] [-7.58901089e-02 -2.88694410e-03 9.97112008e-01 -7.62245782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.02771942099999 meters 0.06122363624305811 Centerline is valid? [True, True] Translation: X:70.67, Y:-2.49, Z:-7.63 [[ 9.86698244e-01 1.42923728e-01 7.74556884e-02 7.06742422e+01] [-1.42746871e-01 9.89728147e-01 -7.84383616e-03 -2.49310650e+00] [-7.77811453e-02 -3.31705782e-03 9.96964939e-01 -7.62759697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.08771942099999 meters 0.066219469165974 Centerline is valid? [True, True] Translation: X:70.73, Y:-2.50, Z:-7.64 [[ 9.85799108e-01 1.50752856e-01 7.39844207e-02 7.07338188e+01] [-1.50613209e-01 9.88564354e-01 -7.49526396e-03 -2.49864440e+00] [-7.42682935e-02 -3.75420647e-03 9.97231230e-01 -7.64009261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.14771942099999 meters 0.06790850777945305 Centerline is valid? [True, True] Translation: X:70.80, Y:-2.51, Z:-7.65 [[ 9.84919262e-01 1.54861673e-01 7.71486260e-02 7.07955440e+01] [-1.54722198e-01 9.87927080e-01 -7.81824611e-03 -2.50734093e+00] [-7.74279635e-02 -4.23626382e-03 9.96988949e-01 -7.64504518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.207719421 meters 0.06923870741044465 Centerline is valid? [True, True] Translation: X:70.85, Y:-2.52, Z:-7.66 [[ 9.85164222e-01 1.55149205e-01 7.33497065e-02 7.08540743e+01] [-1.55023597e-01 9.87882772e-01 -7.43732231e-03 -2.52337915e+00] [-7.36148060e-02 -4.04395149e-03 9.97278550e-01 -7.65834207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.267719421 meters 0.067366146664721 Centerline is valid? [True, True] Translation: X:70.91, Y:-2.55, Z:-7.67 [[ 9.86019452e-01 1.50289268e-01 7.19637115e-02 7.09119290e+01] [-1.50154503e-01 9.88635520e-01 -7.30989682e-03 -2.55218561e+00] [-7.22444804e-02 -3.59797490e-03 9.97380464e-01 -7.66726850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.32771942099998 meters 0.06032276585797157 Centerline is valid? [True, True] Translation: X:70.97, Y:-2.59, Z:-7.67 [[ 9.86865944e-01 1.42320586e-01 7.64228959e-02 7.09698908e+01] [-1.42144610e-01 9.89815443e-01 -7.76520312e-03 -2.58745512e+00] [-7.67497108e-02 -3.19988825e-03 9.97045256e-01 -7.66510604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.38771942099999 meters 0.05576815908259847 Centerline is valid? [True, True] Translation: X:71.03, Y:-2.62, Z:-7.68 [[ 9.88720535e-01 1.30712465e-01 7.31160409e-02 7.10271521e+01] [-1.30519567e-01 9.91417888e-01 -7.43064603e-03 -2.61783710e+00] [-7.34598289e-02 -2.19624170e-03 9.97295759e-01 -7.67559704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.44771942099999 meters 0.052469830311295367 Centerline is valid? [True, True] Translation: X:71.08, Y:-2.65, Z:-7.68 [[ 9.90011823e-01 1.20462767e-01 7.32482893e-02 7.10846369e+01] [-1.20241044e-01 9.92716807e-01 -7.44533799e-03 -2.65027813e+00] [-7.36116939e-02 -1.43647815e-03 9.97285944e-01 -7.67914256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.50771942099999 meters 0.050967513696293106 Centerline is valid? [True, True] Translation: X:71.14, Y:-2.67, Z:-7.68 [[ 9.90003702e-01 1.17035410e-01 7.87107500e-02 7.11447086e+01] [-1.16768603e-01 9.93126929e-01 -7.99977589e-03 -2.66578981e+00] [-7.91060224e-02 -1.27113656e-03 9.96865398e-01 -7.67899018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.56771942099999 meters 0.05244364592219119 Centerline is valid? [True, True] Translation: X:71.21, Y:-2.67, Z:-7.69 [[ 9.89614256e-01 1.21632031e-01 7.66111871e-02 7.12055353e+01] [-1.21392900e-01 9.92573983e-01 -7.78796802e-03 -2.66534385e+00] [-7.69895375e-02 -1.59297000e-03 9.97030628e-01 -7.68956153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.627719421 meters 0.054068404228996524 Centerline is valid? [True, True] Translation: X:71.27, Y:-2.67, Z:-7.70 [[ 9.89416447e-01 1.25569798e-01 7.27139662e-02 7.12653413e+01] [-1.25364733e-01 9.92083157e-01 -7.39545155e-03 -2.67269399e+00] [-7.30669466e-02 -1.79858558e-03 9.97325417e-01 -7.69888550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.68771942099998 meters 0.05477033665688282 Centerline is valid? [True, True] Translation: X:71.33, Y:-2.68, Z:-7.70 [[ 9.88872673e-01 1.28655434e-01 7.46901337e-02 7.13282182e+01] [-1.28448500e-01 9.91687153e-01 -7.58773766e-03 -2.67688289e+00] [-7.50454498e-02 -2.09052923e-03 9.97177923e-01 -7.70382656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.74771942099999 meters 0.05952161656219729 Centerline is valid? [True, True] Translation: X:71.39, Y:-2.68, Z:-7.71 [[ 9.87414849e-01 1.39826903e-01 7.38942078e-02 7.13890616e+01] [-1.39652897e-01 9.90171796e-01 -7.54200737e-03 -2.67536677e+00] [-7.42225360e-02 -2.87245017e-03 9.97237567e-01 -7.71033101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.80771942099999 meters 0.0663478283530025 Centerline is valid? [True, True] Translation: X:71.45, Y:-2.67, Z:-7.72 [[ 9.85377372e-01 1.52803899e-01 7.53817187e-02 7.14505954e+01] [-1.52660416e-01 9.88248738e-01 -7.69604277e-03 -2.67068345e+00] [-7.56718737e-02 -3.92429815e-03 9.97125051e-01 -7.71663646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.86771942099999 meters 0.06538131445904519 Centerline is valid? [True, True] Translation: X:71.51, Y:-2.68, Z:-7.72 [[ 9.84509802e-01 1.56442866e-01 7.91585776e-02 7.15122677e+01] [-1.56296790e-01 9.87677116e-01 -8.07640248e-03 -2.68083567e+00] [-7.94466111e-02 -4.42093418e-03 9.96829319e-01 -7.71732836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.92771942099999 meters 0.062279946031382226 Centerline is valid? [True, True] Translation: X:71.57, Y:-2.70, Z:-7.72 [[ 9.85586924e-01 1.50170564e-01 7.78923438e-02 7.15710480e+01] [-1.50007156e-01 9.88652720e-01 -7.97825532e-03 -2.69937107e+00] [-7.82065766e-02 -3.82114488e-03 9.96929852e-01 -7.72419561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.987719421 meters 0.06190164519360782 Centerline is valid? [True, True] Translation: X:71.63, Y:-2.71, Z:-7.74 [[ 9.86286441e-01 1.47005032e-01 7.50238476e-02 7.16309560e+01] [-1.46844841e-01 9.89129745e-01 -7.67721886e-03 -2.71064359e+00] [-7.53369091e-02 -3.44492808e-03 9.97152186e-01 -7.73631557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.04771942099998 meters 0.06085867022349776 Centerline is valid? [True, True] Translation: X:71.69, Y:-2.73, Z:-7.74 [[ 9.86704614e-01 1.44537387e-01 7.43165478e-02 7.16914139e+01] [-1.44371589e-01 9.89494153e-01 -7.62664126e-03 -2.72919172e+00] [-7.46381243e-02 -3.20395600e-03 9.97205538e-01 -7.74125302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.10771942099998 meters 0.05671441869772154 Centerline is valid? [True, True] Translation: X:71.75, Y:-2.75, Z:-7.75 [[ 9.88018684e-01 1.35303184e-01 7.42437034e-02 7.17491480e+01] [-1.35109373e-01 9.90801158e-01 -7.65003681e-03 -2.75240294e+00] [-7.45958217e-02 -2.47264089e-03 9.97210785e-01 -7.74845505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.16771942099999 meters 0.0516375750432015 Centerline is valid? [True, True] Translation: X:71.80, Y:-2.80, Z:-7.76 [[ 9.91221456e-01 1.11361447e-01 7.12646726e-02 7.18047834e+01] [-1.11120829e-01 9.93779764e-01 -7.34448095e-03 -2.79812747e+00] [-7.16392816e-02 -6.38982417e-04 9.97430401e-01 -7.75534369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.22771942099999 meters 0.051801992362633296 Centerline is valid? [True, True] Translation: X:71.86, Y:-2.82, Z:-7.76 [[ 9.92528526e-01 1.00499526e-01 6.91879312e-02 7.18640666e+01] [-1.00247098e-01 9.94937098e-01 -7.11976688e-03 -2.82286536e+00] [-6.95531727e-02 1.30682402e-04 9.97578237e-01 -7.76255420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.28771942099999 meters 0.05253262605460402 Centerline is valid? [True, True] Translation: X:71.92, Y:-2.84, Z:-7.77 [[ 9.93174203e-01 9.36156972e-02 6.95780457e-02 7.19236130e+01] [-9.33419715e-02 9.95608203e-01 -7.18212024e-03 -2.83533489e+00] [-6.99448323e-02 6.38544575e-04 9.97550657e-01 -7.76986487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.347719421 meters 0.05165869816218313 Centerline is valid? [True, True] Translation: X:71.98, Y:-2.84, Z:-7.77 [[ 9.92482669e-01 9.69953669e-02 7.46327677e-02 7.19835774e+01] [-9.66874472e-02 9.95284726e-01 -7.73643422e-03 -2.83720517e+00] [-7.50312520e-02 4.62225096e-04 9.97181076e-01 -7.77079714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.407719421 meters 0.05074975717442712 Centerline is valid? [True, True] Translation: X:72.05, Y:-2.84, Z:-7.77 [[ 9.91966927e-01 1.01661908e-01 7.52759751e-02 7.20460784e+01] [-1.01362973e-01 9.94819002e-01 -7.79106894e-03 -2.83736723e+00] [-7.56780253e-02 9.82860675e-05 9.97132302e-01 -7.77347911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.46771942099998 meters 0.05157512127125085 Centerline is valid? [True, True] Translation: X:72.11, Y:-2.82, Z:-7.78 [[ 9.90246952e-01 1.16809219e-01 7.59380010e-02 7.21080647e+01] [-1.16547523e-01 9.93153824e-01 -7.88398210e-03 -2.82350439e+00] [-7.63390379e-02 -1.04329665e-03 9.97081372e-01 -7.78256421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.52771942099999 meters 0.0525671240419451 Centerline is valid? [True, True] Translation: X:72.17, Y:-2.82, Z:-7.79 [[ 9.89505584e-01 1.22713725e-01 7.62891932e-02 7.21701191e+01] [-1.22465505e-01 9.92440999e-01 -7.94124857e-03 -2.82340253e+00] [-7.66870233e-02 -1.48488475e-03 9.97054109e-01 -7.78864550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.58771942099999 meters 0.05911569412697517 Centerline is valid? [True, True] Translation: X:72.23, Y:-2.80, Z:-7.80 [[ 9.86932668e-01 1.41580479e-01 7.69342353e-02 7.22320043e+01] [-1.41382747e-01 9.89922372e-01 -8.03844939e-03 -2.80118551e+00] [-7.72970082e-02 -2.94376523e-03 9.97003765e-01 -7.79579535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.64771942099999 meters 0.0693439514882126 Centerline is valid? [True, True] Translation: X:72.29, Y:-2.78, Z:-7.81 [[ 9.84550069e-01 1.58829100e-01 7.37189132e-02 7.22941204e+01] [-1.58695160e-01 9.87297538e-01 -7.70831218e-03 -2.78317329e+00] [-7.40068058e-02 -4.10961544e-03 9.97249269e-01 -7.80862171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.707719421 meters 0.07062880954259136 Centerline is valid? [True, True] Translation: X:72.36, Y:-2.79, Z:-7.81 [[ 9.84356199e-01 1.59650768e-01 7.45285525e-02 7.23552837e+01] [-1.59516493e-01 9.87164533e-01 -7.78932859e-03 -2.78903576e+00] [-7.48155160e-02 -4.22105940e-03 9.97188458e-01 -7.81370199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.767719421 meters 0.06433974055248551 Centerline is valid? [True, True] Translation: X:72.41, Y:-2.81, Z:-7.82 [[ 9.86209645e-01 1.47769145e-01 7.45306423e-02 7.24134862e+01] [-1.47599792e-01 9.89016366e-01 -7.80570747e-03 -2.80605845e+00] [-7.48654677e-02 -3.30264331e-03 9.97188174e-01 -7.82291197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.82771942099998 meters 0.056132288422742115 Centerline is valid? [True, True] Translation: X:72.47, Y:-2.84, Z:-7.83 [[ 9.88585411e-01 1.32607493e-01 7.15132068e-02 7.24705987e+01] [-1.32411865e-01 9.91166480e-01 -7.49041269e-03 -2.84120035e+00] [-7.18747783e-02 -2.06428440e-03 9.97411527e-01 -7.82821047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.88771942099999 meters 0.05251843012871552 Centerline is valid? [True, True] Translation: X:72.53, Y:-2.86, Z:-7.83 [[ 9.89528801e-01 1.22175568e-01 7.68497421e-02 7.25293623e+01] [-1.21918206e-01 9.92507511e-01 -8.04937861e-03 -2.86437393e+00] [-7.72573836e-02 -1.40429074e-03 9.97010193e-01 -7.82830271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.94771942099999 meters 0.05157369669908659 Centerline is valid? [True, True] Translation: X:72.59, Y:-2.88, Z:-7.84 [[ 9.90245861e-01 1.15841570e-01 7.74200574e-02 7.25885821e+01] [-1.15561061e-01 9.93267280e-01 -8.10874453e-03 -2.87587304e+00] [-7.78381395e-02 -9.17093239e-04 9.96965588e-01 -7.83637388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.00771942099999 meters 0.050613575255580474 Centerline is valid? [True, True] Translation: X:72.65, Y:-2.89, Z:-7.84 [[ 9.90433067e-01 1.12638523e-01 7.97176455e-02 7.26500654e+01] [-1.12330695e-01 9.93635796e-01 -8.34988461e-03 -2.88693569e+00] [-8.01508248e-02 -6.84736727e-04 9.96782512e-01 -7.83615455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.06771942099999 meters 0.051195673268354835 Centerline is valid? [True, True] Translation: X:72.71, Y:-2.89, Z:-7.85 [[ 9.90620538e-01 1.13228874e-01 7.64864096e-02 7.27113124e+01] [-1.12946966e-01 9.93568686e-01 -8.01553063e-03 -2.89103773e+00] [-7.69020910e-02 -6.98558630e-04 9.97038405e-01 -7.84594672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.127719421 meters 0.051628399422484435 Centerline is valid? [True, True] Translation: X:72.77, Y:-2.90, Z:-7.86 [[ 9.90711796e-01 1.14716366e-01 7.30088466e-02 7.27728897e+01] [-1.14463145e-01 9.93397987e-01 -7.65686526e-03 -2.89528324e+00] [-7.34052090e-02 -7.71075495e-04 9.97301900e-01 -7.85536296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.18771942099998 meters 0.05216254936349133 Centerline is valid? [True, True] Translation: X:72.84, Y:-2.89, Z:-7.86 [[ 9.89863346e-01 1.20716160e-01 7.48208905e-02 7.28360558e+01] [-1.20467415e-01 9.92686281e-01 -7.84536855e-03 -2.88854127e+00] [-7.52207343e-02 -1.24763652e-03 9.97166127e-01 -7.86373174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.24771942099999 meters 0.05642375804158883 Centerline is valid? [True, True] Translation: X:72.90, Y:-2.88, Z:-7.87 [[ 9.87902920e-01 1.37272917e-01 7.21385192e-02 7.28987410e+01] [-1.37083162e-01 9.90530398e-01 -7.59845437e-03 -2.87546760e+00] [-7.24984582e-02 -2.38244104e-03 9.97365679e-01 -7.87087014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.30771942099999 meters 0.061637815379654994 Centerline is valid? [True, True] Translation: X:72.96, Y:-2.86, Z:-7.88 [[ 9.86181773e-01 1.48079662e-01 7.42827282e-02 7.29598015e+01] [-1.47908639e-01 9.88970042e-01 -7.82881329e-03 -2.86296751e+00] [-7.46226809e-02 -3.26642425e-03 9.97206491e-01 -7.87813108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.36771942099999 meters 0.06621557957421034 Centerline is valid? [True, True] Translation: X:73.02, Y:-2.85, Z:-7.88 [[ 9.84359540e-01 1.58735902e-01 7.64147143e-02 7.30221177e+01] [-1.58587037e-01 9.87312175e-01 -8.05114386e-03 -2.85349936e+00] [-7.67231834e-02 -4.19316286e-03 9.97043615e-01 -7.88192238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.42771942099999 meters 0.0686683413372721 Centerline is valid? [True, True] Translation: X:73.08, Y:-2.86, Z:-7.89 [[ 9.83893212e-01 1.61204129e-01 7.72487973e-02 7.30827019e+01] [-1.61059616e-01 9.86911124e-01 -8.13844172e-03 -2.85545661e+00] [-7.75496478e-02 -4.43430407e-03 9.96978630e-01 -7.88878357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.487719421 meters 0.06688052059513033 Centerline is valid? [True, True] Translation: X:73.14, Y:-2.87, Z:-7.89 [[ 9.84228086e-01 1.58929369e-01 7.76951137e-02 7.31435814e+01] [-1.58775057e-01 9.87280738e-01 -8.19915000e-03 -2.86826022e+00] [-7.80099749e-02 -4.26621242e-03 9.96943450e-01 -7.89340345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.54771942099998 meters 0.06284537521780585 Centerline is valid? [True, True] Translation: X:73.20, Y:-2.89, Z:-7.90 [[ 9.86031594e-01 1.49453250e-01 7.35215747e-02 7.32010529e+01] [-1.49288315e-01 9.88763221e-01 -7.76482561e-03 -2.88890156e+00] [-7.38559074e-02 -3.31954861e-03 9.97263398e-01 -7.90494978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.60771942099998 meters 0.05708066144829045 Centerline is valid? [True, True] Translation: X:73.26, Y:-2.91, Z:-7.91 [[ 9.87521838e-01 1.39608071e-01 7.28711601e-02 7.32589889e+01] [-1.39419239e-01 9.90203534e-01 -7.69662427e-03 -2.91198241e+00] [-7.32317911e-02 -2.55905713e-03 9.97311664e-01 -7.91046578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.66771942099999 meters 0.05487740224901429 Centerline is valid? [True, True] Translation: X:73.32, Y:-2.93, Z:-7.92 [[ 9.89006466e-01 1.28647915e-01 7.29103792e-02 7.33162081e+01] [-1.28429040e-01 9.91688793e-01 -7.70185138e-03 -2.93479644e+00] [-7.32952332e-02 -1.74662921e-03 9.97308758e-01 -7.91769235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.72771942099999 meters 0.052426193876435705 Centerline is valid? [True, True] Translation: X:73.38, Y:-2.95, Z:-7.92 [[ 9.89737535e-01 1.22841325e-01 7.30042524e-02 7.33762484e+01] [-1.22606297e-01 9.92425445e-01 -7.70917290e-03 -2.95055500e+00] [-7.33982827e-02 -1.32072328e-03 9.97301834e-01 -7.92274712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.78771942099999 meters 0.05226106685845284 Centerline is valid? [True, True] Translation: X:73.44, Y:-2.95, Z:-7.92 [[ 9.89054686e-01 1.25948804e-01 7.68617401e-02 7.34396731e+01] [-1.25697504e-01 9.92035400e-01 -8.11804932e-03 -2.94958494e+00] [-7.72720257e-02 -1.63213413e-03 9.97008711e-01 -7.92360996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.847719421 meters 0.05364103470576143 Centerline is valid? [True, True] Translation: X:73.50, Y:-2.95, Z:-7.93 [[ 9.88590700e-01 1.31136367e-01 7.41058783e-02 7.35005440e+01] [-1.30916576e-01 9.91362413e-01 -7.83684840e-03 -2.95434366e+00] [-7.44934782e-02 -1.95425238e-03 9.97219586e-01 -7.92875234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.907719421 meters 0.053183744655009024 Centerline is valid? [True, True] Translation: X:73.56, Y:-2.96, Z:-7.94 [[ 9.88786264e-01 1.29601690e-01 7.41965360e-02 7.35622821e+01] [-1.29377436e-01 9.91564417e-01 -7.84123705e-03 -2.95638388e+00] [-7.45868826e-02 -1.84605013e-03 9.97212810e-01 -7.93889679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.96771942099998 meters 0.05111055488212488 Centerline is valid? [True, True] Translation: X:73.62, Y:-2.98, Z:-7.95 [[ 9.90166891e-01 1.18406599e-01 7.44943251e-02 7.36200500e+01] [-1.18146447e-01 9.92964717e-01 -7.90496700e-03 -2.97861711e+00] [-7.49062366e-02 -9.74003206e-04 9.97190106e-01 -7.94523317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.02771942099999 meters 0.04932416692571854 Centerline is valid? [True, True] Translation: X:73.68, Y:-3.01, Z:-7.94 [[ 9.91623039e-01 9.96367185e-02 8.21965555e-02 7.36787960e+01] [-9.92554542e-02 9.95023760e-01 -8.72186444e-03 -3.00791573e+00] [-8.26565437e-02 4.90345275e-04 9.96577973e-01 -7.94054351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.08771942099999 meters 0.05079447140892966 Centerline is valid? [True, True] Translation: X:73.74, Y:-3.02, Z:-7.95 [[ 9.92369664e-01 9.16237068e-02 8.25078571e-02 7.37388078e+01] [-9.12122896e-02 9.95793029e-01 -8.74994735e-03 -3.01757733e+00] [-8.29624516e-02 1.15745175e-03 9.96552002e-01 -7.94906845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.14771942099999 meters 0.05060289573892845 Centerline is valid? [True, True] Translation: X:73.80, Y:-3.02, Z:-7.95 [[ 9.92357244e-01 9.10195633e-02 8.33219051e-02 7.38014051e+01] [-9.05960493e-02 9.95848331e-01 -8.85762797e-03 -3.02072083e+00] [-8.37821976e-02 1.24129585e-03 9.96483318e-01 -7.95141262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.207719421 meters 0.05134411858248799 Centerline is valid? [True, True] Translation: X:73.86, Y:-3.02, Z:-7.97 [[ 9.92901619e-01 9.01814894e-02 7.75478784e-02 7.38621916e+01] [-8.98095772e-02 9.95924559e-01 -8.27727804e-03 -3.01597784e+00] [-7.79782938e-02 1.25398060e-03 9.96954268e-01 -7.96610746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.267719421 meters 0.05168235790641522 Centerline is valid? [True, True] Translation: X:73.93, Y:-3.01, Z:-7.98 [[ 9.92861160e-01 9.03771705e-02 7.78375443e-02 7.39251042e+01] [-9.00034955e-02 9.95906840e-01 -8.30277083e-03 -3.00619367e+00] [-7.82693238e-02 1.23784761e-03 9.96931482e-01 -7.97809353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.32771942099998 meters 0.05149976945216662 Centerline is valid? [True, True] Translation: X:73.99, Y:-3.00, Z:-7.99 [[ 9.92782980e-01 9.39309568e-02 7.45582351e-02 7.39878349e+01] [-9.35962131e-02 9.95578267e-01 -7.97888911e-03 -3.00218033e+00] [-7.49780232e-02 9.42936851e-04 9.97184741e-01 -7.98560260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.38771942099999 meters 0.04993317054216802 Centerline is valid? [True, True] Translation: X:74.05, Y:-2.98, Z:-7.99 [[ 9.92289306e-01 1.00723504e-01 7.22267835e-02 7.40512483e+01] [-1.00425934e-01 9.94914361e-01 -7.74892773e-03 -2.98428708e+00] [-7.26399633e-02 4.35735901e-04 9.97358133e-01 -7.99462814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.44771942099999 meters 0.05038889588228482 Centerline is valid? [True, True] Translation: X:74.11, Y:-2.98, Z:-8.01 [[ 9.92024836e-01 1.03814377e-01 7.14793692e-02 7.41129220e+01] [-1.03529435e-01 9.94596663e-01 -7.68981271e-03 -2.98129000e+00] [-7.18914552e-02 2.28266505e-04 9.97412436e-01 -8.00748476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.50771942099999 meters 0.04957480470649539 Centerline is valid? [True, True] Translation: X:74.18, Y:-2.97, Z:-8.00 [[ 9.90776868e-01 1.14584444e-01 7.23298175e-02 7.41774471e+01] [-1.14319528e-01 9.93413368e-01 -7.80555833e-03 -2.96809681e+00] [-7.27478031e-02 -5.35143944e-04 9.97350225e-01 -8.00439108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.56771942099999 meters 0.05037974600778965 Centerline is valid? [True, True] Translation: X:74.24, Y:-2.95, Z:-8.01 [[ 9.89314573e-01 1.24723363e-01 7.55033660e-02 7.42426283e+01] [-1.24462294e-01 9.92190687e-01 -8.17179034e-03 -2.95464543e+00] [-7.59329497e-02 -1.31285086e-03 9.97112062e-01 -8.00804036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.627719421 meters 0.052851034934458356 Centerline is valid? [True, True] Translation: X:74.31, Y:-2.94, Z:-8.02 [[ 9.87900550e-01 1.34406804e-01 7.73777314e-02 7.43058085e+01] [-1.34159297e-01 9.90924075e-01 -8.41192223e-03 -2.93676211e+00] [-7.78060765e-02 -2.07079941e-03 9.96966362e-01 -8.01621073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.68771942099998 meters 0.05325248378815331 Centerline is valid? [True, True] Translation: X:74.37, Y:-2.94, Z:-8.02 [[ 9.87853841e-01 1.35610048e-01 7.58597577e-02 7.43666059e+01] [-1.35376031e-01 9.90760006e-01 -8.24257374e-03 -2.94439064e+00] [-7.62765898e-02 -2.12713477e-03 9.97084428e-01 -8.02272559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.74771942099999 meters 0.05296520193092129 Centerline is valid? [True, True] Translation: X:74.43, Y:-2.95, Z:-8.03 [[ 9.88370686e-01 1.33553753e-01 7.27102608e-02 7.44279740e+01] [-1.33331838e-01 9.91039811e-01 -7.91918501e-03 -2.95268388e+00] [-7.31164000e-02 -1.86750241e-03 9.97321666e-01 -8.03223382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.80771942099999 meters 0.05298005494798796 Centerline is valid? [True, True] Translation: X:74.49, Y:-2.96, Z:-8.04 [[ 9.87955080e-01 1.35128830e-01 7.53986656e-02 7.44902599e+01] [-1.34892928e-01 9.90825950e-01 -8.23619394e-03 -2.95606809e+00] [-7.58199018e-02 -2.03375710e-03 9.97119454e-01 -8.03759700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.86771942099999 meters 0.052514482921914574 Centerline is valid? [True, True] Translation: X:74.55, Y:-2.97, Z:-8.04 [[ 9.88198582e-01 1.32808691e-01 7.63244021e-02 7.45502016e+01] [-1.32558127e-01 9.91139957e-01 -8.36229725e-03 -2.96963649e+00] [-7.67587504e-02 -1.85380949e-03 9.97047972e-01 -8.04300651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.92771942099999 meters 0.04943546665830652 Centerline is valid? [True, True] Translation: X:74.61, Y:-2.99, Z:-8.04 [[ 9.89037157e-01 1.23449159e-01 8.10296684e-02 7.46088217e+01] [-1.23132751e-01 9.92350214e-01 -8.90949675e-03 -2.99127730e+00] [-8.15096787e-02 -1.16558267e-03 9.96671869e-01 -8.04492260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.987719421 meters 0.04841655946330985 Centerline is valid? [True, True] Translation: X:74.67, Y:-3.01, Z:-8.05 [[ 9.90592383e-01 1.10744697e-01 8.03886925e-02 7.46688356e+01] [-1.10392031e-01 9.93848880e-01 -8.83194351e-03 -3.01131492e+00] [-8.08723029e-02 -1.25415039e-04 9.96724463e-01 -8.05290052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.04771942099998 meters 0.04871016156062678 Centerline is valid? [True, True] Translation: X:74.73, Y:-3.03, Z:-8.06 [[ 9.91426861e-01 1.01159886e-01 8.27010139e-02 7.47287053e+01] [-1.00751027e-01 9.94869933e-01 -9.11300074e-03 -3.02531652e+00] [-8.31986223e-02 7.02661612e-04 9.96532737e-01 -8.05667560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.10771942099998 meters 0.04820661079084759 Centerline is valid? [True, True] Translation: X:74.79, Y:-3.02, Z:-8.06 [[ 9.90934186e-01 1.02927230e-01 8.63447956e-02 7.47915635e+01] [-1.02485961e-01 9.94688705e-01 -9.53979451e-03 -3.02193861e+00] [-8.68680975e-02 6.04179192e-04 9.96219639e-01 -8.05973170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.16771942099999 meters 0.04930682484249364 Centerline is valid? [True, True] Translation: X:74.85, Y:-3.03, Z:-8.07 [[ 9.91437790e-01 1.02008366e-01 8.15193319e-02 7.48512036e+01] [-1.01609783e-01 9.94783313e-01 -9.03395669e-03 -3.02601048e+00] [-8.20156102e-02 6.73444461e-04 9.96630817e-01 -8.07397399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.22771942099999 meters 0.04961594913816906 Centerline is valid? [True, True] Translation: X:74.91, Y:-3.02, Z:-8.08 [[ 9.91592856e-01 1.02175743e-01 7.93960000e-02 7.49119492e+01] [-1.01797353e-01 9.94766149e-01 -8.80953810e-03 -3.02352960e+00] [-7.98805742e-02 6.53172419e-04 9.96804227e-01 -8.08316728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.28771942099999 meters 0.04923139876736562 Centerline is valid? [True, True] Translation: X:74.98, Y:-3.02, Z:-8.09 [[ 9.91129203e-01 1.06525309e-01 7.94686144e-02 7.49750237e+01] [-1.06159155e-01 9.94309941e-01 -8.83033760e-03 -3.02121007e+00] [-7.99570877e-02 3.15684512e-04 9.96798257e-01 -8.08846944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.347719421 meters 0.04909899218168389 Centerline is valid? [True, True] Translation: X:75.04, Y:-3.01, Z:-8.09 [[ 9.89903821e-01 1.17139461e-01 7.98045864e-02 7.50390953e+01] [-1.16804459e-01 9.93115327e-01 -8.86934133e-03 -3.01152960e+00] [-8.02941078e-02 -5.41736677e-04 9.96771068e-01 -8.09382405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.40771942099998 meters 0.05368803692325381 Centerline is valid? [True, True] Translation: X:75.10, Y:-2.99, Z:-8.11 [[ 9.88286428e-01 1.32446214e-01 7.58151499e-02 7.50998907e+01] [-1.32186109e-01 9.91188804e-01 -8.46092985e-03 -2.99440666e+00] [-7.62677458e-02 -1.65988756e-03 9.97085992e-01 -8.10773299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.46771942099998 meters 0.055493337353077064 Centerline is valid? [True, True] Translation: X:75.16, Y:-3.00, Z:-8.11 [[ 9.87276789e-01 1.40348500e-01 7.47451664e-02 7.51606560e+01] [-1.40118152e-01 9.90099640e-01 -8.34301655e-03 -2.99579683e+00] [-7.51760922e-02 -2.23628797e-03 9.97167766e-01 -8.11290429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.52771942099999 meters 0.05535131594488891 Centerline is valid? [True, True] Translation: X:75.22, Y:-3.00, Z:-8.12 [[ 9.87007133e-01 1.39801406e-01 7.91990324e-02 7.52213338e+01] [-1.39540920e-01 9.90176833e-01 -8.84139552e-03 -2.99760018e+00] [-7.96570867e-02 -2.32498539e-03 9.96819614e-01 -8.11707295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.58771942099999 meters 0.05474658762675704 Centerline is valid? [True, True] Translation: X:75.28, Y:-3.01, Z:-8.13 [[ 9.87469829e-01 1.37407243e-01 7.76053303e-02 7.52810557e+01] [-1.37150081e-01 9.90512428e-01 -8.65939168e-03 -3.01436086e+00] [-7.80589073e-02 -2.09268934e-03 9.96946552e-01 -8.12654748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.64771942099999 meters 0.051487419322239054 Centerline is valid? [True, True] Translation: X:75.34, Y:-3.03, Z:-8.13 [[ 9.88102407e-01 1.30181326e-01 8.18929534e-02 7.53398676e+01] [-1.29867519e-01 9.91488953e-01 -9.16974917e-03 -3.03482105e+00] [-8.23896887e-02 -1.57458347e-03 9.96598946e-01 -8.12720183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.707719421 meters 0.05047702954923015 Centerline is valid? [True, True] Translation: X:75.40, Y:-3.06, Z:-8.14 [[ 9.88915113e-01 1.23760553e-01 8.20379423e-02 7.53981776e+01] [-1.23423442e-01 9.92311566e-01 -9.18747510e-03 -3.05573458e+00] [-8.25442460e-02 -1.03977223e-03 9.96586858e-01 -8.13642781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.767719421 meters 0.050264810617940255 Centerline is valid? [True, True] Translation: X:75.46, Y:-3.07, Z:-8.15 [[ 9.89395335e-01 1.20791103e-01 8.06621401e-02 7.54597707e+01] [-1.20455696e-01 9.92677640e-01 -9.02930843e-03 -3.06912561e+00] [-8.11621630e-02 -7.82658565e-04 9.96700602e-01 -8.14665707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.82771942099998 meters 0.04890646269590622 Centerline is valid? [True, True] Translation: X:75.52, Y:-3.09, Z:-8.14 [[ 9.89289705e-01 1.17604419e-01 8.64585494e-02 7.55204707e+01] [-1.17203723e-01 9.93060384e-01 -9.71394030e-03 -3.08973469e+00] [-8.70009626e-02 -5.23362720e-04 9.96208090e-01 -8.14384847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.88771942099999 meters 0.04859162796106908 Centerline is valid? [True, True] Translation: X:75.58, Y:-3.10, Z:-8.15 [[ 9.90260306e-01 1.10243269e-01 8.50349795e-02 7.55814177e+01] [-1.09828591e-01 9.93904627e-01 -9.55371794e-03 -3.10051129e+00] [-8.55698927e-02 1.21395641e-04 9.96332163e-01 -8.15126228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.94771942099999 meters 0.04926970969845114 Centerline is valid? [True, True] Translation: X:75.64, Y:-3.11, Z:-8.16 [[ 9.91066973e-01 1.04245436e-01 8.31813917e-02 7.56420172e+01] [-1.03825504e-01 9.94551390e-01 -9.37007665e-03 -3.11190797e+00] [-8.37049565e-02 6.50023612e-04 9.96490370e-01 -8.15934214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.00771942099999 meters 0.04974321967594058 Centerline is valid? [True, True] Translation: X:75.70, Y:-3.11, Z:-8.17 [[ 9.91113848e-01 1.03605513e-01 8.34220520e-02 7.57035139e+01] [-1.03178769e-01 9.94618200e-01 -9.42223282e-03 -3.11448501e+00] [-8.39492865e-02 7.31120751e-04 9.96469760e-01 -8.16805702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.06771942099999 meters 0.04977199575409781 Centerline is valid? [True, True] Translation: X:75.77, Y:-3.11, Z:-8.18 [[ 9.91191941e-01 1.05224321e-01 8.04137971e-02 7.57658371e+01] [-1.04831150e-01 9.94448332e-01 -9.10739616e-03 -3.11091446e+00] [-8.09256860e-02 5.97306883e-04 9.96719959e-01 -8.17762854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.127719421 meters 0.04895494147901607 Centerline is valid? [True, True] Translation: X:75.83, Y:-3.10, Z:-8.18 [[ 9.90134253e-01 1.13369253e-01 8.23503039e-02 7.58296712e+01] [-1.12982920e-01 9.93552923e-01 -9.35143691e-03 -3.10387501e+00] [-8.28795505e-02 -4.49997950e-05 9.96559571e-01 -8.17986514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.18771942099998 meters 0.05063531350086601 Centerline is valid? [True, True] Translation: X:75.89, Y:-3.09, Z:-8.19 [[ 9.88377386e-01 1.28148022e-01 8.17815869e-02 7.58926539e+01] [-1.27815307e-01 9.91754267e-01 -9.31246771e-03 -3.09025205e+00] [-8.23006120e-02 -1.24870618e-03 9.96606768e-01 -8.18766485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.24771942099999 meters 0.05604431229659473 Centerline is valid? [True, True] Translation: X:75.96, Y:-3.08, Z:-8.20 [[ 9.85799683e-01 1.46896543e-01 8.13657860e-02 7.59552258e+01] [-1.46628336e-01 9.89147989e-01 -9.29447619e-03 -3.07687088e+00] [-8.18481300e-02 -2.76803817e-03 9.96640969e-01 -8.19535312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.30771942099999 meters 0.058735216887557416 Centerline is valid? [True, True] Translation: X:76.02, Y:-3.08, Z:-8.20 [[ 9.84950649e-01 1.51662669e-01 8.28894135e-02 7.60158605e+01] [-1.51401115e-01 9.88427056e-01 -9.46875025e-03 -3.07729933e+00] [-8.33661949e-02 -3.22329791e-03 9.96513767e-01 -8.20162506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.36771942099999 meters 0.05902454617399195 Centerline is valid? [True, True] Translation: X:76.08, Y:-3.09, Z:-8.21 [[ 9.84987747e-01 1.50787688e-01 8.40369634e-02 7.60765606e+01] [-1.50514856e-01 9.88561044e-01 -9.60940884e-03 -3.08505869e+00] [-8.45246488e-02 -3.18366144e-03 9.96416303e-01 -8.20827943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.42771942099999 meters 0.05435106565665603 Centerline is valid? [True, True] Translation: X:76.14, Y:-3.11, Z:-8.22 [[ 9.86234857e-01 1.42398041e-01 8.40452490e-02 7.61350544e+01] [-1.42092140e-01 9.89806483e-01 -9.64103667e-03 -3.10674019e+00] [-8.45613971e-02 -2.43384282e-03 9.96415298e-01 -8.21555968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.487719421 meters 0.04970541381783089 Centerline is valid? [True, True] Translation: X:76.19, Y:-3.13, Z:-8.22 [[ 9.88652936e-01 1.24358520e-01 8.42634594e-02 7.61915031e+01] [-1.23985182e-01 9.92236953e-01 -9.66972299e-03 -3.13410338e+00] [-8.48118307e-02 -8.87420345e-04 9.96396591e-01 -8.22393394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.54771942099998 meters 0.04949255644943792 Centerline is valid? [True, True] Translation: X:76.25, Y:-3.16, Z:-8.24 [[ 9.89931591e-01 1.16579788e-01 8.02782558e-02 7.62505492e+01] [-1.16216196e-01 9.93181305e-01 -9.20276667e-03 -3.15952631e+00] [-8.08037194e-02 -2.19524050e-04 9.96730009e-01 -8.23525375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.60771942099998 meters 0.049375503103687164 Centerline is valid? [True, True] Translation: X:76.31, Y:-3.17, Z:-8.24 [[ 9.90925059e-01 1.10424315e-01 7.66420119e-02 7.63107613e+01] [-1.10072503e-01 9.93884492e-01 -8.81256460e-03 -3.17394080e+00] [-7.71464284e-02 2.96413055e-04 9.97019729e-01 -8.24313374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.66771942099999 meters 0.04962269908119491 Centerline is valid? [True, True] Translation: X:76.37, Y:-3.18, Z:-8.25 [[ 9.90982924e-01 1.10371103e-01 7.59675145e-02 7.63726298e+01] [-1.10025323e-01 9.93890402e-01 -8.73483196e-03 -3.17994244e+00] [-7.64674566e-02 2.97719005e-04 9.97072033e-01 -8.24999220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.72771942099999 meters 0.049269712664382 Centerline is valid? [True, True] Translation: X:76.43, Y:-3.19, Z:-8.25 [[ 9.90802636e-01 1.06316790e-01 8.37070859e-02 7.64326033e+01] [-1.05879296e-01 9.94332056e-01 -9.66115037e-03 -3.18993307e+00] [-8.42597813e-02 7.09445937e-04 9.96443569e-01 -8.24937625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.78771942099999 meters 0.051111152340371765 Centerline is valid? [True, True] Translation: X:76.49, Y:-3.20, Z:-8.26 [[ 9.91806227e-01 9.85679558e-02 8.12697168e-02 7.64923798e+01] [-9.81295731e-02 9.95129435e-01 -9.38052484e-03 -3.19794984e+00] [-8.17985065e-02 1.32870033e-03 9.96648001e-01 -8.25897783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.847719421 meters 0.05093034654103205 Centerline is valid? [True, True] Translation: X:76.56, Y:-3.20, Z:-8.26 [[ 9.91520069e-01 9.91426900e-02 8.40159501e-02 7.65550966e+01] [-9.86761889e-02 9.95072345e-01 -9.69729545e-03 -3.19746630e+00] [-8.45633645e-02 1.32468929e-03 9.96417223e-01 -8.26290211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.90771942099998 meters 0.04995675638824076 Centerline is valid? [True, True] Translation: X:76.62, Y:-3.18, Z:-8.27 [[ 9.90612836e-01 1.10980549e-01 7.98093123e-02 7.66178427e+01] [-1.10596109e-01 9.93822527e-01 -9.23506003e-03 -3.18148648e+00] [-8.03412044e-02 3.21769568e-04 9.96767369e-01 -8.27497943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.96771942099998 meters 0.05070628323892391 Centerline is valid? [True, True] Translation: X:76.68, Y:-3.16, Z:-8.28 [[ 9.88935418e-01 1.26081153e-01 7.81682949e-02 7.66822580e+01] [-1.25757292e-01 9.92019559e-01 -9.07184005e-03 -3.16288047e+00] [-7.86882655e-02 -8.58769127e-04 9.96898901e-01 -8.27997165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.02771942099999 meters 0.05359300957780818 Centerline is valid? [True, True] Translation: X:76.74, Y:-3.15, Z:-8.29 [[ 9.87365626e-01 1.37885131e-01 7.80820829e-02 7.67440535e+01] [-1.37598069e-01 9.90446614e-01 -9.07067968e-03 -3.15453669e+00] [-7.85868464e-02 -1.78786650e-03 9.96905668e-01 -8.28823922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.08771942099999 meters 0.05524591429087285 Centerline is valid? [True, True] Translation: X:76.80, Y:-3.16, Z:-8.30 [[ 9.87141166e-01 1.41200943e-01 7.49307204e-02 7.68036445e+01] [-1.40946014e-01 9.89979002e-01 -8.70612108e-03 -3.15994179e+00] [-7.54091524e-02 -1.96701588e-03 9.97150736e-01 -8.29955457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.14771942099999 meters 0.05462106989485478 Centerline is valid? [True, True] Translation: X:76.86, Y:-3.17, Z:-8.30 [[ 9.87241474e-01 1.39353262e-01 7.70385629e-02 7.68639820e+01] [-1.39078081e-01 9.90240954e-01 -8.95210505e-03 -3.17097549e+00] [-7.75342451e-02 -1.87648612e-03 9.96987924e-01 -8.30424032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.207719421 meters 0.05391890920086388 Centerline is valid? [True, True] Translation: X:76.92, Y:-3.18, Z:-8.31 [[ 9.87706029e-01 1.36340878e-01 7.64719846e-02 7.69240318e+01] [-1.36061002e-01 9.90660640e-01 -8.88259085e-03 -3.18297199e+00] [-7.69688455e-02 -1.63146629e-03 9.97032164e-01 -8.31141574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.267719421 meters 0.05136399433707469 Centerline is valid? [True, True] Translation: X:76.98, Y:-3.20, Z:-8.32 [[ 9.88617004e-01 1.30087059e-01 7.55895313e-02 7.69843656e+01] [-1.29793961e-01 9.91501951e-01 -8.79825400e-03 -3.20380825e+00] [-7.60917067e-02 -1.11296118e-03 9.97100202e-01 -8.31530585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.32771942099998 meters 0.05008282473930394 Centerline is valid? [True, True] Translation: X:77.04, Y:-3.23, Z:-8.32 [[ 9.90168649e-01 1.16616029e-01 7.72447321e-02 7.70421723e+01] [-1.16266556e-01 9.93177074e-01 -9.02155998e-03 -3.22693191e+00] [-7.77697555e-02 -4.81131037e-05 9.96971345e-01 -8.32142079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.38771942099999 meters 0.050080660939462306 Centerline is valid? [True, True] Translation: X:77.10, Y:-3.25, Z:-8.33 [[ 9.90632232e-01 1.11387823e-01 7.89970465e-02 7.71019832e+01] [-1.11005188e-01 9.93776942e-01 -9.23240907e-03 -3.24542626e+00] [-7.95338212e-02 3.76840026e-04 9.96832097e-01 -8.32725203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.44771942099999 meters 0.05018314290145357 Centerline is valid? [True, True] Translation: X:77.16, Y:-3.25, Z:-8.33 [[ 9.90369433e-01 1.14505279e-01 7.78262656e-02 7.71641289e+01] [-1.14141683e-01 9.93422629e-01 -9.11904474e-03 -3.24868630e+00] [-7.83585522e-02 1.48002221e-04 9.96925231e-01 -8.33435926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.50771942099999 meters 0.05016226335256547 Centerline is valid? [True, True] Translation: X:77.23, Y:-3.25, Z:-8.34 [[ 9.89760930e-01 1.20114354e-01 7.71092996e-02 7.72257637e+01] [-1.19772622e-01 9.92760026e-01 -9.05815352e-03 -3.25388417e+00] [-7.76390445e-02 -2.70176540e-04 9.96981497e-01 -8.34153467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.56771942099999 meters 0.04996019485143849 Centerline is valid? [True, True] Translation: X:77.29, Y:-3.26, Z:-8.35 [[ 9.90015546e-01 1.16236609e-01 7.97387518e-02 7.72863600e+01] [-1.15856446e-01 9.93221550e-01 -9.39345827e-03 -3.26119371e+00] [-8.02901104e-02 6.14213509e-05 9.96771536e-01 -8.34685353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.627719421 meters 0.05084717422740653 Centerline is valid? [True, True] Translation: X:77.35, Y:-3.28, Z:-8.35 [[ 9.91030759e-01 1.07218997e-01 7.97629080e-02 7.73459385e+01] [-1.06807603e-01 9.94235094e-01 -9.41878463e-03 -3.27928477e+00] [-8.03129550e-02 8.15020295e-04 9.96769364e-01 -8.35300615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.68771942099998 meters 0.055941961094696104 Centerline is valid? [True, True] Translation: X:77.40, Y:-3.31, Z:-8.36 [[ 9.93004443e-01 9.07255253e-02 7.55715298e-02 7.74037866e+01] [-9.03065231e-02 9.95873798e-01 -8.95039366e-03 -3.30610407e+00] [-7.60717356e-02 2.06317858e-03 9.97100213e-01 -8.36321829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.74771942099999 meters 0.06139424170422487 Centerline is valid? [True, True] Translation: X:77.46, Y:-3.32, Z:-8.37 [[ 9.94071171e-01 7.94407529e-02 7.42406461e-02 7.74622994e+01] [-7.90046379e-02 9.96835429e-01 -8.79739217e-03 -3.31520149e+00] [-7.47045778e-02 2.87987857e-03 9.97201551e-01 -8.37047162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.80771942099999 meters 0.06191586882971956 Centerline is valid? [True, True] Translation: X:77.52, Y:-3.32, Z:-8.37 [[ 9.94213812e-01 7.73959693e-02 7.44900023e-02 7.75242723e+01] [-7.69520171e-02 9.96995821e-01 -8.81594448e-03 -3.31618426e+00] [-7.49485395e-02 3.03277784e-03 9.97182791e-01 -8.37399297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.86771942099999 meters 0.06021715089676919 Centerline is valid? [True, True] Translation: X:77.59, Y:-3.31, Z:-8.38 [[ 9.93728980e-01 8.03093288e-02 7.78018356e-02 7.75867384e+01] [-7.98314123e-02 9.96765566e-01 -9.23867124e-03 -3.30884251e+00] [-7.82921421e-02 2.96970493e-03 9.96926036e-01 -8.37669896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.92771942099999 meters 0.057133970882349665 Centerline is valid? [True, True] Translation: X:77.65, Y:-3.30, Z:-8.39 [[ 9.93120178e-01 8.94306678e-02 7.55941024e-02 7.76481099e+01] [-8.90057132e-02 9.95990645e-01 -8.97872731e-03 -3.29671589e+00] [-7.60939924e-02 2.18864827e-03 9.97098247e-01 -8.38714847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.987719421 meters 0.05336378360173984 Centerline is valid? [True, True] Translation: X:77.71, Y:-3.28, Z:-8.40 [[ 9.92045177e-01 1.01515137e-01 7.44381879e-02 7.77114841e+01] [-1.01137067e-01 9.94833219e-01 -8.84076883e-03 -3.27612424e+00] [-7.49510539e-02 1.24198208e-03 9.97186440e-01 -8.39662927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.04771942099998 meters 0.05211813999992077 Centerline is valid? [True, True] Translation: X:77.78, Y:-3.26, Z:-8.41 [[ 9.91350181e-01 1.10241387e-01 7.12155517e-02 7.77755928e+01] [-1.09918553e-01 9.93904692e-01 -8.44836001e-03 -3.26350512e+00] [-7.17128299e-02 5.47372846e-04 9.97425170e-01 -8.40677872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.10771942099998 meters 0.05165432994503782 Centerline is valid? [True, True] Translation: X:77.84, Y:-3.26, Z:-8.41 [[ 9.90696829e-01 1.14771596e-01 7.31250613e-02 7.78379323e+01] [-1.14441556e-01 9.93391875e-01 -8.70131795e-03 -3.25838177e+00] [-7.36405059e-02 2.51822307e-04 9.97284820e-01 -8.41391965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.16771942099999 meters 0.05102971734676412 Centerline is valid? [True, True] Translation: X:77.90, Y:-3.24, Z:-8.41 [[ 9.89052266e-01 1.24999238e-01 7.84270693e-02 7.79007640e+01] [-1.24649048e-01 9.92156704e-01 -9.36422512e-03 -3.24195991e+00] [-7.89824636e-02 -5.14151449e-04 9.96875873e-01 -8.41373082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.22771942099999 meters 0.051300206960545595 Centerline is valid? [True, True] Translation: X:77.96, Y:-3.24, Z:-8.42 [[ 9.87985327e-01 1.32698528e-01 7.92218034e-02 7.79636771e+01] [-1.32366386e-01 9.91155782e-01 -9.45278378e-03 -3.23937392e+00] [-7.97755190e-02 -1.14709213e-03 9.96812194e-01 -8.41545755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.28771942099999 meters 0.05371881529432683 Centerline is valid? [True, True] Translation: X:78.02, Y:-3.24, Z:-8.43 [[ 9.87645214e-01 1.35639595e-01 7.84782205e-02 7.80241226e+01] [-1.35321006e-01 9.90757329e-01 -9.38831808e-03 -3.24049328e+00] [-7.90262997e-02 -1.34742432e-03 9.96871621e-01 -8.42942478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.347719421 meters 0.05712052591318809 Centerline is valid? [True, True] Translation: X:78.08, Y:-3.24, Z:-8.44 [[ 9.87169999e-01 1.41311848e-01 7.43394518e-02 7.80840199e+01] [-1.41039969e-01 9.89963709e-01 -8.92090575e-03 -3.23974809e+00] [-7.48539890e-02 -1.67838347e-03 9.97193092e-01 -8.44297975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.40771942099998 meters 0.05537602273593074 Centerline is valid? [True, True] Translation: X:78.15, Y:-3.26, Z:-8.44 [[ 9.86328027e-01 1.45594099e-01 7.71970281e-02 7.81461451e+01] [-1.45314638e-01 9.89342203e-01 -9.25536249e-03 -3.25651532e+00] [-7.77218040e-02 -2.08903475e-03 9.96972897e-01 -8.43834571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.46771942099998 meters 0.05721617633129875 Centerline is valid? [True, True] Translation: X:78.21, Y:-3.27, Z:-8.45 [[ 9.85958210e-01 1.49436572e-01 7.45326766e-02 7.82055671e+01] [-1.49184453e-01 9.88768697e-01 -8.97014068e-03 -3.27112136e+00] [-7.50360446e-02 -2.27493275e-03 9.97178227e-01 -8.44774794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.52771942099999 meters 0.05640934021527693 Centerline is valid? [True, True] Translation: X:78.27, Y:-3.29, Z:-8.46 [[ 9.86452876e-01 1.46447229e-01 7.39184121e-02 7.82657812e+01] [-1.46191264e-01 9.89216389e-01 -8.89097007e-03 -3.28820519e+00] [-7.44233627e-02 -2.03570312e-03 9.97224658e-01 -8.45730730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.58771942099999 meters 0.05413777526127517 Centerline is valid? [True, True] Translation: X:78.32, Y:-3.32, Z:-8.47 [[ 9.87690013e-01 1.38434127e-01 7.28315170e-02 7.83238407e+01] [-1.38161741e-01 9.90370680e-01 -8.78917856e-03 -3.31753875e+00] [-7.33469212e-02 -1.38154527e-03 9.97305530e-01 -8.46643497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.64771942099999 meters 0.05184984166945697 Centerline is valid? [True, True] Translation: X:78.38, Y:-3.35, Z:-8.47 [[ 9.89254138e-01 1.26753976e-01 7.28675571e-02 7.83811729e+01] [-1.26449242e-01 9.91934055e-01 -8.79884257e-03 -3.34609766e+00] [-7.33950997e-02 -5.09755913e-04 9.97302812e-01 -8.47356194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.707719421 meters 0.05140024781358377 Centerline is valid? [True, True] Translation: X:78.44, Y:-3.37, Z:-8.48 [[ 9.90683571e-01 1.12858286e-01 7.62172549e-02 7.84399079e+01] [-1.12483467e-01 9.93610944e-01 -9.20665308e-03 -3.37363820e+00] [-7.67693457e-02 5.47698873e-04 9.97048729e-01 -8.47594530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.767719421 meters 0.05263275138311254 Centerline is valid? [True, True] Translation: X:78.50, Y:-3.39, Z:-8.47 [[ 9.91270357e-01 1.03000770e-01 8.23038302e-02 7.85002631e+01] [-1.02529820e-01 9.94680271e-01 -9.93954156e-03 -3.39484867e+00] [-8.28897766e-02 1.41417599e-03 9.96557718e-01 -8.47395017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.82771942099998 meters 0.05247303701008905 Centerline is valid? [True, True] Translation: X:78.56, Y:-3.40, Z:-8.48 [[ 9.91606608e-01 1.00951167e-01 8.07786854e-02 7.85623848e+01] [-1.00488983e-01 9.94890131e-01 -9.77708661e-03 -3.40117474e+00] [-8.13529252e-02 1.57765573e-03 9.96684109e-01 -8.47769042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.88771942099999 meters 0.05197608733138549 Centerline is valid? [True, True] Translation: X:78.62, Y:-3.40, Z:-8.49 [[ 9.91456481e-01 1.03660940e-01 7.91735767e-02 7.86247533e+01] [-1.03223835e-01 9.94611777e-01 -9.60486924e-03 -3.40122008e+00] [-7.97426215e-02 1.35020967e-03 9.96814572e-01 -8.48674446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.94771942099999 meters 0.0514442672963734 Centerline is valid? [True, True] Translation: X:78.69, Y:-3.40, Z:-8.50 [[ 9.91053157e-01 1.10253727e-01 7.52180579e-02 7.86863104e+01] [-1.09876199e-01 9.93903148e-01 -9.15168522e-03 -3.39964638e+00] [-7.57684719e-02 8.05132215e-04 9.97125113e-01 -8.49987792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.00771942099999 meters 0.05113707042540341 Centerline is valid? [True, True] Translation: X:78.75, Y:-3.39, Z:-8.51 [[ 9.90289612e-01 1.18172278e-01 7.32242980e-02 7.87487311e+01] [-1.17834573e-01 9.92993085e-01 -8.93012166e-03 -3.39312495e+00] [-7.37665144e-02 2.15052859e-04 9.97275516e-01 -8.50884665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.06771942099999 meters 0.051481867501124906 Centerline is valid? [True, True] Translation: X:78.81, Y:-3.39, Z:-8.52 [[ 9.89836301e-01 1.23438119e-01 7.06195947e-02 7.88103657e+01] [-1.23135746e-01 9.92352260e-01 -8.63591616e-03 -3.38686209e+00] [-7.11455157e-02 -1.47653195e-04 9.97465936e-01 -8.51928604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.127719421 meters 0.051730244297829964 Centerline is valid? [True, True] Translation: X:78.87, Y:-3.39, Z:-8.53 [[ 9.89809343e-01 1.24345102e-01 6.93956832e-02 7.88716355e+01] [-1.24054105e-01 9.92239013e-01 -8.50411746e-03 -3.39120225e+00] [-6.99145495e-02 -1.91364458e-04 9.97552966e-01 -8.52847492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.18771942099998 meters 0.05239718588858171 Centerline is valid? [True, True] Translation: X:78.93, Y:-3.38, Z:-8.54 [[ 9.88721368e-01 1.31672495e-01 7.13611331e-02 7.89344261e+01] [-1.31382158e-01 9.91293022e-01 -8.76778031e-03 -3.38195897e+00] [-7.18942688e-02 -7.06687934e-04 9.97412009e-01 -8.53515668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.24771942099999 meters 0.055707203571963765 Centerline is valid? [True, True] Translation: X:79.00, Y:-3.37, Z:-8.54 [[ 9.86822029e-01 1.45870807e-01 7.00284936e-02 7.89969434e+01] [-1.45624862e-01 9.89302222e-01 -8.63207462e-03 -3.37151553e+00] [-7.05385120e-02 -1.67956834e-03 9.97507643e-01 -8.54070492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.30771942099999 meters 0.05904660692891173 Centerline is valid? [True, True] Translation: X:79.06, Y:-3.37, Z:-8.54 [[ 9.84976233e-01 1.57195747e-01 7.14934840e-02 7.90583044e+01] [-1.56969094e-01 9.87564194e-01 -8.81290123e-03 -3.37280791e+00] [-7.19897554e-02 -2.54176912e-03 9.97402133e-01 -8.54367154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.36771942099999 meters 0.05931484305224946 Centerline is valid? [True, True] Translation: X:79.12, Y:-3.39, Z:-8.55 [[ 9.84352853e-01 1.58223642e-01 7.75547602e-02 7.91179075e+01] [-1.57960108e-01 9.87399216e-01 -9.55991841e-03 -3.38603060e+00] [-7.80901145e-02 -2.84022535e-03 9.96942259e-01 -8.54629766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.42771942099999 meters 0.05542910349133807 Centerline is valid? [True, True] Translation: X:79.17, Y:-3.42, Z:-8.56 [[ 9.86139978e-01 1.46993874e-01 7.69463727e-02 7.91736995e+01] [-1.46699896e-01 9.89135521e-01 -9.49011381e-03 -3.41568861e+00] [-7.75053790e-02 -1.92944426e-03 9.96990067e-01 -8.55634734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.487719421 meters 0.050775026651915335 Centerline is valid? [True, True] Translation: X:79.23, Y:-3.45, Z:-8.56 [[ 9.87958555e-01 1.33148020e-01 7.88003697e-02 7.92312311e+01] [-1.32795838e-01 9.91095786e-01 -9.71641502e-03 -3.45035787e+00] [-7.93924357e-02 -8.64945776e-04 9.96843063e-01 -8.55745006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.54771942099998 meters 0.049819012327342066 Centerline is valid? [True, True] Translation: X:79.29, Y:-3.48, Z:-8.56 [[ 9.89028444e-01 1.23998804e-01 8.02934219e-02 7.92901524e+01] [-1.23603572e-01 9.92282358e-01 -9.89343235e-03 -3.47890298e+00] [-8.09005198e-02 -1.39667739e-04 9.96722171e-01 -8.56284963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.60771942099998 meters 0.04974986912516526 Centerline is valid? [True, True] Translation: X:79.35, Y:-3.49, Z:-8.57 [[ 9.89493433e-01 1.19754448e-01 8.10038226e-02 7.93507428e+01] [-1.19335927e-01 9.92803514e-01 -1.00059476e-02 -3.49040080e+00] [-8.16191365e-02 2.34153140e-04 9.96663565e-01 -8.56866388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.66771942099999 meters 0.05048164019478519 Centerline is valid? [True, True] Translation: X:79.41, Y:-3.51, Z:-8.58 [[ 9.90116675e-01 1.15828749e-01 7.90738312e-02 7.94110907e+01] [-1.15415551e-01 9.93269036e-01 -9.79147097e-03 -3.50512129e+00] [-7.96757220e-02 5.68348918e-04 9.96820674e-01 -8.57825924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.72771942099999 meters 0.051613891214048586 Centerline is valid? [True, True] Translation: X:79.47, Y:-3.52, Z:-8.59 [[ 9.90959345e-01 1.08748779e-01 7.85702196e-02 7.94704371e+01] [-1.08316674e-01 9.94068594e-01 -9.75338850e-03 -3.52352007e+00] [-7.91648569e-02 1.15474662e-03 9.96860869e-01 -8.58571229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.78771942099999 meters 0.05412853858608982 Centerline is valid? [True, True] Translation: X:79.53, Y:-3.54, Z:-8.60 [[ 9.91933596e-01 1.00767036e-01 7.69008752e-02 7.95279493e+01] [-1.00326797e-01 9.94908449e-01 -9.57668289e-03 -3.54003466e+00] [-7.74743444e-02 1.78421503e-03 9.96992749e-01 -8.59613856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.847719421 meters 0.05617327723205663 Centerline is valid? [True, True] Translation: X:79.59, Y:-3.55, Z:-8.61 [[ 9.92742249e-01 9.61343054e-02 7.22566388e-02 7.95866280e+01] [-9.57335267e-02 9.95366332e-01 -8.99757251e-03 -3.55418079e+00] [-7.27868009e-02 2.01488751e-03 9.97345488e-01 -8.60532940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.90771942099998 meters 0.053862027696864885 Centerline is valid? [True, True] Translation: X:79.65, Y:-3.55, Z:-8.61 [[ 9.91827936e-01 1.03970516e-01 7.39423862e-02 7.96485324e+01] [-1.03572376e-01 9.94579285e-01 -9.20913772e-03 -3.54982050e+00] [-7.44990444e-02 1.47549142e-03 9.97219993e-01 -8.61019759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.96771942099998 meters 0.05052221722004441 Centerline is valid? [True, True] Translation: X:79.71, Y:-3.54, Z:-8.61 [[ 9.89991755e-01 1.16335766e-01 7.98893861e-02 7.97114485e+01] [-1.15910801e-01 9.93209766e-01 -9.95227349e-03 -3.53535505e+00] [-8.05047238e-02 5.92625942e-04 9.96754051e-01 -8.61071627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.02771942099999 meters 0.05134535753774437 Centerline is valid? [True, True] Translation: X:79.77, Y:-3.52, Z:-8.62 [[ 9.88486976e-01 1.30942222e-01 7.58131476e-02 7.97748669e+01] [-1.30603043e-01 9.91389835e-01 -9.43609694e-03 -3.51534311e+00] [-7.63959674e-02 -5.73968874e-04 9.97077393e-01 -8.62301245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.08771942099999 meters 0.055315251952172954 Centerline is valid? [True, True] Translation: X:79.84, Y:-3.50, Z:-8.63 [[ 9.86503862e-01 1.45930405e-01 7.42593280e-02 7.98370721e+01] [-1.45645179e-01 9.89293450e-01 -9.27106295e-03 -3.49791959e+00] [-7.48171967e-02 -1.66957370e-03 9.97195868e-01 -8.63265640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.14771942099999 meters 0.055854074387401066 Centerline is valid? [True, True] Translation: X:79.90, Y:-3.50, Z:-8.63 [[ 9.85056852e-01 1.54582948e-01 7.59414915e-02 7.98996565e+01] [-1.54310322e-01 9.87976947e-01 -9.48031425e-03 -3.49555731e+00] [-7.64939379e-02 -2.37990750e-03 9.97067206e-01 -8.63179209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.207719421 meters 0.061384750384747715 Centerline is valid? [True, True] Translation: X:79.96, Y:-3.49, Z:-8.64 [[ 9.84063067e-01 1.59816299e-01 7.79655715e-02 7.99615615e+01] [-1.59545576e-01 9.87142616e-01 -9.72955806e-03 -3.48510192e+00] [-7.85180802e-02 -2.86456325e-03 9.96908574e-01 -8.64306393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.26771942099998 meters 0.05713021081528622 Centerline is valid? [True, True] Translation: X:80.02, Y:-3.51, Z:-8.64 [[ 9.84417259e-01 1.57275990e-01 7.86570012e-02 8.00212472e+01] [-1.56989987e-01 9.87551117e-01 -9.84561298e-03 -3.50781225e+00] [-7.92262879e-02 -2.65617029e-03 9.96853119e-01 -8.64336972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.32771942099998 meters 0.05323722567167791 Centerline is valid? [True, True] Translation: X:80.08, Y:-3.53, Z:-8.65 [[ 9.85948524e-01 1.45685174e-01 8.17394558e-02 8.00785590e+01] [-1.45335888e-01 9.89329392e-01 -1.02388748e-02 -3.53188791e+00] [-8.23588983e-02 -1.78467289e-03 9.96601137e-01 -8.64976331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.38771942099999 meters 0.05264259536520965 Centerline is valid? [True, True] Translation: X:80.14, Y:-3.55, Z:-8.67 [[ 9.87674675e-01 1.35905822e-01 7.76424045e-02 8.01361027e+01] [-1.35561155e-01 9.90721327e-01 -9.71732957e-03 -3.55090453e+00] [-7.82426277e-02 -9.27733674e-04 9.96933915e-01 -8.66745728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.44771942099999 meters 0.051905402532801764 Centerline is valid? [True, True] Translation: X:80.20, Y:-3.56, Z:-8.67 [[ 9.87714795e-01 1.36611264e-01 7.58738912e-02 8.01970999e+01] [-1.36282677e-01 9.90624286e-01 -9.51604700e-03 -3.56415249e+00] [-7.64625186e-02 -9.41156585e-04 9.97072012e-01 -8.66965052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.50771942099999 meters 0.052079285238207235 Centerline is valid? [True, True] Translation: X:80.26, Y:-3.57, Z:-8.67 [[ 9.86924483e-01 1.39962302e-01 7.99413438e-02 8.02593993e+01] [-1.39606356e-01 9.90156057e-01 -1.00522466e-02 -3.56619963e+00] [-8.05613414e-02 -1.23951144e-03 9.96748882e-01 -8.67261002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.56771942099999 meters 0.053474237374806805 Centerline is valid? [True, True] Translation: X:80.32, Y:-3.57, Z:-8.68 [[ 9.86597468e-01 1.43188294e-01 7.82467200e-02 8.03190784e+01] [-1.42855072e-01 9.89694415e-01 -9.86881859e-03 -3.57080607e+00] [-7.88534411e-02 -1.44138942e-03 9.96885178e-01 -8.68280499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.627719421 meters 0.0552308814158895 Centerline is valid? [True, True] Translation: X:80.38, Y:-3.57, Z:-8.70 [[ 9.86399569e-01 1.46331688e-01 7.48526987e-02 8.03787012e+01] [-1.46035531e-01 9.89234263e-01 -9.44435053e-03 -3.57416704e+00] [-7.54288620e-02 -1.61525028e-03 9.97149877e-01 -8.69642934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.68771942099998 meters 0.05605008335012687 Centerline is valid? [True, True] Translation: X:80.44, Y:-3.58, Z:-8.70 [[ 9.86366177e-01 1.47408104e-01 7.31615791e-02 8.04391839e+01] [-1.47128637e-01 9.89074353e-01 -9.22429511e-03 -3.58336884e+00] [-7.37219774e-02 -1.66563072e-03 9.97277442e-01 -8.70464276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.74771942099999 meters 0.053756881842619265 Centerline is valid? [True, True] Translation: X:80.50, Y:-3.60, Z:-8.70 [[ 9.86569127e-01 1.45597385e-01 7.40456553e-02 8.04992892e+01] [-1.45304662e-01 9.89342740e-01 -9.35399416e-03 -3.60422857e+00] [-7.46184486e-02 -1.53081705e-03 9.97210983e-01 -8.70434779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.80771942099999 meters 0.05383082773901332 Centerline is valid? [True, True] Translation: X:80.56, Y:-3.61, Z:-8.71 [[ 9.86133353e-01 1.45723774e-01 7.94077535e-02 8.05595505e+01] [-1.45384788e-01 9.89323991e-01 -1.00649716e-02 -3.61228473e+00] [-8.00267013e-02 -1.61927525e-03 9.96791405e-01 -8.70870374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.86771942099999 meters 0.0552829052309728 Centerline is valid? [True, True] Translation: X:80.62, Y:-3.62, Z:-8.72 [[ 9.85483200e-01 1.50551524e-01 7.84672032e-02 8.06204832e+01] [-1.50235620e-01 9.88600171e-01 -9.94788127e-03 -3.62085456e+00] [-7.90703592e-02 -1.98509908e-03 9.96867061e-01 -8.71664286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.92771942099999 meters 0.05550107670527113 Centerline is valid? [True, True] Translation: X:80.68, Y:-3.63, Z:-8.71 [[ 9.84165514e-01 1.55664233e-01 8.47755172e-02 8.06827916e+01] [-1.55314108e-01 9.87806639e-01 -1.07504389e-02 -3.62853519e+00] [-8.54152775e-02 -2.58662258e-03 9.96342080e-01 -8.71446595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.987719421 meters 0.05639480283897877 Centerline is valid? [True, True] Translation: X:80.74, Y:-3.63, Z:-8.72 [[ 9.83597028e-01 1.58253489e-01 8.65605023e-02 8.07449975e+01] [-1.57896048e-01 9.87394422e-01 -1.10041953e-02 -3.63410362e+00] [-8.72108095e-02 -2.84386751e-03 9.96185820e-01 -8.71978056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.04771942099998 meters 0.06109820081884757 Centerline is valid? [True, True] Translation: X:80.80, Y:-3.64, Z:-8.74 [[ 9.82625156e-01 1.66965310e-01 8.10579265e-02 8.08031543e+01] [-1.66679110e-01 9.85957054e-01 -1.03325986e-02 -3.64092688e+00] [-8.16448200e-02 -3.35759179e-03 9.96655833e-01 -8.73500509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.10771942099998 meters 0.06299174359651445 Centerline is valid? [True, True] Translation: X:80.86, Y:-3.65, Z:-8.74 [[ 9.81920463e-01 1.71691665e-01 7.97130853e-02 8.08638366e+01] [-1.71429645e-01 9.85143868e-01 -1.01704012e-02 -3.64673742e+00] [-8.02750303e-02 -3.67866085e-03 9.96765964e-01 -8.74327043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.16771942099999 meters 0.06570397737381393 Centerline is valid? [True, True] Translation: X:80.92, Y:-3.67, Z:-8.75 [[ 9.81339677e-01 1.76082277e-01 7.72494002e-02 8.09217597e+01] [-1.75849410e-01 9.84367695e-01 -9.86029617e-03 -3.66714634e+00] [-7.77780374e-02 -3.90796157e-03 9.96963041e-01 -8.75477150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.22771942099999 meters 0.06696970888609392 Centerline is valid? [True, True] Translation: X:80.98, Y:-3.68, Z:-8.77 [[ 9.81387229e-01 1.76530246e-01 7.56054139e-02 8.09800491e+01] [-1.76308801e-01 9.84287636e-01 -9.64656160e-03 -3.68301442e+00] [-7.61203840e-02 -3.86288754e-03 9.97091152e-01 -8.76561861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.28771942099999 meters 0.0663916532033531 Centerline is valid? [True, True] Translation: X:81.04, Y:-3.70, Z:-8.77 [[ 9.81647223e-01 1.75065828e-01 7.56352106e-02 8.10402795e+01] [-1.74839371e-01 9.84549611e-01 -9.65701458e-03 -3.70262553e+00] [-7.61572305e-02 -3.74423107e-03 9.97088791e-01 -8.77092087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.347719421 meters 0.059688894033518014 Centerline is valid? [True, True] Translation: X:81.10, Y:-3.73, Z:-8.77 [[ 9.82516247e-01 1.66986460e-01 8.23246425e-02 8.10987980e+01] [-1.66687167e-01 9.85953454e-01 -1.05439551e-02 -3.73196617e+00] [-8.29289634e-02 -3.36285419e-03 9.96549787e-01 -8.76922435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.40771942099998 meters 0.0568007560237694 Centerline is valid? [True, True] Translation: X:81.16, Y:-3.75, Z:-8.78 [[ 9.83528061e-01 1.59732280e-01 8.46058658e-02 8.11570212e+01] [-1.59389177e-01 9.87156328e-01 -1.08385272e-02 -3.75427540e+00] [-8.52504785e-02 -2.82526363e-03 9.96355546e-01 -8.77616520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.46771942099998 meters 0.058083176050319714 Centerline is valid? [True, True] Translation: X:81.22, Y:-3.76, Z:-8.79 [[ 9.84151239e-01 1.55945570e-01 8.44234461e-02 8.12155251e+01] [-1.55590035e-01 9.87762507e-01 -1.08152615e-02 -3.76354030e+00] [-8.50769069e-02 -2.49159395e-03 9.96371272e-01 -8.78712342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.52771942099999 meters 0.055464594159078354 Centerline is valid? [True, True] Translation: X:81.28, Y:-3.78, Z:-8.79 [[ 9.84718057e-01 1.53912406e-01 8.14942922e-02 8.12763426e+01] [-1.53574693e-01 9.88081955e-01 -1.04338266e-02 -3.78221240e+00] [-8.21289348e-02 -2.24108343e-03 9.96619193e-01 -8.79426850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.58771942099999 meters 0.054379695160546124 Centerline is valid? [True, True] Translation: X:81.34, Y:-3.80, Z:-8.81 [[ 9.85762645e-01 1.48826497e-01 7.82475703e-02 8.13360441e+01] [-1.48496858e-01 9.88861837e-01 -1.00474337e-02 -3.80298948e+00] [-7.88713604e-02 -1.71513357e-03 9.96883327e-01 -8.80516844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.64771942099999 meters 0.05157145354871304 Centerline is valid? [True, True] Translation: X:81.39, Y:-3.83, Z:-8.81 [[ 9.87047249e-01 1.38269762e-01 8.13584784e-02 8.13944134e+01] [-1.37876168e-01 9.90394205e-01 -1.04632999e-02 -3.82748011e+00] [-8.20237236e-02 -8.89623895e-04 9.96629980e-01 -8.80960725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.707719421 meters 0.050458059917545865 Centerline is valid? [True, True] Translation: X:81.45, Y:-3.85, Z:-8.81 [[ 9.88384562e-01 1.28830605e-01 8.06140941e-02 8.14540956e+01] [-1.28413270e-01 9.91666609e-01 -1.03619112e-02 -3.85108210e+00] [-8.12772366e-02 -1.10366319e-04 9.96691526e-01 -8.81342816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.76771942099998 meters 0.050584762076941826 Centerline is valid? [True, True] Translation: X:81.51, Y:-3.86, Z:-8.82 [[ 9.89199362e-01 1.20919014e-01 8.28445185e-02 8.15148754e+01] [-1.20448412e-01 9.92662206e-01 -1.06735254e-02 -3.86450080e+00] [-8.35272546e-02 5.79753766e-04 9.96505324e-01 -8.81679427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.82771942099998 meters 0.05128632767986416 Centerline is valid? [True, True] Translation: X:81.58, Y:-3.87, Z:-8.82 [[ 9.89678643e-01 1.14904023e-01 8.56343919e-02 8.15770267e+01] [-1.14376408e-01 9.93375932e-01 -1.10586749e-02 -3.87219689e+00] [-8.63378301e-02 1.14998024e-03 9.96265254e-01 -8.81958771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.88771942099999 meters 0.05373640949963659 Centerline is valid? [True, True] Translation: X:81.64, Y:-3.88, Z:-8.83 [[ 9.90754157e-01 1.06504567e-01 8.40415184e-02 8.16366091e+01] [-1.05963186e-01 9.94310430e-01 -1.08890792e-02 -3.87951597e+00] [-8.47230950e-02 1.88309342e-03 9.96402755e-01 -8.82816791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.94771942099999 meters 0.05574070999907178 Centerline is valid? [True, True] Translation: X:81.70, Y:-3.88, Z:-8.84 [[ 9.91000542e-01 1.04484917e-01 8.36709454e-02 8.16969576e+01] [-1.03941476e-01 9.94524374e-01 -1.08369464e-02 -3.88265365e+00] [-8.43450920e-02 2.04253822e-03 9.96434510e-01 -8.83800392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.00771942099999 meters 0.053737050739063374 Centerline is valid? [True, True] Translation: X:81.76, Y:-3.87, Z:-8.84 [[ 9.90707005e-01 1.08578407e-01 8.19167829e-02 8.17604859e+01] [-1.08069755e-01 9.94086469e-01 -1.06310655e-02 -3.87257032e+00] [-8.25866697e-02 1.67954443e-03 9.96582471e-01 -8.84392922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.06771942099999 meters 0.0548525084311453 Centerline is valid? [True, True] Translation: X:81.82, Y:-3.88, Z:-8.86 [[ 9.90732107e-01 1.10221060e-01 7.93801571e-02 8.18200592e+01] [-1.09746569e-01 9.93905933e-01 -1.03289816e-02 -3.87717492e+00] [-8.00348804e-02 1.52155382e-03 9.96790902e-01 -8.85694161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.127719421 meters 0.052571124693486945 Centerline is valid? [True, True] Translation: X:81.88, Y:-3.86, Z:-8.86 [[ 9.90348235e-01 1.15844798e-01 7.60943944e-02 8.18849166e+01] [-1.15425079e-01 9.93266796e-01 -9.90569330e-03 -3.86450393e+00] [-7.67295584e-02 1.02688435e-03 9.97051413e-01 -8.86038234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.18771942099998 meters 0.051496860692167655 Centerline is valid? [True, True] Translation: X:81.95, Y:-3.84, Z:-8.87 [[ 9.88853637e-01 1.27681214e-01 7.65897686e-02 8.19482202e+01] [-1.27288501e-01 9.91815248e-01 -1.00075662e-02 -3.84138677e+00] [-7.72406786e-02 1.47021397e-04 9.97012465e-01 -8.86886845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.24771942099999 meters 0.051093953067884154 Centerline is valid? [True, True] Translation: X:82.02, Y:-3.82, Z:-8.86 [[ 9.86663714e-01 1.40596881e-01 8.20197092e-02 8.20150179e+01] [-1.40190897e-01 9.90066494e-01 -1.07168090e-02 -3.81948543e+00] [-8.27117159e-02 -9.24530052e-04 9.96573087e-01 -8.86438030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.30771942099999 meters 0.05314691469542979 Centerline is valid? [True, True] Translation: X:82.08, Y:-3.81, Z:-8.88 [[ 9.85872354e-01 1.47779400e-01 7.88476372e-02 8.20777180e+01] [-1.47426353e-01 9.89019274e-01 -1.03124161e-02 -3.80591337e+00] [-7.95057956e-02 -1.45749369e-03 9.96833338e-01 -8.87559847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.36771942099999 meters 0.05489741911348374 Centerline is valid? [True, True] Translation: X:82.14, Y:-3.80, Z:-8.88 [[ 9.85052493e-01 1.53778159e-01 7.76135543e-02 8.21387860e+01] [-1.53454348e-01 9.88103558e-01 -1.01549118e-02 -3.80256802e+00] [-7.82518328e-02 -1.90701614e-03 9.96931800e-01 -8.88371620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.42771942099999 meters 0.05659610998544111 Centerline is valid? [True, True] Translation: X:82.20, Y:-3.80, Z:-8.89 [[ 9.84660323e-01 1.56742344e-01 7.66543344e-02 8.21997635e+01] [-1.56435922e-01 9.87637249e-01 -1.00233322e-02 -3.80412550e+00] [-7.72777565e-02 -2.12191393e-03 9.97007345e-01 -8.89309363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.487719421 meters 0.056394119054273655 Centerline is valid? [True, True] Translation: X:82.26, Y:-3.82, Z:-8.90 [[ 9.84714689e-01 1.55808391e-01 7.78506696e-02 8.22600750e+01] [-1.55487697e-01 9.87785151e-01 -1.02015224e-02 -3.81851748e+00] [-7.84892182e-02 -2.05923239e-03 9.96912836e-01 -8.89986187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.54771942099998 meters 0.053242887152891154 Centerline is valid? [True, True] Translation: X:82.32, Y:-3.85, Z:-8.90 [[ 9.85402195e-01 1.50489712e-01 7.95949807e-02 8.23192266e+01] [-1.50134789e-01 9.88610209e-01 -1.04593969e-02 -3.84520152e+00] [-8.02624421e-02 -1.64326292e-03 9.96772411e-01 -8.90254013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.60771942099998 meters 0.05286209415976072 Centerline is valid? [True, True] Translation: X:82.38, Y:-3.86, Z:-8.91 [[ 9.85889842e-01 1.47634364e-01 7.89006562e-02 8.23797200e+01] [-1.47276593e-01 9.89041018e-01 -1.03667657e-02 -3.85925248e+00] [-7.95664762e-02 -1.39973079e-03 9.96828579e-01 -8.91140968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.66771942099999 meters 0.052376065503748875 Centerline is valid? [True, True] Translation: X:82.44, Y:-3.89, Z:-8.92 [[ 9.86864591e-01 1.42202052e-01 7.66606505e-02 8.24376071e+01] [-1.41845936e-01 9.89837235e-01 -1.00984598e-02 -3.88536032e+00] [-7.73175881e-02 -9.08189330e-04 9.97006101e-01 -8.92165176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.72771942099999 meters 0.05170532896561542 Centerline is valid? [True, True] Translation: X:82.50, Y:-3.92, Z:-8.93 [[ 9.89005422e-01 1.27966170e-01 7.41143304e-02 8.24959717e+01] [-1.27592794e-01 9.91778512e-01 -9.77047296e-03 -3.91548058e+00] [-7.47552903e-02 2.06596232e-04 9.97201887e-01 -8.92822043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.78771942099999 meters 0.05188689461564604 Centerline is valid? [True, True] Translation: X:82.55, Y:-3.94, Z:-8.93 [[ 9.89342480e-01 1.22501461e-01 7.87073652e-02 8.25538835e+01] [-1.22060340e-01 9.92468092e-01 -1.04095986e-02 -3.93570568e+00] [-7.93897396e-02 6.91610375e-04 9.96843413e-01 -8.93183306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.847719421 meters 0.051173620844036025 Centerline is valid? [True, True] Translation: X:82.62, Y:-3.94, Z:-8.93 [[ 9.88894368e-01 1.23982630e-01 8.19526451e-02 8.26153053e+01] [-1.23509322e-01 9.92284209e-01 -1.08395901e-02 -3.94473378e+00] [-8.26642365e-02 5.97294008e-04 9.96577276e-01 -8.93303330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.90771942099998 meters 0.050973750426720484 Centerline is valid? [True, True] Translation: X:82.68, Y:-3.94, Z:-8.94 [[ 9.87829788e-01 1.34257266e-01 7.85321381e-02 8.26767399e+01] [-1.33854894e-01 9.90946479e-01 -1.03895514e-02 -3.93829561e+00] [-7.92160185e-02 -2.48802699e-04 9.96857442e-01 -8.94243207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.96771942099998 meters 0.05174421359374341 Centerline is valid? [True, True] Translation: X:82.74, Y:-3.94, Z:-8.95 [[ 9.86630756e-01 1.43178370e-01 7.78441088e-02 8.27388360e+01] [-1.42810166e-01 9.89696445e-01 -1.03054914e-02 -3.93973807e+00] [-7.85175612e-02 -9.49215287e-04 9.96912279e-01 -8.94860759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.02771942099999 meters 0.053548757294287555 Centerline is valid? [True, True] Translation: X:82.80, Y:-3.94, Z:-8.96 [[ 9.85965155e-01 1.49866712e-01 7.35709319e-02 8.27999031e+01] [-1.49554359e-01 9.88705257e-01 -9.76770136e-03 -3.93860902e+00] [-7.42038204e-02 -1.37224037e-03 9.97242152e-01 -8.95974380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.08771942099999 meters 0.05604235788523938 Centerline is valid? [True, True] Translation: X:82.86, Y:-3.94, Z:-8.97 [[ 9.84839206e-01 1.56845086e-01 7.41036980e-02 8.28599769e+01] [-1.56547512e-01 9.87621377e-01 -9.84339033e-03 -3.93910045e+00] [-7.47302837e-02 -1.90659287e-03 9.97201960e-01 -8.96575846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.14771942099999 meters 0.05690868150151369 Centerline is valid? [True, True] Translation: X:82.92, Y:-3.95, Z:-8.97 [[ 9.83677764e-01 1.61752896e-01 7.88292870e-02 8.29217189e+01] [-1.61432494e-01 9.86828292e-01 -1.04628553e-02 -3.94756813e+00] [-7.94833678e-02 -2.43353025e-03 9.96833222e-01 -8.96858301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.207719421 meters 0.059301067053919194 Centerline is valid? [True, True] Translation: X:82.98, Y:-3.95, Z:-8.98 [[ 9.83354769e-01 1.65305778e-01 7.54148394e-02 8.29808745e+01] [-1.65020669e-01 9.86239009e-01 -1.00397222e-02 -3.95134467e+00] [-7.60366806e-02 -2.57239863e-03 9.97101703e-01 -8.98062724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.26771942099998 meters 0.0590542766540174 Centerline is valid? [True, True] Translation: X:83.04, Y:-3.97, Z:-8.99 [[ 9.83484083e-01 1.64042724e-01 7.64790393e-02 8.30404535e+01] [-1.63746358e-01 9.86450020e-01 -1.01728824e-02 -3.97239777e+00] [-7.71115372e-02 -2.51829626e-03 9.97019292e-01 -8.98763205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.32771942099998 meters 0.05538007355134751 Centerline is valid? [True, True] Translation: X:83.10, Y:-4.00, Z:-8.99 [[ 9.84189215e-01 1.57049129e-01 8.18972568e-02 8.30986376e+01] [-1.56682420e-01 9.87588603e-01 -1.09256591e-02 -3.99907040e+00] [-8.25966627e-02 -2.07894459e-03 9.96580889e-01 -8.98732915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.38771942099999 meters 0.05215331670164857 Centerline is valid? [True, True] Translation: X:83.16, Y:-4.03, Z:-8.99 [[ 9.85290543e-01 1.51002076e-01 8.00057428e-02 8.31576807e+01] [-1.50632457e-01 9.88532249e-01 -1.06703128e-02 -4.02941108e+00] [-8.06994962e-02 -1.53810329e-03 9.96737290e-01 -8.99233740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.44771942099999 meters 0.05207689723409353 Centerline is valid? [True, True] Translation: X:83.22, Y:-4.05, Z:-9.01 [[ 9.86736891e-01 1.44791020e-01 7.33884711e-02 8.32158795e+01] [-1.44462801e-01 9.89461809e-01 -9.78913241e-03 -4.05041976e+00] [-7.40324679e-02 -9.42606023e-04 9.97255386e-01 -9.00730473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.50771942099999 meters 0.051390485371009056 Centerline is valid? [True, True] Translation: X:83.28, Y:-4.07, Z:-9.01 [[ 9.87592479e-01 1.39324273e-01 7.24557888e-02 8.32755657e+01] [-1.38988251e-01 9.90246681e-01 -9.68380159e-03 -4.07137584e+00] [-7.30982930e-02 -5.06853761e-04 9.97324612e-01 -9.01250493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.56771942099999 meters 0.050821453256850606 Centerline is valid? [True, True] Translation: X:83.34, Y:-4.08, Z:-9.02 [[ 9.87108004e-01 1.39856680e-01 7.78324981e-02 8.33359890e+01] [-1.39467879e-01 9.90171603e-01 -1.04359156e-02 -4.07832872e+00] [-7.85270619e-02 -5.53757574e-04 9.96911829e-01 -9.01512348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.62771942099998 meters 0.05275509500867931 Centerline is valid? [True, True] Translation: X:83.40, Y:-4.07, Z:-9.02 [[ 9.85486850e-01 1.50464616e-01 7.85879645e-02 8.33993180e+01] [-1.50101655e-01 9.88614390e-01 -1.05394905e-02 -4.07275039e+00] [-7.92790130e-02 -1.40965427e-03 9.96851469e-01 -9.02037199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.68771942099998 meters 0.05708608220735613 Centerline is valid? [True, True] Translation: X:83.46, Y:-4.07, Z:-9.03 [[ 9.83505181e-01 1.62876009e-01 7.86699736e-02 8.34607718e+01] [-1.62551143e-01 9.86643619e-01 -1.05590926e-02 -4.06885432e+00] [-7.93390504e-02 -2.40297184e-03 9.96844793e-01 -9.02760921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.74771942099999 meters 0.05900727041355627 Centerline is valid? [True, True] Translation: X:83.52, Y:-4.08, Z:-9.04 [[ 9.82968831e-01 1.68812613e-01 7.26262989e-02 8.35201734e+01] [-1.68551918e-01 9.85644575e-01 -9.74791426e-03 -4.07542499e+00] [-7.32292885e-02 -2.65940608e-03 9.97311586e-01 -9.03826579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.80771942099999 meters 0.06303748298903694 Centerline is valid? [True, True] Translation: X:83.58, Y:-4.08, Z:-9.05 [[ 9.82481443e-01 1.71122236e-01 7.38064703e-02 8.35805840e+01] [-1.70859742e-01 9.85245594e-01 -9.90297928e-03 -4.07617548e+00] [-7.44121196e-02 -2.88106108e-03 9.97223413e-01 -9.04935955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.86771942099999 meters 0.0614085217708821 Centerline is valid? [True, True] Translation: X:83.64, Y:-4.10, Z:-9.05 [[ 9.82344385e-01 1.72362527e-01 7.27369867e-02 8.36394210e+01] [-1.72110430e-01 9.85029242e-01 -9.76689253e-03 -4.10026339e+00] [-7.33315051e-02 -2.92434203e-03 9.97303333e-01 -9.05355887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.92771942099999 meters 0.06177356945321674 Centerline is valid? [True, True] Translation: X:83.70, Y:-4.11, Z:-9.06 [[ 9.82322281e-01 1.72567401e-01 7.25494899e-02 8.37002897e+01] [-1.72315892e-01 9.84993399e-01 -9.75900425e-03 -4.11453527e+00] [-7.31448546e-02 -2.91494274e-03 9.97317068e-01 -9.06066911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.987719421 meters 0.06224459935990621 Centerline is valid? [True, True] Translation: X:83.76, Y:-4.13, Z:-9.07 [[ 9.82351587e-01 1.72556232e-01 7.21782895e-02 8.37611158e+01] [-1.72305552e-01 9.84995470e-01 -9.73249103e-03 -4.12930352e+00] [-7.27746901e-02 -2.87599197e-03 9.97344260e-01 -9.06977745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.04771942099998 meters 0.057574682929793904 Centerline is valid? [True, True] Translation: X:83.82, Y:-4.16, Z:-9.07 [[ 9.82709445e-01 1.68671682e-01 7.63675995e-02 8.38191342e+01] [-1.68376544e-01 9.85668583e-01 -1.03336644e-02 -4.15544304e+00] [-7.70161401e-02 -2.70352282e-03 9.97026181e-01 -9.06726460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.10771942099998 meters 0.054726416068243175 Centerline is valid? [True, True] Translation: X:83.88, Y:-4.18, Z:-9.07 [[ 9.84127832e-01 1.59730945e-01 7.73203483e-02 8.38756163e+01] [-1.59400835e-01 9.87158503e-01 -1.04624741e-02 -4.18248028e+00] [-7.79986202e-02 -2.02851611e-03 9.96951403e-01 -9.07203593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.16771942099999 meters 0.053728317946108585 Centerline is valid? [True, True] Translation: X:83.93, Y:-4.20, Z:-9.08 [[ 9.84798587e-01 1.56185817e-01 7.60114018e-02 8.39349868e+01] [-1.55857029e-01 9.87726179e-01 -1.02752800e-02 -4.20327640e+00] [-7.66833045e-02 -1.72783004e-03 9.97054003e-01 -9.07918874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.22771942099999 meters 0.05572823184336472 Centerline is valid? [True, True] Translation: X:83.99, Y:-4.21, Z:-9.09 [[ 9.84258152e-01 1.61413537e-01 7.19830627e-02 8.39940923e+01] [-1.61130527e-01 9.86884846e-01 -9.75978564e-03 -4.21356636e+00] [-7.26143553e-02 -1.99252022e-03 9.97358103e-01 -9.08853408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.28771942099999 meters 0.05873431619364894 Centerline is valid? [True, True] Translation: X:84.06, Y:-4.22, Z:-9.09 [[ 9.82428227e-01 1.69626257e-01 7.78569912e-02 8.40555337e+01] [-1.69321027e-01 9.85504445e-01 -1.05536265e-02 -4.21728918e+00] [-7.85185831e-02 -2.81464516e-03 9.96908677e-01 -9.08929729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.347719421 meters 0.060140557998476306 Centerline is valid? [True, True] Translation: X:84.11, Y:-4.23, Z:-9.10 [[ 9.81639185e-01 1.75207671e-01 7.54107535e-02 8.41142372e+01] [-1.74936584e-01 9.84526482e-01 -1.02370755e-02 -4.23120775e+00] [-7.60374980e-02 -3.14298518e-03 9.97100005e-01 -9.09512113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.40771942099998 meters 0.06205729476959492 Centerline is valid? [True, True] Translation: X:84.17, Y:-4.24, Z:-9.11 [[ 9.81443647e-01 1.78482026e-01 7.00894717e-02 8.41729775e+01] [-1.78256117e-01 9.83938114e-01 -9.51547910e-03 -4.24070878e+00] [-7.06620446e-02 -3.15497055e-03 9.97495324e-01 -9.10899921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.46771942099998 meters 0.06309246674117103 Centerline is valid? [True, True] Translation: X:84.23, Y:-4.26, Z:-9.12 [[ 9.81782766e-01 1.76901123e-01 6.93440244e-02 8.42317015e+01] [-1.76676427e-01 9.84224014e-01 -9.40906647e-03 -4.25515773e+00] [-6.99145284e-02 -3.01379516e-03 9.97548433e-01 -9.11812824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.52771942099999 meters 0.05958739482455097 Centerline is valid? [True, True] Translation: X:84.29, Y:-4.28, Z:-9.12 [[ 9.82534034e-01 1.70432172e-01 7.46977034e-02 8.42898595e+01] [-1.70151316e-01 9.85365622e-01 -1.01548446e-02 -4.27769362e+00] [-7.53352612e-02 -2.73243213e-03 9.97154518e-01 -9.11885295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.58771942099999 meters 0.05556587047395513 Centerline is valid? [True, True] Translation: X:84.35, Y:-4.30, Z:-9.12 [[ 9.83589843e-01 1.63625255e-01 7.60118194e-02 8.43482945e+01] [-1.63314190e-01 9.86520000e-01 -1.03327178e-02 -4.30371983e+00] [-7.66778737e-02 -2.25065238e-03 9.97053378e-01 -9.12003723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.64771942099999 meters 0.05397834850485292 Centerline is valid? [True, True] Translation: X:84.41, Y:-4.32, Z:-9.13 [[ 9.84892693e-01 1.56181867e-01 7.47904247e-02 8.44060758e+01] [-1.55859214e-01 9.87726949e-01 -1.01675769e-02 -4.32375539e+00] [-7.54605091e-02 -1.64280467e-03 9.97147438e-01 -9.12983213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.707719421 meters 0.05332236302774131 Centerline is valid? [True, True] Translation: X:84.47, Y:-4.34, Z:-9.14 [[ 9.85849580e-01 1.51562866e-01 7.16191556e-02 8.44671983e+01] [-1.51255384e-01 9.88446840e-01 -9.72894609e-03 -4.33966479e+00] [-7.22662750e-02 -1.24150547e-03 9.97384602e-01 -9.13913778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.76771942099998 meters 0.052585798153498314 Centerline is valid? [True, True] Translation: X:84.53, Y:-4.35, Z:-9.14 [[ 9.85937739e-01 1.49536374e-01 7.46032652e-02 8.45264985e+01] [-1.49194394e-01 9.88755607e-01 -1.01677117e-02 -4.35211484e+00] [-7.52848395e-02 -1.10565831e-03 9.97161457e-01 -9.14112379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.82771942099998 meters 0.052786267677784146 Centerline is valid? [True, True] Translation: X:84.59, Y:-4.35, Z:-9.14 [[ 9.85270627e-01 1.51936574e-01 7.84669954e-02 8.45884845e+01] [-1.51565336e-01 9.88389323e-01 -1.07002139e-02 -4.35482714e+00] [-7.91816944e-02 -1.35027011e-03 9.96859286e-01 -9.14380516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.88771942099999 meters 0.05522945739584451 Centerline is valid? [True, True] Translation: X:84.65, Y:-4.35, Z:-9.15 [[ 9.84260109e-01 1.58959400e-01 7.72265952e-02 8.46489385e+01] [-1.58619255e-01 9.87283373e-01 -1.05581086e-02 -4.34840602e+00] [-7.79228440e-02 -1.85769989e-03 9.96957662e-01 -9.15362087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.94771942099999 meters 0.05589444063355783 Centerline is valid? [True, True] Translation: X:84.71, Y:-4.35, Z:-9.16 [[ 9.83492052e-01 1.64650373e-01 7.50575722e-02 8.47093376e+01] [-1.64344940e-01 9.86349462e-01 -1.02703066e-02 -4.35349624e+00] [-7.57240057e-02 -2.23456736e-03 9.97126312e-01 -9.15717838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.00771942099999 meters 0.06261990876726288 Centerline is valid? [True, True] Translation: X:84.77, Y:-4.34, Z:-9.17 [[ 9.82324739e-01 1.72436182e-01 7.28276765e-02 8.47695804e+01] [-1.72169865e-01 9.85016857e-01 -9.96638300e-03 -4.34044594e+00] [-7.34550540e-02 -2.74850667e-03 9.97294741e-01 -9.17450171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.06771942099999 meters 0.06399020667284229 Centerline is valid? [True, True] Translation: X:84.83, Y:-4.34, Z:-9.17 [[ 9.81179514e-01 1.77692790e-01 7.55779937e-02 8.48323082e+01] [-1.77421437e-01 9.84080608e-01 -1.03436197e-02 -4.34181359e+00] [-7.62128246e-02 -3.26020851e-03 9.97086243e-01 -9.17464139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.12771942099998 meters 0.06287626675784609 Centerline is valid? [True, True] Translation: X:84.89, Y:-4.36, Z:-9.18 [[ 9.81035825e-01 1.78957688e-01 7.44503574e-02 8.48930278e+01] [-1.78698074e-01 9.83851206e-01 -1.01883303e-02 -4.35650488e+00] [-7.50713539e-02 -3.30901845e-03 9.97172674e-01 -9.17893450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.18771942099998 meters 0.06319628311068554 Centerline is valid? [True, True] Translation: X:84.95, Y:-4.37, Z:-9.19 [[ 9.81263721e-01 1.78454613e-01 7.26323679e-02 8.49532445e+01] [-1.78204673e-01 9.83943037e-01 -9.95965062e-03 -4.37088142e+00] [-7.32434583e-02 -3.17038355e-03 9.97309052e-01 -9.18928524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.24771942099999 meters 0.06316808751304961 Centerline is valid? [True, True] Translation: X:85.01, Y:-4.38, Z:-9.19 [[ 9.80456791e-01 1.82860210e-01 7.25715127e-02 8.50138753e+01] [-1.82620620e-01 9.83132806e-01 -9.97973456e-03 -4.37893846e+00] [-7.31723313e-02 -3.46835614e-03 9.97313281e-01 -9.19363529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.30771942099999 meters 0.06627451129167598 Centerline is valid? [True, True] Translation: X:85.07, Y:-4.39, Z:-9.20 [[ 9.79454164e-01 1.88014794e-01 7.29381766e-02 8.50725767e+01] [-1.87786664e-01 9.82158579e-01 -1.00347057e-02 -4.38941170e+00] [-7.35235290e-02 -3.86828260e-03 9.97285981e-01 -9.19632489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.36771942099999 meters 0.06794716934449976 Centerline is valid? [True, True] Translation: X:85.13, Y:-4.40, Z:-9.20 [[ 9.78962752e-01 1.89852631e-01 7.47523107e-02 8.51325725e+01] [-1.89618891e-01 9.81803981e-01 -1.02771120e-02 -4.39674946e+00] [-7.53432530e-02 -4.11354037e-03 9.97149173e-01 -9.20191691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.42771942099999 meters 0.06423656755351473 Centerline is valid? [True, True] Translation: X:85.19, Y:-4.42, Z:-9.21 [[ 9.80800472e-01 1.81051941e-01 7.24612196e-02 8.51894160e+01] [-1.80806656e-01 9.83467972e-01 -9.98508503e-03 -4.41670653e+00] [-7.30711077e-02 -3.30809467e-03 9.97321247e-01 -9.21359476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.487719421 meters 0.059997659505112495 Centerline is valid? [True, True] Translation: X:85.25, Y:-4.44, Z:-9.22 [[ 9.82513642e-01 1.71863502e-01 7.16231814e-02 8.52468569e+01] [-1.71599456e-01 9.85117360e-01 -9.86988470e-03 -4.43837880e+00] [-7.22535123e-02 -2.59320259e-03 9.97382928e-01 -9.22108310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.54771942099998 meters 0.055930625231387976 Centerline is valid? [True, True] Translation: X:85.30, Y:-4.46, Z:-9.23 [[ 9.84484591e-01 1.60717685e-01 7.04266670e-02 8.53040922e+01] [-1.60433815e-01 9.86998878e-01 -9.70592564e-03 -4.45959642e+00] [-7.10709553e-02 -1.74348460e-03 9.97469739e-01 -9.22865992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.60771942099998 meters 0.05162235485739109 Centerline is valid? [True, True] Translation: X:85.36, Y:-4.48, Z:-9.23 [[ 9.86488696e-01 1.46040721e-01 7.42439285e-02 8.53621050e+01] [-1.45683707e-01 9.89278315e-01 -1.02309758e-02 -4.48365048e+00] [-7.49420476e-02 -7.23388823e-04 9.97187628e-01 -9.23149655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.66771942099999 meters 0.05081572983857008 Centerline is valid? [True, True] Translation: X:85.42, Y:-4.51, Z:-9.23 [[ 9.88221936e-01 1.31166732e-01 7.88206411e-02 8.54187295e+01] [-1.30716883e-01 9.91360228e-01 -1.08625093e-02 -4.50983636e+00] [-7.95644486e-02 4.31381463e-04 9.96829631e-01 -9.23312981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.72771942099999 meters 0.052389975034554566 Centerline is valid? [True, True] Translation: X:85.48, Y:-4.53, Z:-9.23 [[ 9.89698062e-01 1.18509413e-01 8.03322128e-02 8.54792302e+01] [-1.18000772e-01 9.92951836e-01 -1.10665938e-02 -4.53138113e+00] [-8.10775138e-02 1.47332336e-03 9.96706710e-01 -9.23209919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.78771942099999 meters 0.05433285193794696 Centerline is valid? [True, True] Translation: X:85.54, Y:-4.53, Z:-9.24 [[ 9.90721735e-01 1.11905786e-01 7.71202862e-02 8.55392861e+01] [-1.11416545e-01 9.93716927e-01 -1.06311984e-02 -4.53232295e+00] [-7.78254264e-02 1.94008352e-03 9.96965114e-01 -9.24387300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.847719421 meters 0.05372240825326153 Centerline is valid? [True, True] Translation: X:85.60, Y:-4.53, Z:-9.25 [[ 9.90595440e-01 1.12594683e-01 7.77374543e-02 8.56025142e+01] [-1.12100010e-01 9.93639190e-01 -1.07120915e-02 -4.53067120e+00] [-7.84491056e-02 1.89697960e-03 9.96916315e-01 -9.24625772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.90771942099998 meters 0.054185946627020434 Centerline is valid? [True, True] Translation: X:85.66, Y:-4.53, Z:-9.26 [[ 9.90553118e-01 1.13446035e-01 7.70358150e-02 8.56641150e+01] [-1.12961015e-01 9.93542463e-01 -1.06387879e-02 -4.52901168e+00] [-7.77452816e-02 1.83624073e-03 9.96971564e-01 -9.25674139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.96771942099998 meters 0.05490129763518554 Centerline is valid? [True, True] Translation: X:85.73, Y:-4.52, Z:-9.27 [[ 9.90664096e-01 1.12381706e-01 7.71686494e-02 8.57279448e+01] [-1.11889700e-01 9.93663198e-01 -1.06838302e-02 -4.51753861e+00] [-7.78803140e-02 1.94970997e-03 9.96960809e-01 -9.26786962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.02771942099999 meters 0.055854095233029886 Centerline is valid? [True, True] Translation: X:85.79, Y:-4.51, Z:-9.28 [[ 9.91164581e-01 1.08967059e-01 7.56237687e-02 8.57898269e+01] [-1.08482395e-01 9.94042920e-01 -1.04996830e-02 -4.51353091e+00] [-7.63173915e-02 2.20306636e-03 9.97081141e-01 -9.27619765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.08771942099999 meters 0.05591567737255554 Centerline is valid? [True, True] Translation: X:85.85, Y:-4.50, Z:-9.28 [[ 9.90866804e-01 1.07692138e-01 8.11503496e-02 8.58526567e+01] [-1.07129294e-01 9.94181211e-01 -1.12709159e-02 -4.50418321e+00] [-8.18919419e-02 2.47439675e-03 9.96638143e-01 -9.27796422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.14771942099999 meters 0.05351104010196412 Centerline is valid? [True, True] Translation: X:85.92, Y:-4.48, Z:-9.28 [[ 9.90041874e-01 1.14270905e-01 8.22146459e-02 8.59165112e+01] [-1.13715436e-01 9.93447693e-01 -1.14228348e-02 -4.48338427e+00] [-8.29812480e-02 1.96001045e-03 9.96549181e-01 -9.28423404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.207719421 meters 0.049337185625009085 Centerline is valid? [True, True] Translation: X:85.98, Y:-4.46, Z:-9.29 [[ 9.87898589e-01 1.29574491e-01 8.52456959e-02 8.59814406e+01] [-1.29033731e-01 9.91569441e-01 -1.18465201e-02 -4.45868394e+00] [-8.60620339e-02 7.03590259e-04 9.96289532e-01 -9.28774113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.26771942099998 meters 0.05056615433237624 Centerline is valid? [True, True] Translation: X:86.04, Y:-4.43, Z:-9.30 [[ 9.85908492e-01 1.47266302e-01 7.93541575e-02 8.60442940e+01] [-1.46855067e-01 9.89096569e-01 -1.10257110e-02 -4.43127520e+00] [-8.01126407e-02 -7.83217976e-04 9.96785509e-01 -9.30394115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.32771942099998 meters 0.052969524259566234 Centerline is valid? [True, True] Translation: X:86.11, Y:-4.42, Z:-9.31 [[ 9.84391352e-01 1.57684120e-01 7.81625495e-02 8.61078835e+01] [-1.57317162e-01 9.87488313e-01 -1.08693058e-02 -4.41701040e+00] [-7.88985211e-02 -1.59665979e-03 9.96881374e-01 -9.31029841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.38771942099999 meters 0.05415460341176668 Centerline is valid? [True, True] Translation: X:86.17, Y:-4.42, Z:-9.32 [[ 9.83900908e-01 1.61005522e-01 7.75643287e-02 8.61704729e+01] [-1.60654300e-01 9.86951778e-01 -1.07881320e-02 -4.41558531e+00] [-7.82892009e-02 -1.84659008e-03 9.96928980e-01 -9.31704730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.44771942099999 meters 0.05373111685998821 Centerline is valid? [True, True] Translation: X:86.23, Y:-4.42, Z:-9.33 [[ 9.84252269e-01 1.59973034e-01 7.52070365e-02 8.62314685e+01] [-1.59639914e-01 9.87119901e-01 -1.04593654e-02 -4.42331645e+00] [-7.59115789e-02 -1.71139069e-03 9.97113085e-01 -9.32521410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.50771942099999 meters 0.05503243542181217 Centerline is valid? [True, True] Translation: X:86.29, Y:-4.43, Z:-9.34 [[ 9.84391309e-01 1.59898836e-01 7.35262727e-02 8.62919190e+01] [-1.59578574e-01 9.87132036e-01 -1.02480602e-02 -4.42657149e+00] [-7.42187922e-02 -1.64511637e-03 9.97240625e-01 -9.33778652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.56771942099999 meters 0.05424792223495745 Centerline is valid? [True, True] Translation: X:86.35, Y:-4.43, Z:-9.34 [[ 9.84264881e-01 1.58960404e-01 7.71636808e-02 8.63528609e+01] [-1.58602432e-01 9.87283624e-01 -1.07848732e-02 -4.43389407e+00] [-7.78968063e-02 -1.62317550e-03 9.96960106e-01 -9.33947696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.62771942099998 meters 0.05181614908668517 Centerline is valid? [True, True] Translation: X:86.41, Y:-4.45, Z:-9.34 [[ 9.85138312e-01 1.52541959e-01 7.89522431e-02 8.64122967e+01] [-1.52146329e-01 9.88296340e-01 -1.10380971e-02 -4.44964692e+00] [-7.97119858e-02 -1.13824158e-03 9.96817287e-01 -9.34341623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.68771942099998 meters 0.05052071719371927 Centerline is valid? [True, True] Translation: X:86.47, Y:-4.48, Z:-9.35 [[ 9.87868671e-01 1.34895570e-01 7.69329167e-02 8.64704900e+01] [-1.34466748e-01 9.90859783e-01 -1.07510279e-02 -4.48253537e+00] [-7.76799991e-02 2.75684546e-04 9.96978306e-01 -9.34995192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.74771942099999 meters 0.051957223855147394 Centerline is valid? [True, True] Translation: X:86.53, Y:-4.50, Z:-9.35 [[ 9.89373214e-01 1.23000968e-01 7.75332573e-02 8.65301298e+01] [-1.22526539e-01 9.92405764e-01 -1.08649376e-02 -4.50321480e+00] [-7.82808493e-02 1.24959657e-03 9.96930563e-01 -9.35498217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.80771942099999 meters 0.05545460626290306 Centerline is valid? [True, True] Translation: X:86.59, Y:-4.52, Z:-9.36 [[ 9.90759001e-01 1.11803313e-01 7.67894597e-02 8.65895281e+01] [-1.11303654e-01 9.93728087e-01 -1.07696478e-02 -4.51612707e+00] [-7.75119252e-02 2.12317801e-03 9.96989164e-01 -9.36196440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.86771942099999 meters 0.05563763423693342 Centerline is valid? [True, True] Translation: X:86.65, Y:-4.52, Z:-9.37 [[ 9.90536258e-01 1.12716548e-01 7.83128398e-02 8.66509160e+01] [-1.12200130e-01 9.93624992e-01 -1.09775319e-02 -4.51921615e+00] [-7.90509443e-02 2.08693256e-03 9.96868393e-01 -9.36695688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.92771942099999 meters 0.05456733714375476 Centerline is valid? [True, True] Translation: X:86.71, Y:-4.51, Z:-9.38 [[ 9.90065816e-01 1.17828881e-01 7.67204953e-02 8.67128249e+01] [-1.17346905e-01 9.93032516e-01 -1.07761352e-02 -4.51097759e+00] [-7.74556865e-02 1.66617043e-03 9.96994403e-01 -9.37697526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.98771942099998 meters 0.055025474405387687 Centerline is valid? [True, True] Translation: X:86.77, Y:-4.52, Z:-9.39 [[ 9.90120205e-01 1.18196822e-01 7.54419766e-02 8.67741109e+01] [-1.17730321e-01 9.92988849e-01 -1.06168551e-02 -4.51696664e+00] [-7.61679200e-02 1.63015463e-03 9.97093672e-01 -9.38689284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.04771942099998 meters 0.05612422598456553 Centerline is valid? [True, True] Translation: X:86.84, Y:-4.53, Z:-9.40 [[ 9.90480466e-01 1.16380531e-01 7.35120283e-02 8.68352279e+01] [-1.15930541e-01 9.93203152e-01 -1.03734562e-02 -4.52558327e+00] [-7.42196466e-02 1.75241658e-03 9.97240379e-01 -9.39603204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.10771942099998 meters 0.05565658889948089 Centerline is valid? [True, True] Translation: X:86.90, Y:-4.52, Z:-9.40 [[ 9.90159622e-01 1.18936498e-01 7.37430132e-02 8.68965005e+01] [-1.18490730e-01 9.92900628e-01 -1.04062356e-02 -4.52454501e+00] [-7.44571653e-02 1.56597089e-03 9.97222983e-01 -9.40229137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.16771942099999 meters 0.05397635647558767 Centerline is valid? [True, True] Translation: X:86.96, Y:-4.53, Z:-9.41 [[ 9.89334981e-01 1.22864527e-01 7.82342820e-02 8.69573957e+01] [-1.22372543e-01 9.92422494e-01 -1.10703717e-02 -4.52509760e+00] [-7.90016173e-02 1.37857790e-03 9.96873535e-01 -9.40500836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.22771942099999 meters 0.05506869684441229 Centerline is valid? [True, True] Translation: X:87.02, Y:-4.54, Z:-9.42 [[ 9.89788371e-01 1.20571549e-01 7.60360531e-02 8.70180734e+01] [-1.20100312e-01 9.92703484e-01 -1.07568069e-02 -4.53523612e+00] [-7.67782196e-02 1.51500870e-03 9.97047045e-01 -9.41507556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.28771942099999 meters 0.05892634318919706 Centerline is valid? [True, True] Translation: X:87.08, Y:-4.54, Z:-9.43 [[ 9.90920266e-01 1.13072444e-01 7.27437172e-02 8.70767543e+01] [-1.12620466e-01 9.93584708e-01 -1.02984766e-02 -4.54340121e+00] [-7.34415190e-02 2.01253788e-03 9.97297495e-01 -9.42510265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.347719421 meters 0.06151468553546413 Centerline is valid? [True, True] Translation: X:87.14, Y:-4.56, Z:-9.43 [[ 9.92277248e-01 1.02040101e-01 7.05243223e-02 8.71356432e+01] [-1.01587423e-01 9.94776502e-01 -9.98530409e-03 -4.56014305e+00] [-7.11748401e-02 2.74380592e-03 9.97460081e-01 -9.42901918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.40771942099998 meters 0.06581796749647666 Centerline is valid? [True, True] Translation: X:87.20, Y:-4.57, Z:-9.43 [[ 9.92900472e-01 9.35367531e-02 7.34814777e-02 8.71958303e+01] [-9.30217145e-02 9.95609680e-01 -1.04079634e-02 -4.57062301e+00] [-7.41323976e-02 3.49869876e-03 9.97242271e-01 -9.43306053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.46771942099998 meters 0.0685784108625886 Centerline is valid? [True, True] Translation: X:87.26, Y:-4.58, Z:-9.44 [[ 9.93048125e-01 9.13885986e-02 7.41858849e-02 8.72560860e+01] [-9.08579819e-02 9.95808470e-01 -1.05032378e-02 -4.57762139e+00] [-7.48348088e-02 3.68984080e-03 9.97189118e-01 -9.44103475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.52771942099999 meters 0.06793090875159066 Centerline is valid? [True, True] Translation: X:87.32, Y:-4.58, Z:-9.45 [[ 9.92470363e-01 9.42445391e-02 7.82339185e-02 8.73161472e+01] [-9.36606984e-02 9.95542217e-01 -1.11070756e-02 -4.57837664e+00] [-7.89319499e-02 3.69599994e-03 9.96873155e-01 -9.44579159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.58771942099999 meters 0.058960174165639215 Centerline is valid? [True, True] Translation: X:87.38, Y:-4.56, Z:-9.45 [[ 9.91655309e-01 1.03413951e-01 7.69759846e-02 8.73797927e+01] [-1.02876324e-01 9.94634124e-01 -1.09279852e-02 -4.56134006e+00] [-7.76930472e-02 2.91778825e-03 9.96973057e-01 -9.44886190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.64771942099999 meters 0.05402843938470317 Centerline is valid? [True, True] Translation: X:87.44, Y:-4.54, Z:-9.45 [[ 9.89946777e-01 1.17472486e-01 7.87755856e-02 8.74444351e+01] [-1.16953677e-01 9.93074399e-01 -1.11837086e-02 -4.53897830e+00] [-7.95437953e-02 1.85818192e-03 9.96829640e-01 -9.45354114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.707719421 meters 0.05186289328589335 Centerline is valid? [True, True] Translation: X:87.51, Y:-4.53, Z:-9.47 [[ 9.88370762e-01 1.32214656e-01 7.51167175e-02 8.75067373e+01] [-1.31785375e-01 9.91220900e-01 -1.06649803e-02 -4.52526139e+00] [-7.58673270e-02 6.41669876e-04 9.97117715e-01 -9.46768518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.76771942099998 meters 0.05149902933117083 Centerline is valid? [True, True] Translation: X:87.57, Y:-4.52, Z:-9.48 [[ 9.87765408e-01 1.37794866e-01 7.30210449e-02 8.75692784e+01] [-1.37404879e-01 9.90460769e-01 -1.03616981e-02 -4.52211599e+00] [-7.37522691e-02 2.01479121e-04 9.97276573e-01 -9.47787187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.82771942099998 meters 0.05110688948809832 Centerline is valid? [True, True] Translation: X:87.63, Y:-4.50, Z:-9.48 [[ 9.86243624e-01 1.46744754e-01 7.60887049e-02 8.76344771e+01] [-1.46345915e-01 9.89174284e-01 -1.08217241e-02 -4.50488952e+00] [-7.68530214e-02 -4.62414783e-04 9.97042326e-01 -9.48220327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.88771942099999 meters 0.05236284068411891 Centerline is valid? [True, True] Translation: X:87.69, Y:-4.51, Z:-9.49 [[ 9.84960502e-01 1.55062285e-01 7.62134955e-02 8.76945313e+01] [-1.54684462e-01 9.87904105e-01 -1.08718624e-02 -4.50664553e+00] [-7.69774409e-02 -1.08068852e-03 9.97032249e-01 -9.49091260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.94771942099999 meters 0.05189368421741767 Centerline is valid? [True, True] Translation: X:87.75, Y:-4.52, Z:-9.50 [[ 9.85047777e-01 1.54224590e-01 7.67831567e-02 8.77542050e+01] [-1.53838550e-01 9.88035288e-01 -1.09531246e-02 -4.51700296e+00] [-7.75537095e-02 -1.02285846e-03 9.96987651e-01 -9.49619584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.00771942099999 meters 0.051500250543997 Centerline is valid? [True, True] Translation: X:87.81, Y:-4.53, Z:-9.51 [[ 9.86128500e-01 1.47875987e-01 7.53874945e-02 8.78136214e+01] [-1.47486066e-01 9.89005773e-01 -1.07443757e-02 -4.53341243e+00] [-7.61475024e-02 -5.23269847e-04 9.97096427e-01 -9.50609048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.06771942099999 meters 0.05053355059732496 Centerline is valid? [True, True] Translation: X:87.87, Y:-4.56, Z:-9.51 [[ 9.87357325e-01 1.35952860e-01 8.15005071e-02 8.78722144e+01] [-1.35453691e-01 9.90715199e-01 -1.16486536e-02 -4.56424220e+00] [-8.23274589e-02 4.61838977e-04 9.96605226e-01 -9.50523327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.12771942099998 meters 0.05340822614419877 Centerline is valid? [True, True] Translation: X:87.93, Y:-4.59, Z:-9.52 [[ 9.88874123e-01 1.24550328e-01 8.13337841e-02 8.79293815e+01] [-1.24014349e-01 9.92212286e-01 -1.16284335e-02 -4.58942691e+00] [-8.21487051e-02 1.41250062e-03 9.96619082e-01 -9.51647459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.18771942099998 meters 0.054772734821394296 Centerline is valid? [True, True] Translation: X:87.99, Y:-4.60, Z:-9.52 [[ 9.90177895e-01 1.17665816e-01 7.55148490e-02 8.79891014e+01] [-1.17181845e-01 9.93051492e-01 -1.08235941e-02 -4.60044157e+00] [-7.62637005e-02 1.86831428e-03 9.97085933e-01 -9.52332759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.24771942099999 meters 0.05626480346397001 Centerline is valid? [True, True] Translation: X:88.05, Y:-4.62, Z:-9.53 [[ 9.90718017e-01 1.14810859e-01 7.27755291e-02 8.80474066e+01] [-1.14353748e-01 9.93385333e-01 -1.04307738e-02 -4.61640899e+00] [-7.34917093e-02 2.01180102e-03 9.97293799e-01 -9.53297884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.30771942099999 meters 0.05616491072438837 Centerline is valid? [True, True] Translation: X:88.11, Y:-4.62, Z:-9.54 [[ 9.90455654e-01 1.15052696e-01 7.58977911e-02 8.81090310e+01] [-1.14556668e-01 9.93357226e-01 -1.08715526e-02 -4.61990298e+00] [-7.66444206e-02 2.07319262e-03 9.97056335e-01 -9.53696008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.36771942099999 meters 0.05597377197661527 Centerline is valid? [True, True] Translation: X:88.17, Y:-4.63, Z:-9.54 [[ 9.90299857e-01 1.15776323e-01 7.68247058e-02 8.81703258e+01] [-1.15268447e-01 9.93273164e-01 -1.10275458e-02 -4.63011294e+00] [-7.75846474e-02 2.06511248e-03 9.96983630e-01 -9.54297466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.42771942099999 meters 0.05344195518871425 Centerline is valid? [True, True] Translation: X:88.23, Y:-4.63, Z:-9.54 [[ 9.89576517e-01 1.18725993e-01 8.15012579e-02 8.82319326e+01] [-1.18161530e-01 9.92925084e-01 -1.17316143e-02 -4.63059859e+00] [-8.23174909e-02 1.97901675e-03 9.96604191e-01 -9.54292449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.48771942099998 meters 0.05092737999728716 Centerline is valid? [True, True] Translation: X:88.29, Y:-4.62, Z:-9.55 [[ 9.87978882e-01 1.32335096e-01 7.99071403e-02 8.82948581e+01] [-1.31836797e-01 9.91204688e-01 -1.15033060e-02 -4.61916259e+00] [-8.07266231e-02 8.30321979e-04 9.96735934e-01 -9.55196507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.54771942099998 meters 0.05184376664122652 Centerline is valid? [True, True] Translation: X:88.36, Y:-4.60, Z:-9.56 [[ 9.84273196e-01 1.56582127e-01 8.17821026e-02 8.83583922e+01] [-1.56143553e-01 9.87664232e-01 -1.17709412e-02 -4.60205413e+00] [-8.26163766e-02 -1.18392613e-03 9.96580721e-01 -9.56011865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.60771942099998 meters 0.05399691609727951 Centerline is valid? [True, True] Translation: X:88.42, Y:-4.60, Z:-9.57 [[ 9.83544434e-01 1.62939149e-01 7.80460177e-02 8.84191846e+01] [-1.62557431e-01 9.86634807e-01 -1.12623184e-02 -4.60020906e+00] [-7.88379902e-02 -1.60996959e-03 9.96886142e-01 -9.57088384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.66771942099999 meters 0.05415123851182105 Centerline is valid? [True, True] Translation: X:88.48, Y:-4.62, Z:-9.58 [[ 9.84023709e-01 1.62037840e-01 7.37636618e-02 8.84769224e+01] [-1.61694317e-01 9.86783477e-01 -1.06451044e-02 -4.61536194e+00] [-7.45136724e-02 -1.45212973e-03 9.97218935e-01 -9.58025217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.72771942099999 meters 0.05603582119000386 Centerline is valid? [True, True] Translation: X:88.53, Y:-4.63, Z:-9.59 [[ 9.83521601e-01 1.65065107e-01 7.37480172e-02 8.85345659e+01] [-1.64730345e-01 9.86281237e-01 -1.06411650e-02 -4.62739459e+00] [-7.44927706e-02 -1.68272070e-03 9.97220134e-01 -9.59025273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.78771942099999 meters 0.05637577520550651 Centerline is valid? [True, True] Translation: X:88.59, Y:-4.64, Z:-9.59 [[ 9.82737091e-01 1.68284329e-01 7.68647868e-02 8.85927137e+01] [-1.67930558e-01 9.85736448e-01 -1.10897156e-02 -4.64118992e+00] [-7.76346473e-02 -2.00967175e-03 9.96979851e-01 -9.59159773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.847719421 meters 0.0539269716428773 Centerline is valid? [True, True] Translation: X:88.65, Y:-4.67, Z:-9.60 [[ 9.84114415e-01 1.59724396e-01 7.75044201e-02 8.86492299e+01] [-1.59338545e-01 9.87160724e-01 -1.11773150e-02 -4.66889108e+00] [-7.82946094e-02 -1.34968471e-03 9.96929352e-01 -9.59876172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.90771942099998 meters 0.05131866005189082 Centerline is valid? [True, True] Translation: X:88.70, Y:-4.70, Z:-9.60 [[ 9.85582958e-01 1.46828656e-01 8.40688937e-02 8.87047134e+01] [-1.46327635e-01 9.89161879e-01 -1.21244074e-02 -4.70179029e+00] [-8.49379552e-02 -3.51993053e-04 9.96386180e-01 -9.59917990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.96771942099998 meters 0.05174818444916342 Centerline is valid? [True, True] Translation: X:88.76, Y:-4.73, Z:-9.61 [[ 9.87306136e-01 1.36481018e-01 8.12374587e-02 8.87609814e+01] [-1.35978446e-01 9.90642551e-01 -1.17131957e-02 -4.73312407e+00] [-8.20759122e-02 5.17966613e-04 9.96625946e-01 -9.60784296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.02771942099999 meters 0.05264119336911216 Centerline is valid? [True, True] Translation: X:88.82, Y:-4.75, Z:-9.62 [[ 9.88269010e-01 1.30349050e-01 7.95832236e-02 8.88212047e+01] [-1.29846753e-01 9.91467654e-01 -1.14765943e-02 -4.74823708e+00] [-8.04001552e-02 1.00833928e-03 9.96762157e-01 -9.61520786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.08771942099999 meters 0.05206727805081926 Centerline is valid? [True, True] Translation: X:88.88, Y:-4.75, Z:-9.62 [[ 9.87505478e-01 1.36481200e-01 7.87769839e-02 8.88824049e+01] [-1.36008391e-01 9.90642532e-01 -1.13618279e-02 -4.75273455e+00] [-7.95905067e-02 5.05536428e-04 9.96827516e-01 -9.62121042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.14771942099999 meters 0.05271382527671173 Centerline is valid? [True, True] Translation: X:88.95, Y:-4.75, Z:-9.63 [[ 9.85570853e-01 1.51114286e-01 7.62533082e-02 8.89455268e+01] [-1.50713394e-01 9.88516096e-01 -1.10182108e-02 -4.74822045e+00] [-7.70426316e-02 -6.33167498e-04 9.97027598e-01 -9.63109403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.207719421 meters 0.056277694409090154 Centerline is valid? [True, True] Translation: X:89.01, Y:-4.74, Z:-9.64 [[ 9.83150922e-01 1.66266988e-01 7.59575794e-02 8.90071705e+01] [-1.65911801e-01 9.86079164e-01 -1.10070871e-02 -4.74098041e+00] [-7.67303017e-02 -1.78063105e-03 9.97050295e-01 -9.63915467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.26771942099998 meters 0.061303138714948364 Centerline is valid? [True, True] Translation: X:89.07, Y:-4.74, Z:-9.65 [[ 9.81021838e-01 1.78360200e-01 7.60512460e-02 8.90685005e+01] [-1.78040136e-01 9.83961486e-01 -1.10228977e-02 -4.73519939e+00] [-7.67975433e-02 -2.72647081e-03 9.97042980e-01 -9.64526350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.32771942099998 meters 0.06521600776758321 Centerline is valid? [True, True] Translation: X:89.13, Y:-4.74, Z:-9.65 [[ 9.79876487e-01 1.84927783e-01 7.51251286e-02 8.91279639e+01] [-1.84634656e-01 9.82746901e-01 -1.08891342e-02 -4.74035235e+00] [-7.58426907e-02 -3.20069573e-03 9.97114658e-01 -9.65462412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.38771942099999 meters 0.06758318442844566 Centerline is valid? [True, True] Translation: X:89.19, Y:-4.75, Z:-9.65 [[ 9.78661569e-01 1.88752113e-01 8.12045130e-02 8.91854448e+01] [-1.88422592e-01 9.82017490e-01 -1.17718414e-02 -4.75212087e+00] [-8.19662120e-02 -3.78011605e-03 9.96627940e-01 -9.65454281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.44771942099999 meters 0.06584591924626051 Centerline is valid? [True, True] Translation: X:89.24, Y:-4.77, Z:-9.66 [[ 9.79234270e-01 1.85348406e-01 8.21353311e-02 8.92429940e+01] [-1.85000232e-01 9.82666472e-01 -1.18961733e-02 -4.77215284e+00] [-8.29165728e-02 -3.54591473e-03 9.96550184e-01 -9.66048516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.50771942099999 meters 0.06414302635989245 Centerline is valid? [True, True] Translation: X:89.30, Y:-4.79, Z:-9.67 [[ 9.80035491e-01 1.81682122e-01 8.07591606e-02 8.93016694e+01] [-1.81333403e-01 9.83352157e-01 -1.16932450e-02 -4.79422407e+00] [-8.15391483e-02 -3.18453830e-03 9.96665052e-01 -9.66896392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.56771942099999 meters 0.056766623480546896 Centerline is valid? [True, True] Translation: X:89.36, Y:-4.83, Z:-9.68 [[ 9.82663472e-01 1.68176426e-01 7.80332602e-02 8.93561040e+01] [-1.67807820e-01 9.85754911e-01 -1.13044421e-02 -4.83209301e+00] [-7.88228101e-02 -1.98612898e-03 9.96886664e-01 -9.67940047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.62771942099998 meters 0.05334806393038492 Centerline is valid? [True, True] Translation: X:89.41, Y:-4.87, Z:-9.69 [[ 9.85478406e-01 1.51273661e-01 7.71271055e-02 8.94102852e+01] [-1.50861706e-01 9.88491725e-01 -1.11738735e-02 -4.87322256e+00] [-7.79298183e-02 -6.23915656e-04 9.96958652e-01 -9.68959279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.68771942099998 meters 0.052406506933522 Centerline is valid? [True, True] Translation: X:89.47, Y:-4.89, Z:-9.69 [[ 9.86020997e-01 1.47809333e-01 7.69089959e-02 8.94704335e+01] [-1.47389847e-01 9.89015810e-01 -1.11337195e-02 -4.89056066e+00] [-7.77098805e-02 -3.57523926e-04 9.96975951e-01 -9.69317615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.74771942099999 meters 0.05263028650222802 Centerline is valid? [True, True] Translation: X:89.53, Y:-4.90, Z:-9.70 [[ 9.86087716e-01 1.47823290e-01 7.60216440e-02 8.95312150e+01] [-1.47411769e-01 9.89013733e-01 -1.10275121e-02 -4.89800731e+00] [-7.68165731e-02 -3.32390779e-04 9.97045186e-01 -9.70010645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.80771942099999 meters 0.05402549998332482 Centerline is valid? [True, True] Translation: X:89.60, Y:-4.89, Z:-9.70 [[ 9.83677805e-01 1.62109104e-01 7.80936222e-02 8.95954282e+01] [-1.61717577e-01 9.86771760e-01 -1.13542614e-02 -4.89343742e+00] [-7.89012102e-02 -1.46017637e-03 9.96881371e-01 -9.69869728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.86771942099999 meters 0.06059019238969154 Centerline is valid? [True, True] Translation: X:89.66, Y:-4.88, Z:-9.71 [[ 9.80740482e-01 1.79408780e-01 7.72049016e-02 8.96564115e+01] [-1.79078661e-01 9.83770608e-01 -1.12349327e-02 -4.88319893e+00] [-7.79675585e-02 -2.80719708e-03 9.96951944e-01 -9.70753293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.92771942099999 meters 0.0655895022201524 Centerline is valid? [True, True] Translation: X:89.72, Y:-4.88, Z:-9.72 [[ 9.79205644e-01 1.88007679e-01 7.62195481e-02 8.97158223e+01] [-1.87711988e-01 9.82161506e-01 -1.10898955e-02 -4.88248989e+00] [-7.69448917e-02 -3.44803465e-03 9.97029385e-01 -9.71603848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.98771942099998 meters 0.06500428772884212 Centerline is valid? [True, True] Translation: X:89.78, Y:-4.90, Z:-9.73 [[ 9.79584267e-01 1.86518738e-01 7.50028350e-02 8.97750433e+01] [-1.86228886e-01 9.82445901e-01 -1.09020285e-02 -4.90219670e+00] [-7.57196604e-02 -3.28823881e-03 9.97123724e-01 -9.72558127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.04771942099998 meters 0.05779331546491863 Centerline is valid? [True, True] Translation: X:89.83, Y:-4.93, Z:-9.73 [[ 9.81562261e-01 1.74248468e-01 7.85684399e-02 8.98323233e+01] [-1.73888629e-01 9.84698739e-01 -1.14515580e-02 -4.93139590e+00] [-7.93616601e-02 -2.42174115e-03 9.96842948e-01 -9.72838380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.10771942099998 meters 0.05711149137944727 Centerline is valid? [True, True] Translation: X:89.89, Y:-4.96, Z:-9.74 [[ 9.82718400e-01 1.68973461e-01 7.55811905e-02 8.98901660e+01] [-1.68625457e-01 9.85618719e-01 -1.10089178e-02 -4.95574807e+00] [-7.63544511e-02 -1.92624668e-03 9.97078877e-01 -9.74091821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.16771942099999 meters 0.055649036066103955 Centerline is valid? [True, True] Translation: X:89.95, Y:-4.97, Z:-9.75 [[ 9.83262134e-01 1.66283236e-01 7.44678522e-02 8.99500397e+01] [-1.65936085e-01 9.86076617e-01 -1.08683403e-02 -4.97170078e+00] [-7.52382306e-02 -1.67047633e-03 9.97164188e-01 -9.74635512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.22771942099999 meters 0.055458359649176614 Centerline is valid? [True, True] Translation: X:90.01, Y:-4.98, Z:-9.75 [[ 9.83460542e-01 1.64744655e-01 7.52632776e-02 9.00102125e+01] [-1.64383762e-01 9.86335038e-01 -1.10077809e-02 -4.98017473e+00] [-7.60482809e-02 -1.54634254e-03 9.97102937e-01 -9.75368278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.28771942099999 meters 0.05409320985565969 Centerline is valid? [True, True] Translation: X:90.07, Y:-5.01, Z:-9.76 [[ 9.85053923e-01 1.56463473e-01 7.20274289e-02 9.00680308e+01] [-1.56109553e-01 9.87683380e-01 -1.05521475e-02 -5.00654437e+00] [-7.27913201e-02 -8.49735380e-04 9.97346831e-01 -9.76428791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.34771942099998 meters 0.05212536464724216 Centerline is valid? [True, True] Translation: X:90.13, Y:-5.03, Z:-9.76 [[ 9.87045483e-01 1.40928914e-01 7.66828232e-02 9.01265801e+01] [-1.40478331e-01 9.90019657e-01 -1.12657877e-02 -5.03049581e+00] [-7.75051775e-02 3.47569805e-04 9.96991889e-01 -9.76143027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.40771942099998 meters 0.0549315677431339 Centerline is valid? [True, True] Translation: X:90.18, Y:-5.06, Z:-9.77 [[ 9.88348521e-01 1.27670429e-01 8.28701501e-02 9.01838199e+01] [-1.27097797e-01 9.91815518e-01 -1.21707627e-02 -5.06037965e+00] [-8.37457473e-02 1.49634179e-03 9.96486031e-01 -9.76619620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.46771942099998 meters 0.056896843439083855 Centerline is valid? [True, True] Translation: X:90.24, Y:-5.07, Z:-9.77 [[ 9.89628833e-01 1.17509063e-01 8.26219863e-02 9.02436511e+01] [-1.16902003e-01 9.93068960e-01 -1.21639503e-02 -5.07433102e+00] [-8.34787044e-02 2.37912025e-03 9.96506721e-01 -9.76831773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.52771942099999 meters 0.059353720875778046 Centerline is valid? [True, True] Translation: X:90.30, Y:-5.08, Z:-9.78 [[ 9.90879904e-01 1.10818553e-01 7.66568000e-02 9.03035209e+01] [-1.10276036e-01 9.93836903e-01 -1.12874448e-02 -5.08086401e+00] [-7.74352150e-02 2.73109421e-03 9.96993645e-01 -9.77919373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.58771942099999 meters 0.06227153388368908 Centerline is valid? [True, True] Translation: X:90.36, Y:-5.08, Z:-9.78 [[ 9.91292752e-01 1.05858292e-01 7.83115696e-02 9.03643813e+01] [-1.05276828e-01 9.94376130e-01 -1.15283324e-02 -5.08473376e+00] [-7.90915251e-02 3.18355873e-03 9.96862275e-01 -9.78346441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.64771942099999 meters 0.06708216089435037 Centerline is valid? [True, True] Translation: X:90.42, Y:-5.09, Z:-9.80 [[ 9.92418610e-01 9.86037018e-02 7.33662835e-02 9.04242912e+01] [-9.80726563e-02 9.95120493e-01 -1.08147093e-02 -5.08890035e+00] [-7.40746626e-02 3.53749251e-03 9.97246424e-01 -9.79580914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.707719421 meters 0.07166255479545629 Centerline is valid? [True, True] Translation: X:90.49, Y:-5.09, Z:-9.80 [[ 9.93181357e-01 9.02769861e-02 7.37621661e-02 9.04853786e+01] [-8.97170061e-02 9.95907903e-01 -1.08769317e-02 -5.09090977e+00] [-7.44422607e-02 4.18504513e-03 9.97216544e-01 -9.80209825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.76771942099998 meters 0.07245491039807661 Centerline is valid? [True, True] Translation: X:90.55, Y:-5.08, Z:-9.80 [[ 9.93304693e-01 8.52790771e-02 7.79311587e-02 9.05486403e+01] [-8.46383523e-02 9.96345440e-01 -1.14940805e-02 -5.08491741e+00] [-7.86265592e-02 4.82115920e-03 9.96892482e-01 -9.80021662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.82771942099998 meters 0.07286200701802753 Centerline is valid? [True, True] Translation: X:90.61, Y:-5.08, Z:-9.81 [[ 9.93287326e-01 8.57022903e-02 7.76878729e-02 9.06124580e+01] [-8.50667355e-02 9.96309352e-01 -1.14597432e-02 -5.07858154e+00] [-7.83832805e-02 4.77416397e-03 9.96911866e-01 -9.80785698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.88771942099999 meters 0.07323360674758503 Centerline is valid? [True, True] Translation: X:90.68, Y:-5.07, Z:-9.82 [[ 9.93389952e-01 8.65666417e-02 7.53831580e-02 9.06754878e+01] [-8.59706541e-02 9.96235592e-01 -1.11216574e-02 -5.07156714e+00] [-7.60621496e-02 4.56740331e-03 9.97092618e-01 -9.81775129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.94771942099999 meters 0.07267776970999347 Centerline is valid? [True, True] Translation: X:90.74, Y:-5.06, Z:-9.82 [[ 9.93162422e-01 8.52753602e-02 7.97277652e-02 9.07402894e+01] [-8.46023114e-02 9.96345064e-01 -1.17882117e-02 -5.06259893e+00] [-8.04416094e-02 4.96245565e-03 9.96746970e-01 -9.81826343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.00771942099999 meters 0.07783038913211099 Centerline is valid? [True, True] Translation: X:90.80, Y:-5.06, Z:-9.82 [[ 9.93067067e-01 7.90685456e-02 8.69825613e-02 9.08015876e+01] [-7.82403163e-02 9.96851121e-01 -1.28955376e-02 -5.06065748e+00] [-8.77282952e-02 6.00059059e-03 9.96126367e-01 -9.82086811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.06771942099999 meters 0.07517109728431932 Centerline is valid? [True, True] Translation: X:90.86, Y:-5.04, Z:-9.83 [[ 9.93721690e-01 7.43790661e-02 8.35760620e-02 9.08645917e+01] [-7.35979435e-02 9.97210990e-01 -1.23928953e-02 -5.04232241e+00] [-8.42647395e-02 6.16406260e-03 9.96424336e-01 -9.83073671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.12771942099998 meters 0.07494063930563026 Centerline is valid? [True, True] Translation: X:90.93, Y:-5.02, Z:-9.84 [[ 9.93753141e-01 7.61713288e-02 8.15636170e-02 9.09292516e+01] [-7.54341895e-02 9.97077538e-01 -1.20857601e-02 -5.02279623e+00] [-8.22458389e-02 5.85757668e-03 9.96594858e-01 -9.83938887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.18771942099998 meters 0.07088548303489957 Centerline is valid? [True, True] Translation: X:90.99, Y:-4.99, Z:-9.85 [[ 9.92891274e-01 8.56271082e-02 8.26735571e-02 9.09940899e+01] [-8.48994969e-02 9.96313805e-01 -1.22832539e-02 -4.99059326e+00] [-8.34205858e-02 5.17699224e-03 9.96500981e-01 -9.84800736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.24771942099999 meters 0.06528783074861967 Centerline is valid? [True, True] Translation: X:91.06, Y:-4.97, Z:-9.85 [[ 9.91827835e-01 9.58874679e-02 8.41613915e-02 9.10579379e+01] [-9.51700694e-02 9.95382489e-01 -1.25043392e-02 -4.97244114e+00] [-8.49717848e-02 4.39250621e-03 9.96373676e-01 -9.85392026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.30771942099999 meters 0.06187249834509284 Centerline is valid? [True, True] Translation: X:91.12, Y:-4.95, Z:-9.87 [[ 9.91085935e-01 1.06540740e-01 7.99858766e-02 9.11196810e+01] [-1.05927369e-01 9.94302840e-01 -1.18850343e-02 -4.95389910e+00] [-8.07964246e-02 3.30639680e-03 9.96725140e-01 -9.86542752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.36771942099999 meters 0.05754077136945543 Centerline is valid? [True, True] Translation: X:91.18, Y:-4.94, Z:-9.87 [[ 9.90158278e-01 1.15473263e-01 7.90728167e-02 9.11814994e+01] [-1.14902422e-01 9.93307327e-01 -1.17468187e-02 -4.94391739e+00] [-7.99000516e-02 2.54555157e-03 9.96799630e-01 -9.87304126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.42771942099999 meters 0.05548613433518362 Centerline is valid? [True, True] Translation: X:91.24, Y:-4.94, Z:-9.88 [[ 9.89112012e-01 1.23839914e-01 7.95053707e-02 9.12414759e+01] [-1.23289568e-01 9.92300425e-01 -1.18131220e-02 -4.93660104e+00] [-8.03561492e-02 1.88231811e-03 9.96764439e-01 -9.88128369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.48771942099998 meters 0.05300790149816605 Centerline is valid? [True, True] Translation: X:91.30, Y:-4.93, Z:-9.89 [[ 9.88243640e-01 1.32690484e-01 7.59456624e-02 9.13024695e+01] [-1.32214555e-01 9.91156902e-01 -1.12830166e-02 -4.92543124e+00] [-7.67712164e-02 1.10924743e-03 9.97048118e-01 -9.88738199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.54771942099998 meters 0.05237739155115968 Centerline is valid? [True, True] Translation: X:91.36, Y:-4.93, Z:-9.90 [[ 9.87421266e-01 1.39427722e-01 7.45597308e-02 9.13607992e+01] [-1.38988673e-01 9.90232087e-01 -1.10707640e-02 -4.92633530e+00] [-7.53750093e-02 5.68549843e-04 9.97155096e-01 -9.89559872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.60771942099998 meters 0.05235935132185556 Centerline is valid? [True, True] Translation: X:91.42, Y:-4.94, Z:-9.90 [[ 9.87236276e-01 1.39385245e-01 7.70473165e-02 9.14175995e+01] [-1.38916785e-01 9.90238058e-01 -1.14330396e-02 -4.93756073e+00] [-7.78887822e-02 5.83945929e-04 9.96961883e-01 -9.90256026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.66771942099999 meters 0.05266016619970115 Centerline is valid? [True, True] Translation: X:91.48, Y:-4.95, Z:-9.91 [[ 9.87684320e-01 1.35836348e-01 7.76412956e-02 9.14751040e+01] [-1.35350213e-01 9.90730912e-01 -1.15143022e-02 -4.95082057e+00] [-7.84856924e-02 8.63729845e-04 9.96914866e-01 -9.90614846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.72771942099999 meters 0.05325068486487958 Centerline is valid? [True, True] Translation: X:91.53, Y:-4.97, Z:-9.92 [[ 9.88157753e-01 1.33401648e-01 7.58172534e-02 9.15298817e+01] [-1.32931442e-01 9.91061526e-01 -1.12376222e-02 -4.97471358e+00] [-7.66386801e-02 1.02604670e-03 9.97058403e-01 -9.91681045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.78771942099999 meters 0.05299244025645665 Centerline is valid? [True, True] Translation: X:91.59, Y:-4.99, Z:-9.92 [[ 9.88387264e-01 1.29688171e-01 7.91933993e-02 9.15870635e+01] [-1.29163721e-01 9.91553888e-01 -1.17312020e-02 -4.99425246e+00] [-8.00459210e-02 1.36605650e-03 9.96790241e-01 -9.91642018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.84771942099998 meters 0.05404750478520396 Centerline is valid? [True, True] Translation: X:91.64, Y:-5.01, Z:-9.93 [[ 9.88670278e-01 1.27894679e-01 7.85750099e-02 9.16425553e+01] [-1.27373339e-01 9.91786633e-01 -1.16321791e-02 -5.01319390e+00] [-7.94173383e-02 1.49202843e-03 9.96840338e-01 -9.92570780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.90771942099998 meters 0.053666784994033885 Centerline is valid? [True, True] Translation: X:91.70, Y:-5.03, Z:-9.93 [[ 9.88570901e-01 1.28892602e-01 7.81938047e-02 9.17004138e+01] [-1.28379851e-01 9.91657571e-01 -1.15704776e-02 -5.03001738e+00] [-7.90328273e-02 1.39972848e-03 9.96871031e-01 -9.93332888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.96771942099998 meters 0.052193918227692974 Centerline is valid? [True, True] Translation: X:91.76, Y:-5.03, Z:-9.94 [[ 9.87784372e-01 1.33903467e-01 7.96987837e-02 9.17608103e+01] [-1.33387153e-01 9.90993859e-01 -1.17915029e-02 -5.03302483e+00] [-8.05599283e-02 1.01666842e-03 9.96749248e-01 -9.93589411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.02771942099999 meters 0.05148580471082557 Centerline is valid? [True, True] Translation: X:91.82, Y:-5.04, Z:-9.94 [[ 9.87095372e-01 1.39475432e-01 7.86723024e-02 9.18189715e+01] [-1.38989993e-01 9.90225376e-01 -1.16398511e-02 -5.04161186e+00] [-7.95267835e-02 5.54980412e-04 9.96832575e-01 -9.94289239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.08771942099999 meters 0.05138962317577381 Centerline is valid? [True, True] Translation: X:91.88, Y:-5.06, Z:-9.95 [[ 9.87080176e-01 1.38658956e-01 8.02895967e-02 9.18759774e+01] [-1.38151205e-01 9.90339993e-01 -1.18719540e-02 -5.05762015e+00] [-8.11601513e-02 6.26465972e-04 9.96700877e-01 -9.94966797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.14771942099999 meters 0.05216180168565233 Centerline is valid? [True, True] Translation: X:91.93, Y:-5.07, Z:-9.96 [[ 9.87622710e-01 1.36776514e-01 7.67695767e-02 9.19336218e+01] [-1.36307332e-01 9.90601655e-01 -1.13433574e-02 -5.07332810e+00] [-7.75995746e-02 7.38701197e-04 9.96984333e-01 -9.96031214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.207719421 meters 0.05283632730940727 Centerline is valid? [True, True] Translation: X:91.99, Y:-5.09, Z:-9.97 [[ 9.87975073e-01 1.34648942e-01 7.59928770e-02 9.19899749e+01] [-1.34183059e-01 9.90892962e-01 -1.12269988e-02 -5.09170906e+00] [-7.68125105e-02 8.95038290e-04 9.97045153e-01 -9.96963674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.26771942099998 meters 0.05291917527376969 Centerline is valid? [True, True] Translation: X:92.05, Y:-5.11, Z:-9.97 [[ 9.88231196e-01 1.32250279e-01 7.68698016e-02 9.20484820e+01] [-1.31766490e-01 9.91215754e-01 -1.13543150e-02 -5.10971293e+00] [-7.76961697e-02 1.09182434e-03 9.96976486e-01 -9.97380187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.32771942099998 meters 0.05280563231181777 Centerline is valid? [True, True] Translation: X:92.11, Y:-5.12, Z:-9.98 [[ 9.88277457e-01 1.32056917e-01 7.66070450e-02 9.21086511e+01] [-1.31575956e-01 9.91241523e-01 -1.13142085e-02 -5.12051480e+00] [-7.74302034e-02 1.10193201e-03 9.96997166e-01 -9.97913143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.38771942099999 meters 0.051908171072545715 Centerline is valid? [True, True] Translation: X:92.17, Y:-5.13, Z:-9.98 [[ 9.87540602e-01 1.37158387e-01 7.71436080e-02 9.21688409e+01] [-1.36685820e-01 9.90548873e-01 -1.13980830e-02 -5.12512513e+00] [-7.79778566e-02 7.11632476e-04 9.96954837e-01 -9.98442845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.44771942099999 meters 0.05112886369877836 Centerline is valid? [True, True] Translation: X:92.23, Y:-5.13, Z:-9.99 [[ 9.86314951e-01 1.45830129e-01 7.69180783e-02 9.22291384e+01] [-1.45386516e-01 9.89309645e-01 -1.13660958e-02 -5.12611406e+00] [-7.77533159e-02 2.76987540e-05 9.96972628e-01 -9.98898523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.50771942099999 meters 0.05145744888110548 Centerline is valid? [True, True] Translation: X:92.29, Y:-5.13, Z:-9.99 [[ 9.84692744e-01 1.55395550e-01 7.89456953e-02 9.22888905e+01] [-1.54959043e-01 9.87852045e-01 -1.16632863e-02 -5.12541336e+00] [-7.97990893e-02 -7.48595979e-04 9.96810687e-01 -9.99376139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.56771942099999 meters 0.053035345756585535 Centerline is valid? [True, True] Translation: X:92.35, Y:-5.13, Z:-10.00 [[ 9.82980268e-01 1.64092705e-01 8.26037356e-02 9.23473248e+01] [-1.63645968e-01 9.86443737e-01 -1.21963566e-02 -5.12729659e+00] [-8.34852708e-02 -1.52899032e-03 9.96507838e-01 -9.99732694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.62771942099998 meters 0.05531388178399713 Centerline is valid? [True, True] Translation: X:92.41, Y:-5.14, Z:-10.01 [[ 9.82144616e-01 1.69890071e-01 8.08041908e-02 9.24052228e+01] [-1.69483017e-01 9.85461016e-01 -1.19202935e-02 -5.13896447e+00] [-8.16545195e-02 -1.98748599e-03 9.96658713e-01 -1.00073155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.68771942099998 meters 0.05587312792909419 Centerline is valid? [True, True] Translation: X:92.46, Y:-5.15, Z:-10.01 [[ 9.81629041e-01 1.73976844e-01 7.83357141e-02 9.24638433e+01] [-1.73607527e-01 9.84747153e-01 -1.15529948e-02 -5.15062569e+00] [-7.91508250e-02 -2.25891437e-03 9.96860093e-01 -1.00122332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.74771942099999 meters 0.06091673072199975 Centerline is valid? [True, True] Translation: X:92.52, Y:-5.16, Z:-10.02 [[ 9.79726318e-01 1.83947279e-01 7.93709045e-02 9.25222826e+01] [-1.83601023e-01 9.82931197e-01 -1.17015771e-02 -5.15921933e+00] [-8.01686115e-02 -3.10823624e-03 9.96776471e-01 -1.00197385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.80771942099999 meters 0.06475170376144672 Centerline is valid? [True, True] Translation: X:92.58, Y:-5.17, Z:-10.03 [[ 9.79493687e-01 1.86033382e-01 7.73543607e-02 9.25780811e+01] [-1.85711035e-01 9.82538227e-01 -1.14036653e-02 -5.17259568e+00] [-7.81250788e-02 -3.19574015e-03 9.96938443e-01 -1.00311500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.86771942099999 meters 0.06444754265901356 Centerline is valid? [True, True] Translation: X:92.64, Y:-5.19, Z:-10.04 [[ 9.79031734e-01 1.89290127e-01 7.52735770e-02 9.26366257e+01] [-1.88995158e-01 9.81915417e-01 -1.10880438e-02 -5.18674119e+00] [-7.60111429e-02 -3.37079485e-03 9.97101271e-01 -1.00358418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.92771942099999 meters 0.06621958072717536 Centerline is valid? [True, True] Translation: X:92.69, Y:-5.21, Z:-10.05 [[ 9.79139695e-01 1.90652662e-01 7.02639398e-02 9.26929549e+01] [-1.90399265e-01 9.81652193e-01 -1.03484877e-02 -5.20882089e+00] [-7.09477174e-02 -3.24558737e-03 9.97474755e-01 -1.00477423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.98771942099998 meters 0.06326519864251004 Centerline is valid? [True, True] Translation: X:92.75, Y:-5.24, Z:-10.05 [[ 9.80320120e-01 1.84269842e-01 7.08314108e-02 9.27494122e+01] [-1.83995862e-01 9.82871680e-01 -1.04298837e-02 -5.23744456e+00] [-7.15401008e-02 -2.80806163e-03 9.97433772e-01 -1.00523247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.04771942099998 meters 0.058397668372396974 Centerline is valid? [True, True] Translation: X:92.80, Y:-5.27, Z:-10.06 [[ 9.82595471e-01 1.71357942e-01 7.17118918e-02 9.28036844e+01] [-1.71042672e-01 9.85207027e-01 -1.05602223e-02 -5.27335786e+00] [-7.24606377e-02 -1.88936696e-03 9.97369483e-01 -1.00586814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.10771942099998 meters 0.054046276591351444 Centerline is valid? [True, True] Translation: X:92.86, Y:-5.31, Z:-10.06 [[ 9.84775753e-01 1.57351246e-01 7.38735505e-02 9.28589733e+01] [-1.56977524e-01 9.87542302e-01 -1.08746968e-02 -5.31402289e+00] [-7.46644032e-02 -8.87349285e-04 9.97208323e-01 -1.00625705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.16771942099999 meters 0.05351268668713155 Centerline is valid? [True, True] Translation: X:92.92, Y:-5.35, Z:-10.07 [[ 9.86366567e-01 1.48089534e-01 7.17668869e-02 9.29157994e+01] [-1.47713099e-01 9.88973940e-01 -1.05539885e-02 -5.34596252e+00] [-7.25385161e-02 -1.90807908e-04 9.97365594e-01 -1.00724690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.22771942099999 meters 0.053146779861344196 Centerline is valid? [True, True] Translation: X:92.98, Y:-5.37, Z:-10.07 [[ 9.87411729e-01 1.40850201e-01 7.19673455e-02 9.29762580e+01] [-1.40450934e-01 9.90030853e-01 -1.06040512e-02 -5.36986619e+00] [-7.27434751e-02 3.62683603e-04 9.97350618e-01 -1.00744696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.28771942099999 meters 0.05395208136896504 Centerline is valid? [True, True] Translation: X:93.04, Y:-5.39, Z:-10.08 [[ 9.88284497e-01 1.34959021e-01 7.12728299e-02 9.30359088e+01] [-1.34550224e-01 9.90850846e-01 -1.05279926e-02 -5.38861583e+00] [-7.20415913e-02 8.14876616e-04 9.97401296e-01 -1.00808125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.34771942099998 meters 0.05354240037800303 Centerline is valid? [True, True] Translation: X:93.10, Y:-5.40, Z:-10.08 [[ 9.88515576e-01 1.31528054e-01 7.44132136e-02 9.30974373e+01] [-1.31070409e-01 9.91311791e-01 -1.10218309e-02 -5.40382635e+00] [-7.52163760e-02 1.14188118e-03 9.97166582e-01 -1.00800562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.40771942099998 meters 0.05539314831876976 Centerline is valid? [True, True] Translation: X:93.16, Y:-5.41, Z:-10.09 [[ 9.88935579e-01 1.29025010e-01 7.32049750e-02 9.31568025e+01] [-1.28575110e-01 9.91640471e-01 -1.08451643e-02 -5.41496218e+00] [-7.39923133e-02 1.31283110e-03 9.97257948e-01 -1.00938809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.46771942099998 meters 0.05646369381588578 Centerline is valid? [True, True] Translation: X:93.22, Y:-5.43, Z:-10.10 [[ 9.89202353e-01 1.26524402e-01 7.39613395e-02 9.32172454e+01] [-1.26056511e-01 9.91962304e-01 -1.09792512e-02 -5.42816285e+00] [-7.47560039e-02 1.53739268e-03 9.97200670e-01 -1.01006213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.52771942099999 meters 0.05556237449736119 Centerline is valid? [True, True] Translation: X:93.28, Y:-5.43, Z:-10.10 [[ 9.89316415e-01 1.26122707e-01 7.31169876e-02 9.32788984e+01] [-1.25662888e-01 9.92013407e-01 -1.08737865e-02 -5.43469198e+00] [-7.39044634e-02 1.56952369e-03 9.97264091e-01 -1.01041128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.58771942099999 meters 0.05594349715923818 Centerline is valid? [True, True] Translation: X:93.34, Y:-5.44, Z:-10.11 [[ 9.89484275e-01 1.25787585e-01 7.14027574e-02 9.33400431e+01] [-1.25346705e-01 9.92055943e-01 -1.06400395e-02 -5.44314399e+00] [-7.21739146e-02 1.57805138e-03 9.97390814e-01 -1.01111728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.64771942099999 meters 0.05523970297746395 Centerline is valid? [True, True] Translation: X:93.40, Y:-5.44, Z:-10.12 [[ 9.89107407e-01 1.27541564e-01 7.34825619e-02 9.34027887e+01] [-1.27077666e-01 9.91832068e-01 -1.09733855e-02 -5.44347653e+00] [-7.42819241e-02 1.51586439e-03 9.97236129e-01 -1.01158989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.707719421 meters 0.05450986542365608 Centerline is valid? [True, True] Translation: X:93.46, Y:-5.44, Z:-10.13 [[ 9.88466608e-01 1.33894451e-01 7.07533816e-02 9.34649281e+01] [-1.33479184e-01 9.90995073e-01 -1.05864202e-02 -5.44233829e+00] [-7.15337155e-02 1.02021928e-03 9.97437661e-01 -1.01282174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.76771942099998 meters 0.05230521486513469 Centerline is valid? [True, True] Translation: X:93.53, Y:-5.43, Z:-10.13 [[ 9.86213915e-01 1.47987871e-01 7.40385311e-02 9.35290525e+01] [-1.47570173e-01 9.88989175e-01 -1.11110277e-02 -5.42787976e+00] [-7.48676032e-02 3.19712462e-05 9.97193482e-01 -1.01294780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.82771942099998 meters 0.05432354513905632 Centerline is valid? [True, True] Translation: X:93.59, Y:-5.41, Z:-10.13 [[ 9.83280152e-01 1.66600076e-01 7.35157009e-02 9.35933489e+01] [-1.66239932e-01 9.86023597e-01 -1.10341191e-02 -5.40847507e+00] [-7.43265009e-02 -1.37161477e-03 9.97233017e-01 -1.01341720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.88771942099999 meters 0.058029617664943696 Centerline is valid? [True, True] Translation: X:93.65, Y:-5.41, Z:-10.15 [[ 9.81575211e-01 1.77241338e-01 7.13835613e-02 9.36532923e+01] [-1.76929666e-01 9.84165155e-01 -1.07163906e-02 -5.40914999e+00] [-7.21526011e-02 -2.11092635e-03 9.97391371e-01 -1.01454290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.94771942099999 meters 0.05831226409669217 Centerline is valid? [True, True] Translation: X:93.71, Y:-5.41, Z:-10.15 [[ 9.80690018e-01 1.79465919e-01 7.77114758e-02 9.37122844e+01] [-1.79103294e-01 9.83761077e-01 -1.16684600e-02 -5.41490301e+00] [-7.85436160e-02 -2.47523906e-03 9.96907605e-01 -1.01458286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.00771942099999 meters 0.05930659174298779 Centerline is valid? [True, True] Translation: X:93.77, Y:-5.43, Z:-10.15 [[ 9.80021771e-01 1.82903179e-01 7.81265350e-02 9.37713522e+01] [-1.82548069e-01 9.83127023e-01 -1.17242678e-02 -5.42564068e+00] [-7.89527137e-02 -2.77181041e-03 9.96874509e-01 -1.01503225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.06771942099999 meters 0.06158524667916617 Centerline is valid? [True, True] Translation: X:93.83, Y:-5.44, Z:-10.16 [[ 9.79738850e-01 1.86407315e-01 7.32400131e-02 9.38293312e+01] [-1.86105197e-01 9.82468375e-01 -1.09885288e-02 -5.44093770e+00] [-7.40043388e-02 -2.86445848e-03 9.97253806e-01 -1.01635369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.12771942099998 meters 0.06398687211621121 Centerline is valid? [True, True] Translation: X:93.89, Y:-5.45, Z:-10.17 [[ 9.79265083e-01 1.89712668e-01 7.10563259e-02 9.38879329e+01] [-1.89436881e-01 9.81835009e-01 -1.06621970e-02 -5.45010176e+00] [-7.17883423e-02 -3.01957152e-03 9.97415318e-01 -1.01737511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.18771942099998 meters 0.062070300830029915 Centerline is valid? [True, True] Translation: X:93.95, Y:-5.47, Z:-10.17 [[ 9.78961666e-01 1.90605952e-01 7.28246412e-02 9.39453862e+01] [-1.90318788e-01 9.81661533e-01 -1.09267050e-02 -5.47069297e+00] [-7.35718440e-02 -3.16307217e-03 9.97284904e-01 -1.01747815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.24771942099999 meters 0.06056366640457192 Centerline is valid? [True, True] Translation: X:94.00, Y:-5.50, Z:-10.18 [[ 9.79863117e-01 1.85237710e-01 7.45336411e-02 9.40009459e+01] [-1.84921791e-01 9.82689667e-01 -1.11780531e-02 -5.49904042e+00] [-7.53140360e-02 -2.82993247e-03 9.97155849e-01 -1.01823256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.30771942099999 meters 0.058293783499365974 Centerline is valid? [True, True] Translation: X:94.06, Y:-5.52, Z:-10.19 [[ 9.81432016e-01 1.77146445e-01 7.35549733e-02 9.40578695e+01] [-1.76816071e-01 9.84182091e-01 -1.10312791e-02 -5.51781668e+00] [-7.43456393e-02 -2.17925089e-03 9.97230152e-01 -1.01923616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.36771942099999 meters 0.05493526326138491 Centerline is valid? [True, True] Translation: X:94.11, Y:-5.55, Z:-10.20 [[ 9.83126252e-01 1.66966437e-01 7.47327281e-02 9.41135575e+01] [-1.66595977e-01 9.85961541e-01 -1.12080347e-02 -5.55117227e+00] [-7.55549614e-02 -1.43125874e-03 9.97140612e-01 -1.01987961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.42771942099999 meters 0.052559288835052315 Centerline is valid? [True, True] Translation: X:94.17, Y:-5.58, Z:-10.20 [[ 9.85053792e-01 1.55736161e-01 7.35885530e-02 9.41709526e+01] [-1.55345766e-01 9.87798528e-01 -1.10345150e-02 -5.58057943e+00] [-7.44091373e-02 -5.62079335e-04 9.97227639e-01 -1.02030602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.48771942099998 meters 0.052234320394271276 Centerline is valid? [True, True] Translation: X:94.23, Y:-5.59, Z:-10.21 [[ 9.84656561e-01 1.56967305e-01 7.62412071e-02 9.42323300e+01] [-1.56552255e-01 9.87603563e-01 -1.14277492e-02 -5.59043289e+00] [-7.70898708e-02 -6.83324637e-04 9.97023914e-01 -1.02073038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.54771942099998 meters 0.05371291183924423 Centerline is valid? [True, True] Translation: X:94.29, Y:-5.59, Z:-10.22 [[ 9.83333307e-01 1.64975207e-01 7.64119620e-02 9.42938750e+01] [-1.64579991e-01 9.86296880e-01 -1.14843998e-02 -5.59413076e+00] [-7.72595209e-02 -1.28288723e-03 9.97010191e-01 -1.02156681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.60771942099998 meters 0.056787963092272895 Centerline is valid? [True, True] Translation: X:94.35, Y:-5.59, Z:-10.23 [[ 9.81717186e-01 1.75559911e-01 7.35532750e-02 9.43542928e+01] [-1.75222668e-01 9.84466663e-01 -1.10637469e-02 -5.59105411e+00] [-7.43530976e-02 -2.02673061e-03 9.97229918e-01 -1.02276913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.66771942099999 meters 0.061197257517104614 Centerline is valid? [True, True] Translation: X:94.42, Y:-5.59, Z:-10.24 [[ 9.79923732e-01 1.85640048e-01 7.27134909e-02 9.44152903e+01] [-1.85338079e-01 9.82613944e-01 -1.09376971e-02 -5.58829944e+00] [-7.34797647e-02 -2.75846978e-03 9.97292893e-01 -1.02353008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.72771942099999 meters 0.06449477009985562 Centerline is valid? [True, True] Translation: X:94.48, Y:-5.60, Z:-10.24 [[ 9.78498324e-01 1.93163523e-01 7.23110237e-02 9.44751430e+01] [-1.92885317e-01 9.81161014e-01 -1.08774358e-02 -5.59783604e+00] [-7.30498812e-02 -3.30418204e-03 9.97322815e-01 -1.02419013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.78771942099999 meters 0.06748148871878437 Centerline is valid? [True, True] Translation: X:94.53, Y:-5.60, Z:-10.25 [[ 9.77485972e-01 1.97721749e-01 7.36701084e-02 9.45348335e+01] [-1.97446086e-01 9.80251141e-01 -1.10789947e-02 -5.59956116e+00] [-7.44057661e-02 -3.71631269e-03 9.97221124e-01 -1.02485783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.84771942099998 meters 0.06465887747351928 Centerline is valid? [True, True] Translation: X:94.59, Y:-5.62, Z:-10.25 [[ 9.77686824e-01 1.96204307e-01 7.50489405e-02 9.45934226e+01] [-1.95913056e-01 9.80556209e-01 -1.12957953e-02 -5.62390417e+00] [-7.58059883e-02 -3.65931703e-03 9.97115872e-01 -1.02522712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.90771942099998 meters 0.06341825808346953 Centerline is valid? [True, True] Translation: X:94.65, Y:-5.65, Z:-10.26 [[ 9.79212391e-01 1.88457653e-01 7.50120456e-02 9.46491816e+01] [-1.88143597e-01 9.82076574e-01 -1.12955840e-02 -5.64725742e+00] [-7.57963120e-02 -3.05226022e-03 9.97118650e-01 -1.02635096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.96771942099998 meters 0.0588382346992856 Centerline is valid? [True, True] Translation: X:94.71, Y:-5.68, Z:-10.27 [[ 9.81290796e-01 1.77724414e-01 7.40432778e-02 9.47057497e+01] [-1.77388095e-01 9.84077848e-01 -1.11469093e-02 -5.67738497e+00] [-7.48454274e-02 -2.19603648e-03 9.97192729e-01 -1.02725122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.02771942099999 meters 0.0561987397423373 Centerline is valid? [True, True] Translation: X:94.76, Y:-5.70, Z:-10.28 [[ 9.82239537e-01 1.72449680e-01 7.39364516e-02 9.47644852e+01] [-1.72099399e-01 9.85016700e-01 -1.11309236e-02 -5.70169983e+00] [-7.47481638e-02 -1.79118564e-03 9.97200834e-01 -1.02783725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.08771942099999 meters 0.05328107557752373 Centerline is valid? [True, True] Translation: X:94.82, Y:-5.73, Z:-10.28 [[ 9.83631002e-01 1.64007431e-01 7.46432473e-02 9.48226783e+01] [-1.63625759e-01 9.86458427e-01 -1.12420434e-02 -5.73043682e+00] [-7.54762389e-02 -1.15553556e-03 9.97146931e-01 -1.02818146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.14771942099999 meters 0.052279248264039985 Centerline is valid? [True, True] Translation: X:94.88, Y:-5.75, Z:-10.29 [[ 9.84895199e-01 1.56620461e-01 7.38341276e-02 9.48820222e+01] [-1.56226504e-01 9.87658690e-01 -1.11171593e-02 -5.74983343e+00] [-7.46640924e-02 -5.85610815e-04 9.97208569e-01 -1.02899851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.20771942099998 meters 0.05181406225961752 Centerline is valid? [True, True] Translation: X:94.94, Y:-5.78, Z:-10.29 [[ 9.86439979e-01 1.45336189e-01 7.62466991e-02 9.49411199e+01] [-1.44880488e-01 9.89382283e-01 -1.15040398e-02 -5.77603409e+00] [-7.71090865e-02 3.01385814e-04 9.97022617e-01 -1.02928812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.26771942099998 meters 0.05259140727194087 Centerline is valid? [True, True] Translation: X:95.00, Y:-5.79, Z:-10.30 [[ 9.87181932e-01 1.39627702e-01 7.73041968e-02 9.50008929e+01] [-1.39139571e-01 9.90203761e-01 -1.16915479e-02 -5.78975333e+00] [-7.81793704e-02 7.85612105e-04 9.96939000e-01 -1.03000441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.32771942099998 meters 0.05273026087979165 Centerline is valid? [True, True] Translation: X:95.06, Y:-5.80, Z:-10.30 [[ 9.87363461e-01 1.36516345e-01 8.04778486e-02 9.50622589e+01] [-1.35976061e-01 9.90637224e-01 -1.21819677e-02 -5.79901515e+00] [-8.13873903e-02 1.08496894e-03 9.96681953e-01 -1.03021629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.38771942099999 meters 0.05342585525784843 Centerline is valid? [True, True] Translation: X:95.12, Y:-5.81, Z:-10.31 [[ 9.87441140e-01 1.37228220e-01 7.82841708e-02 9.51214765e+01] [-1.36717125e-01 9.90538927e-01 -1.18769835e-02 -5.80711915e+00] [-7.91733758e-02 1.02503540e-03 9.96860334e-01 -1.03138099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.44771942099999 meters 0.052707275959828735 Centerline is valid? [True, True] Translation: X:95.18, Y:-5.80, Z:-10.32 [[ 9.86830720e-01 1.43487275e-01 7.46761831e-02 9.51845709e+01] [-1.43039720e-01 9.89652034e-01 -1.13353896e-02 -5.80380819e+00] [-7.55299206e-02 5.04450347e-04 9.97143408e-01 -1.03236144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.50771942099999 meters 0.051906468701479073 Centerline is valid? [True, True] Translation: X:95.25, Y:-5.80, Z:-10.33 [[ 9.85438903e-01 1.53311537e-01 7.35237467e-02 9.52479294e+01] [-1.52903451e-01 9.88177880e-01 -1.11808766e-02 -5.79693940e+00] [-7.43686976e-02 -2.23963876e-04 9.97230789e-01 -1.03277389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.56771942099999 meters 0.053968405902376684 Centerline is valid? [True, True] Translation: X:95.31, Y:-5.79, Z:-10.34 [[ 9.83313151e-01 1.67164841e-01 7.17715960e-02 9.53106046e+01] [-1.66810431e-01 9.85928220e-01 -1.09464387e-02 -5.78578078e+00] [-7.25915016e-02 -1.20847379e-03 9.97361025e-01 -1.03359318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.62771942099998 meters 0.05619691673796239 Centerline is valid? [True, True] Translation: X:95.37, Y:-5.78, Z:-10.34 [[ 9.81125563e-01 1.78263693e-01 7.49312034e-02 9.53738382e+01] [-1.77910100e-01 9.83980458e-01 -1.14217176e-02 -5.78176179e+00] [-7.57669174e-02 -2.12487871e-03 9.97123292e-01 -1.03368703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.68771942099998 meters 0.0597914042178851 Centerline is valid? [True, True] Translation: X:95.43, Y:-5.78, Z:-10.35 [[ 9.79825039e-01 1.85258733e-01 7.49806239e-02 9.54344758e+01] [-1.84922748e-01 9.82686241e-01 -1.14598872e-02 -5.77914090e+00] [-7.58054716e-02 -2.63693854e-03 9.97119139e-01 -1.03462746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.74771942099999 meters 0.06020107608474667 Centerline is valid? [True, True] Translation: X:95.50, Y:-5.79, Z:-10.35 [[ 9.78703088e-01 1.90415922e-01 7.66944683e-02 9.54957663e+01] [-1.90080370e-01 9.81698586e-01 -1.17191790e-02 -5.79004399e+00] [-7.75223694e-02 -3.10851629e-03 9.96985767e-01 -1.03472487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.80771942099999 meters 0.061490637049789555 Centerline is valid? [True, True] Translation: X:95.56, Y:-5.80, Z:-10.35 [[ 9.78179528e-01 1.92980850e-01 7.69623482e-02 9.55554832e+01] [-1.92650776e-01 9.81196899e-01 -1.17611495e-02 -5.80407673e+00] [-7.77848940e-02 -3.32234047e-03 9.96964629e-01 -1.03547301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.86771942099999 meters 0.061950640891539156 Centerline is valid? [True, True] Translation: X:95.62, Y:-5.82, Z:-10.37 [[ 9.78183643e-01 1.93645791e-01 7.52201317e-02 9.56157732e+01] [-1.93330922e-01 9.81066032e-01 -1.15150422e-02 -5.81580515e+00] [-7.60257556e-02 -3.27855141e-03 9.97100464e-01 -1.03661264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.92771942099999 meters 0.05958021707190232 Centerline is valid? [True, True] Translation: X:95.67, Y:-5.84, Z:-10.37 [[ 9.79589788e-01 1.87344899e-01 7.28404820e-02 9.56736130e+01] [-1.87030040e-01 9.82290566e-01 -1.11807357e-02 -5.84031739e+00] [-7.36451720e-02 -2.67082368e-03 9.97280931e-01 -1.03747406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.98771942099998 meters 0.05628935083348732 Centerline is valid? [True, True] Translation: X:95.73, Y:-5.87, Z:-10.38 [[ 9.80629186e-01 1.79975097e-01 7.73004723e-02 9.57314341e+01] [-1.79597226e-01 9.83668610e-01 -1.18701993e-02 -5.86735544e+00] [-7.81743884e-02 -2.24268653e-03 9.96937177e-01 -1.03750977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.04771942099998 meters 0.053381946209931565 Centerline is valid? [True, True] Translation: X:95.79, Y:-5.89, Z:-10.39 [[ 9.82785719e-01 1.69299047e-01 7.39598819e-02 9.57890479e+01] [-1.68923007e-01 9.85563826e-01 -1.13561216e-02 -5.89175110e+00] [-7.48147648e-02 -1.33289153e-03 9.97196558e-01 -1.03867146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.10771942099998 meters 0.051662553378665314 Centerline is valid? [True, True] Translation: X:95.85, Y:-5.92, Z:-10.39 [[ 9.84522158e-01 1.58117724e-01 7.55969952e-02 9.58475358e+01] [-1.57691650e-01 9.87420146e-01 -1.16102777e-02 -5.91778910e+00] [-7.64817867e-02 -4.90439328e-04 9.97070858e-01 -1.03903682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.16771942099999 meters 0.051044180844647256 Centerline is valid? [True, True] Translation: X:95.91, Y:-5.94, Z:-10.39 [[ 9.85538848e-01 1.51053078e-01 7.67863687e-02 9.59076060e+01] [-1.50592219e-01 9.88525652e-01 -1.17906380e-02 -5.93826578e+00] [-7.76863073e-02 5.67021940e-05 9.96977851e-01 -1.03922985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.22771942099999 meters 0.050886871159203706 Centerline is valid? [True, True] Translation: X:95.97, Y:-5.94, Z:-10.40 [[ 9.85343085e-01 1.50789539e-01 7.97591326e-02 9.59687428e+01] [-1.50289154e-01 9.88565882e-01 -1.22746479e-02 -5.94070184e+00] [-8.06980457e-02 1.07806850e-04 9.96738588e-01 -1.03986164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.28771942099999 meters 0.051142352740003935 Centerline is valid? [True, True] Translation: X:96.03, Y:-5.95, Z:-10.41 [[ 9.85170003e-01 1.53170932e-01 7.73222588e-02 9.60298448e+01] [-1.52706374e-01 9.88199707e-01 -1.19206360e-02 -5.94631011e+00] [-7.82357284e-02 -6.37487549e-05 9.96934886e-01 -1.04088753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.34771942099998 meters 0.05184527987422857 Centerline is valid? [True, True] Translation: X:96.09, Y:-5.95, Z:-10.42 [[ 9.85611002e-01 1.52965147e-01 7.19209049e-02 9.60895921e+01] [-1.52560605e-01 9.88231584e-01 -1.11174756e-02 -5.95278452e+00] [-7.27750961e-02 -1.47904853e-05 9.97348377e-01 -1.04203704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.40771942099998 meters 0.05172773875656021 Centerline is valid? [True, True] Translation: X:96.15, Y:-5.95, Z:-10.42 [[ 9.84825914e-01 1.57369455e-01 7.31626491e-02 9.61527367e+01] [-1.56963533e-01 9.87539736e-01 -1.13013319e-02 -5.95151756e+00] [-7.40295076e-02 -3.54023395e-04 9.97255989e-01 -1.04249094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.46771942099998 meters 0.05239111642986962 Centerline is valid? [True, True] Translation: X:96.21, Y:-5.95, Z:-10.43 [[ 9.83534792e-01 1.63770705e-01 7.64098772e-02 9.62148949e+01] [-1.63345120e-01 9.86498069e-01 -1.18293013e-02 -5.94688844e+00] [-7.73154893e-02 -8.46651129e-04 9.97006318e-01 -1.04311576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.52771942099999 meters 0.053808166160023096 Centerline is valid? [True, True] Translation: X:96.28, Y:-5.95, Z:-10.44 [[ 9.82240423e-01 1.71993373e-01 7.49802002e-02 9.62767827e+01] [-1.71605292e-01 9.85097058e-01 -1.16365415e-02 -5.94781483e+00] [-7.58641827e-02 -1.43711772e-03 9.97117125e-01 -1.04364180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.58771942099999 meters 0.05578199732628053 Centerline is valid? [True, True] Translation: X:96.34, Y:-5.95, Z:-10.44 [[ 9.80857789e-01 1.78636180e-01 7.75055708e-02 9.63386554e+01] [-1.78242135e-01 9.83913131e-01 -1.20287670e-02 -5.94667960e+00] [-7.84075219e-02 -2.01624860e-03 9.96919352e-01 -1.04417570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.64771942099999 meters 0.05639733894047365 Centerline is valid? [True, True] Translation: X:96.40, Y:-5.95, Z:-10.44 [[ 9.79848434e-01 1.83297260e-01 7.93672498e-02 9.64008572e+01] [-1.82898573e-01 9.83054510e-01 -1.23264649e-02 -5.95416492e+00] [-8.02817401e-02 -2.43808943e-03 9.96769230e-01 -1.04441990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.70771942099998 meters 0.05876537882509412 Centerline is valid? [True, True] Translation: X:96.46, Y:-5.96, Z:-10.46 [[ 9.79490750e-01 1.87082570e-01 7.48196681e-02 9.64587954e+01] [-1.86736934e-01 9.82340859e-01 -1.16513818e-02 -5.96254438e+00] [-7.56781875e-02 -2.55917477e-03 9.97129010e-01 -1.04581741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.76771942099998 meters 0.05830566145146148 Centerline is valid? [True, True] Translation: X:96.52, Y:-5.98, Z:-10.47 [[ 9.79646059e-01 1.87076499e-01 7.27734983e-02 9.65176406e+01] [-1.86750229e-01 9.82342172e-01 -1.13229298e-02 -5.98181271e+00] [-7.36067305e-02 -2.49800388e-03 9.97284217e-01 -1.04668866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.82771942099998 meters 0.05641752705336395 Centerline is valid? [True, True] Translation: X:96.58, Y:-6.01, Z:-10.47 [[ 9.80711041e-01 1.81015866e-01 7.37503291e-02 9.65752548e+01] [-1.80661368e-01 9.83478060e-01 -1.15054978e-02 -6.00599036e+00] [-7.46145082e-02 -2.04026664e-03 9.97210365e-01 -1.04721539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.88771942099999 meters 0.05367545509401479 Centerline is valid? [True, True] Translation: X:96.63, Y:-6.03, Z:-10.48 [[ 9.81848509e-01 1.73712810e-01 7.61404248e-02 9.66334002e+01] [-1.73312868e-01 9.84795163e-01 -1.18800776e-02 -6.02782961e+00] [-7.70464437e-02 -1.53167895e-03 9.97026328e-01 -1.04764648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.94771942099999 meters 0.05184170520879957 Centerline is valid? [True, True] Translation: X:96.69, Y:-6.05, Z:-10.48 [[ 9.82910204e-01 1.65347324e-01 8.09184376e-02 9.66908982e+01] [-1.64867005e-01 9.86234962e-01 -1.26281511e-02 -6.05195176e+00] [-8.18926233e-02 -9.28441875e-04 9.96640726e-01 -1.04778764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.00771942099999 meters 0.05105054590023261 Centerline is valid? [True, True] Translation: X:96.75, Y:-6.07, Z:-10.48 [[ 9.84409807e-01 1.56547627e-01 8.01883598e-02 9.67500069e+01] [-1.56047438e-01 9.87670390e-01 -1.25058962e-02 -6.07213906e+00] [-8.11574369e-02 -2.02261268e-04 9.96701274e-01 -1.04849308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.06771942099999 meters 0.05149931701807045 Centerline is valid? [True, True] Translation: X:96.81, Y:-6.09, Z:-10.49 [[ 9.85143814e-01 1.53147136e-01 7.77021289e-02 9.68093393e+01] [-1.52665092e-01 9.88203393e-01 -1.21418487e-02 -6.09016324e+00] [-7.86449968e-02 9.90644796e-05 9.96902681e-01 -1.04931946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.12771942099998 meters 0.05120371153664167 Centerline is valid? [True, True] Translation: X:96.87, Y:-6.09, Z:-10.50 [[ 9.83607467e-01 1.61342278e-01 8.05296232e-02 9.68711743e+01] [-1.60849653e-01 9.86898357e-01 -1.26103850e-02 -6.09128232e+00] [-8.15091411e-02 -5.49493079e-04 9.96672443e-01 -1.04966866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.18771942099998 meters 0.05274362132837806 Centerline is valid? [True, True] Translation: X:96.93, Y:-6.09, Z:-10.50 [[ 9.81672621e-01 1.72447288e-01 8.11221136e-02 9.69333222e+01] [-1.71982943e-01 9.85017673e-01 -1.27299382e-02 -6.09123966e+00] [-8.21019589e-02 -1.45498809e-03 9.96622873e-01 -1.05027439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.24771942099999 meters 0.05613219089012188 Centerline is valid? [True, True] Translation: X:96.99, Y:-6.09, Z:-10.51 [[ 9.79453049e-01 1.85018609e-01 8.02486122e-02 9.69944751e+01] [-1.84605019e-01 9.82731924e-01 -1.26076280e-02 -6.08855763e+00] [-8.11955188e-02 -2.46571684e-03 9.96695143e-01 -1.05101320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.30771942099999 meters 0.0597258748424522 Centerline is valid? [True, True] Translation: X:97.05, Y:-6.09, Z:-10.52 [[ 9.78928466e-01 1.88947460e-01 7.74462154e-02 9.70540395e+01] [-1.88574463e-01 9.81983507e-01 -1.21681781e-02 -6.08946808e+00] [-7.83500525e-02 -2.69260257e-03 9.96922273e-01 -1.05229632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.36771942099999 meters 0.06281543770442764 Centerline is valid? [True, True] Translation: X:97.11, Y:-6.10, Z:-10.53 [[ 9.77294999e-01 1.98114486e-01 7.51341202e-02 9.71141084e+01] [-1.97790480e-01 9.80173247e-01 -1.18038539e-02 -6.09687563e+00] [-7.59829690e-02 -3.32496636e-03 9.97103572e-01 -1.05298687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.42771942099999 meters 0.0660193407011434 Centerline is valid? [True, True] Translation: X:97.17, Y:-6.10, Z:-10.54 [[ 9.76061005e-01 2.03908720e-01 7.56713170e-02 9.71745782e+01] [-2.03597162e-01 9.78982530e-01 -1.18912131e-02 -6.10397405e+00] [-7.65056194e-02 -3.79991599e-03 9.97061909e-01 -1.05358493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.48771942099998 meters 0.06696195847991575 Centerline is valid? [True, True] Translation: X:97.24, Y:-6.12, Z:-10.55 [[ 9.75965965e-01 2.04319776e-01 7.57882888e-02 9.72359516e+01] [-2.04009104e-01 9.78896643e-01 -1.19015863e-02 -6.11576274e+00] [-7.66206310e-02 -3.84595771e-03 9.97052901e-01 -1.05460451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.54771942099998 meters 0.059470295585356533 Centerline is valid? [True, True] Translation: X:97.29, Y:-6.16, Z:-10.55 [[ 9.78560871e-01 1.90835410e-01 7.74626936e-02 9.72911362e+01] [-1.90465814e-01 9.81618012e-01 -1.22004948e-02 -6.15681516e+00] [-7.83670618e-02 -2.81506812e-03 9.96920598e-01 -1.05487734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.60771942099998 meters 0.055106804629147674 Centerline is valid? [True, True] Translation: X:97.35, Y:-6.19, Z:-10.55 [[ 9.80622574e-01 1.79895845e-01 7.75683758e-02 9.73474675e+01] [-1.79491004e-01 9.83683747e-01 -1.22174585e-02 -6.18709878e+00] [-7.85006205e-02 -1.94211009e-03 9.96912173e-01 -1.05534745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.66771942099999 meters 0.05302079175427659 Centerline is valid? [True, True] Translation: X:97.40, Y:-6.21, Z:-10.56 [[ 9.82890301e-01 1.67652884e-01 7.62834590e-02 9.74029257e+01] [-1.67224287e-01 9.85845636e-01 -1.20174742e-02 -6.21219437e+00] [-7.72184794e-02 -9.44588235e-04 9.97013748e-01 -1.05647579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.72771942099999 meters 0.05258089086574895 Centerline is valid? [True, True] Translation: X:97.46, Y:-6.24, Z:-10.57 [[ 9.83923075e-01 1.61784621e-01 7.56380825e-02 9.74613273e+01] [-1.61346774e-01 9.86825970e-01 -1.19047372e-02 -6.23557052e+00] [-7.65676276e-02 -4.90615017e-04 9.97064270e-01 -1.05712736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.78771942099999 meters 0.052580776967789504 Centerline is valid? [True, True] Translation: X:97.52, Y:-6.25, Z:-10.58 [[ 9.84086554e-01 1.60777269e-01 7.56592604e-02 9.75229813e+01] [-1.60334616e-01 9.86990636e-01 -1.19287292e-02 -6.24601914e+00] [-7.65928501e-02 -3.91896490e-04 9.97062376e-01 -1.05801160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.84771942099998 meters 0.05237080841721943 Centerline is valid? [True, True] Translation: X:97.58, Y:-6.25, Z:-10.58 [[ 9.83730450e-01 1.63886779e-01 7.35902578e-02 9.75844617e+01] [-1.63475021e-01 9.86478976e-01 -1.16252595e-02 -6.25407461e+00] [-7.45004686e-02 -5.94047220e-04 9.97220802e-01 -1.05833168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.90771942099998 meters 0.053955317352038464 Centerline is valid? [True, True] Translation: X:97.65, Y:-6.25, Z:-10.59 [[ 9.80943288e-01 1.78148591e-01 7.75457604e-02 9.76476079e+01] [-1.77733565e-01 9.84002060e-01 -1.22770479e-02 -6.25060724e+00] [-7.84923267e-02 -1.73939670e-03 9.96913200e-01 -1.05851334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.96771942099998 meters 0.05432834105054458 Centerline is valid? [True, True] Translation: X:97.71, Y:-6.26, Z:-10.59 [[ 9.79676525e-01 1.81252384e-01 8.59155379e-02 9.77078114e+01] [-1.80751799e-01 9.83434217e-01 -1.36355071e-02 -6.25617099e+00] [-8.69637480e-02 -2.17100183e-03 9.96209111e-01 -1.05855576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.02771942099999 meters 0.05361359486411368 Centerline is valid? [True, True] Translation: X:97.77, Y:-6.27, Z:-10.59 [[ 9.79842807e-01 1.80911069e-01 8.47305045e-02 9.77687632e+01] [-1.80423405e-01 9.83497182e-01 -1.34420412e-02 -6.27256457e+00] [-8.57640264e-02 -2.11627871e-03 9.96313230e-01 -1.05927968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.08771942099999 meters 0.05507936490057837 Centerline is valid? [True, True] Translation: X:97.83, Y:-6.28, Z:-10.61 [[ 9.80115704e-01 1.81343680e-01 8.05461118e-02 9.78279299e+01] [-1.80902173e-01 9.83417711e-01 -1.28066589e-02 -6.28155034e+00] [-8.15328795e-02 -2.01895915e-03 9.96668608e-01 -1.06081790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.14771942099999 meters 0.055931619988418786 Centerline is valid? [True, True] Translation: X:97.89, Y:-6.30, Z:-10.62 [[ 9.79492610e-01 1.86172820e-01 7.70318654e-02 9.78869307e+01] [-1.85781740e-01 9.82514351e-01 -1.22757749e-02 -6.29553209e+00] [-7.79703289e-02 -2.28708324e-03 9.96953057e-01 -1.06166663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.20771942099998 meters 0.05649175208721197 Centerline is valid? [True, True] Translation: X:97.95, Y:-6.31, Z:-10.63 [[ 9.79284903e-01 1.87779733e-01 7.57618052e-02 9.79467915e+01] [-1.87406749e-01 9.82208278e-01 -1.20668642e-02 -6.30823699e+00] [-7.66797848e-02 -2.38137573e-03 9.97052927e-01 -1.06255051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.26771942099998 meters 0.05694200738423364 Centerline is valid? [True, True] Translation: X:98.01, Y:-6.33, Z:-10.63 [[ 9.79114326e-01 1.88634934e-01 7.58419249e-02 9.80068233e+01] [-1.88262084e-01 9.82044274e-01 -1.21008635e-02 -6.32597762e+00] [-7.67627736e-02 -2.43003007e-03 9.97046424e-01 -1.06317723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.32771942099998 meters 0.05635384636782213 Centerline is valid? [True, True] Translation: X:98.07, Y:-6.34, Z:-10.64 [[ 9.79119312e-01 1.88478820e-01 7.61649965e-02 9.80668573e+01] [-1.88100519e-01 9.82074309e-01 -1.21756189e-02 -6.34285853e+00] [-7.70945326e-02 -2.40529182e-03 9.97020886e-01 -1.06390581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.38771942099999 meters 0.05590174002851395 Centerline is valid? [True, True] Translation: X:98.12, Y:-6.36, Z:-10.65 [[ 9.80346905e-01 1.82634266e-01 7.45967257e-02 9.81249077e+01] [-1.82252147e-01 9.83179135e-01 -1.19559081e-02 -6.35820544e+00] [-7.55255028e-02 -1.87447591e-03 9.97142109e-01 -1.06510920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.44771942099999 meters 0.0530641138607434 Centerline is valid? [True, True] Translation: X:98.18, Y:-6.39, Z:-10.65 [[ 9.81387254e-01 1.74587077e-01 7.99900690e-02 9.81827820e+01] [-1.74120549e-01 9.84640824e-01 -1.28250399e-02 -6.38548601e+00] [-8.10005737e-02 -1.34158400e-03 9.96713152e-01 -1.06480964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.50771942099999 meters 0.05142742452771064 Centerline is valid? [True, True] Translation: X:98.24, Y:-6.40, Z:-10.65 [[ 9.82170741e-01 1.69187963e-01 8.19516274e-02 9.82430545e+01] [-1.68679564e-01 9.85583374e-01 -1.31383816e-02 -6.40065598e+00] [-8.29930175e-02 -9.19430762e-04 9.96549705e-01 -1.06513860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.56771942099998 meters 0.05148077713242169 Centerline is valid? [True, True] Translation: X:98.30, Y:-6.42, Z:-10.66 [[ 9.83443077e-01 1.63097830e-01 7.89861472e-02 9.83027752e+01] [-1.62605868e-01 9.86609825e-01 -1.26643151e-02 -6.41675711e+00] [-7.99940312e-02 -3.88978083e-04 9.96795267e-01 -1.06624747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.62771942099998 meters 0.05221231142524981 Centerline is valid? [True, True] Translation: X:98.36, Y:-6.44, Z:-10.67 [[ 9.85485850e-01 1.51052165e-01 7.74653692e-02 9.83613144e+01] [-1.50539924e-01 9.88525610e-01 -1.24438724e-02 -6.44113098e+00] [-7.84561752e-02 6.01629398e-04 9.96917382e-01 -1.06684010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.68771942099998 meters 0.05556152359891648 Centerline is valid? [True, True] Translation: X:98.42, Y:-6.46, Z:-10.68 [[ 9.87561533e-01 1.35557889e-01 7.96635194e-02 9.84202960e+01] [-1.34963035e-01 9.90767570e-01 -1.28296917e-02 -6.45951490e+00] [-8.06671974e-02 1.91847966e-03 9.96739245e-01 -1.06752781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.74771942099999 meters 0.05860321657447518 Centerline is valid? [True, True] Translation: X:98.48, Y:-6.47, Z:-10.68 [[ 9.88664322e-01 1.25218155e-01 8.28448635e-02 9.84806866e+01] [-1.24538114e-01 9.92125059e-01 -1.33463828e-02 -6.47060837e+00] [-8.38636745e-02 2.87774942e-03 9.96473082e-01 -1.06769880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.80771942099999 meters 0.058885766407947474 Centerline is valid? [True, True] Translation: X:98.54, Y:-6.47, Z:-10.68 [[ 9.88720541e-01 1.24395884e-01 8.34107650e-02 9.85439655e+01] [-1.23704004e-01 9.92228243e-01 -1.34325592e-02 -6.46675168e+00] [-8.44334718e-02 2.96280159e-03 9.96424714e-01 -1.06826200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.86771942099999 meters 0.057747596357527506 Centerline is valid? [True, True] Translation: X:98.61, Y:-6.45, Z:-10.69 [[ 9.88147308e-01 1.30250429e-01 8.12386803e-02 9.86067006e+01] [-1.29611439e-01 9.91478155e-01 -1.31127298e-02 -6.45203602e+00] [-8.22543156e-02 2.42784641e-03 9.96608415e-01 -1.06948332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.92771942099999 meters 0.054599969824565095 Centerline is valid? [True, True] Translation: X:98.67, Y:-6.44, Z:-10.70 [[ 9.87291566e-01 1.35517241e-01 8.30086816e-02 9.86721077e+01] [-1.34867555e-01 9.90772878e-01 -1.34107230e-02 -6.43551935e+00] [-8.40601345e-02 2.04511578e-03 9.96458585e-01 -1.06987316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.98771942099998 meters 0.05381473654723903 Centerline is valid? [True, True] Translation: X:98.74, Y:-6.43, Z:-10.71 [[ 9.86770501e-01 1.39356197e-01 8.28482255e-02 9.87351339e+01] [-1.38722241e-01 9.90240829e-01 -1.33881088e-02 -6.42993480e+00] [-8.39054114e-02 1.71809932e-03 9.96472242e-01 -1.07068490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.04771942099998 meters 0.05219078772749852 Centerline is valid? [True, True] Translation: X:98.80, Y:-6.41, Z:-10.72 [[ 9.85573670e-01 1.49443817e-01 7.94423469e-02 9.87999661e+01] [-1.48891721e-01 9.88769855e-01 -1.28619185e-02 -6.41469916e+00] [-8.04723320e-02 8.48060509e-04 9.96756482e-01 -1.07186470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.10771942099998 meters 0.05150685156172008 Centerline is valid? [True, True] Translation: X:98.86, Y:-6.41, Z:-10.73 [[ 9.84319678e-01 1.58651326e-01 7.71007705e-02 9.88642211e+01] [-1.58157776e-01 9.87334666e-01 -1.25049719e-02 -6.40670944e+00] [-7.81081939e-02 1.14803530e-04 9.96944882e-01 -1.07278838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.16771942099999 meters 0.05257333798853139 Centerline is valid? [True, True] Translation: X:98.93, Y:-6.39, Z:-10.74 [[ 9.82584442e-01 1.70509357e-01 7.38537323e-02 9.89280843e+01] [-1.70087320e-01 9.85355766e-01 -1.20132508e-02 -6.39172147e+00] [-7.48205726e-02 -7.57550090e-04 9.97196725e-01 -1.07392450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.22771942099999 meters 0.05337402343347078 Centerline is valid? [True, True] Translation: X:98.99, Y:-6.39, Z:-10.75 [[ 9.81819874e-01 1.74984140e-01 7.35546470e-02 9.89901743e+01] [-1.74578454e-01 9.84570639e-01 -1.19591406e-02 -6.39466198e+00] [-7.45124057e-02 -1.09933470e-03 9.97219481e-01 -1.07465168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.28771942099999 meters 0.05658972804837528 Centerline is valid? [True, True] Translation: X:99.05, Y:-6.39, Z:-10.75 [[ 9.79466466e-01 1.87734943e-01 7.34917209e-02 9.90517048e+01] [-1.87363214e-01 9.82217621e-01 -1.19820746e-02 -6.38610635e+00] [-7.44343174e-02 -2.03360481e-03 9.97223845e-01 -1.07522588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.34771942099998 meters 0.05946891150977166 Centerline is valid? [True, True] Translation: X:99.11, Y:-6.39, Z:-10.76 [[ 9.77703048e-01 1.97554611e-01 7.11963938e-02 9.91128622e+01] [-1.97231704e-01 9.80288182e-01 -1.16075017e-02 -6.38510528e+00] [-7.20860990e-02 -2.69349630e-03 9.97394776e-01 -1.07591431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.40771942099998 meters 0.05904953282212609 Centerline is valid? [True, True] Translation: X:99.17, Y:-6.40, Z:-10.76 [[ 9.77206638e-01 1.97954670e-01 7.66885653e-02 9.91723163e+01] [-1.97581260e-01 9.80206782e-01 -1.25023952e-02 -6.40263539e+00] [-7.76455594e-02 -2.93479985e-03 9.96976707e-01 -1.07607225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.46771942099998 meters 0.05830750114728913 Centerline is valid? [True, True] Translation: X:99.23, Y:-6.42, Z:-10.76 [[ 9.77133856e-01 1.96201903e-01 8.19404718e-02 9.92305259e+01] [-1.95768992e-01 9.80558980e-01 -1.33636959e-02 -6.42224649e+00] [-8.29694481e-02 -2.98328388e-03 9.96547626e-01 -1.07636743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.52771942099999 meters 0.05982320183168545 Centerline is valid? [True, True] Translation: X:99.29, Y:-6.44, Z:-10.78 [[ 9.77254578e-01 1.97074135e-01 7.83279978e-02 9.92885760e+01] [-1.96681995e-01 9.80384212e-01 -1.27667174e-02 -6.43910183e+00] [-7.93075222e-02 -2.92937384e-03 9.96845894e-01 -1.07752170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.58771942099999 meters 0.0609048893294105 Centerline is valid? [True, True] Translation: X:99.35, Y:-6.46, Z:-10.78 [[ 9.76709742e-01 2.01897804e-01 7.26316553e-02 9.93458899e+01] [-2.01571939e-01 9.79401841e-01 -1.18654168e-02 -6.46182736e+00] [-7.35311784e-02 -3.05143540e-03 9.97288250e-01 -1.07845615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.64771942099999 meters 0.061890464306286634 Centerline is valid? [True, True] Translation: X:99.41, Y:-6.47, Z:-10.79 [[ 9.76537982e-01 2.03663202e-01 6.99633489e-02 9.94053783e+01] [-2.03365409e-01 9.79036205e-01 -1.14288815e-02 -6.47416579e+00] [-7.08242942e-02 -3.06738815e-03 9.97484090e-01 -1.07934883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.70771942099998 meters 0.06111525047123602 Centerline is valid? [True, True] Translation: X:99.46, Y:-6.50, Z:-10.80 [[ 9.76557854e-01 2.01752017e-01 7.50392004e-02 9.94623397e+01] [-2.01403421e-01 9.79431610e-01 -1.22630609e-02 -6.49692293e+00] [-7.59698622e-02 -3.13756321e-03 9.97105178e-01 -1.07952244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.76771942099998 meters 0.05565633451643613 Centerline is valid? [True, True] Translation: X:99.52, Y:-6.53, Z:-10.80 [[ 9.79215587e-01 1.87677422e-01 7.69026682e-02 9.95177298e+01] [-1.87267932e-01 9.82228483e-01 -1.25669453e-02 -6.53236656e+00] [-7.78945230e-02 -2.09565491e-03 9.96959403e-01 -1.08010359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.82771942099998 meters 0.05329711865245921 Centerline is valid? [True, True] Translation: X:99.58, Y:-6.56, Z:-10.80 [[ 9.80557908e-01 1.79777153e-01 7.86534407e-02 9.95750488e+01] [-1.79323260e-01 9.83706220e-01 -1.28546535e-02 -6.55969299e+00] [-7.96828518e-02 -1.49965926e-03 9.96819138e-01 -1.08042318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.88771942099999 meters 0.05091170302019487 Centerline is valid? [True, True] Translation: X:99.63, Y:-6.59, Z:-10.80 [[ 9.82585465e-01 1.66476667e-01 8.25307384e-02 9.96315819e+01] [-1.65929707e-01 9.86045297e-01 -1.34909268e-02 -6.59251380e+00] [-8.36249710e-02 -4.38312665e-04 9.96497201e-01 -1.08028248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.94771942099999 meters 0.05127519703201988 Centerline is valid? [True, True] Translation: X:99.69, Y:-6.61, Z:-10.81 [[ 9.83972753e-01 1.58359184e-01 8.19755406e-02 9.96903271e+01] [-1.57791897e-01 9.87381542e-01 -1.33943427e-02 -6.61401918e+00] [-8.30622529e-02 2.44592186e-04 9.96544330e-01 -1.08125726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.00771942099999 meters 0.05143882094775599 Centerline is valid? [True, True] Translation: X:99.75, Y:-6.63, Z:-10.82 [[ 9.84506986e-01 1.54372374e-01 8.31574661e-02 9.97513136e+01] [-1.53771996e-01 9.88012545e-01 -1.36155945e-02 -6.62791992e+00] [-8.42624914e-02 6.17358365e-04 9.96443401e-01 -1.08177409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.06771942099998 meters 0.052306509107257405 Centerline is valid? [True, True] Translation: X:99.81, Y:-6.63, Z:-10.83 [[ 9.84443923e-01 1.59748885e-01 7.31468090e-02 9.98110269e+01] [-1.59297003e-01 9.87157670e-01 -1.20083212e-02 -6.63041621e+00] [-7.41257494e-02 1.69451370e-04 9.97248888e-01 -1.08342830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.12771942099998 meters 0.052812091141416835 Centerline is valid? [True, True] Translation: X:99.87, Y:-6.63, Z:-10.85 [[ 9.84282783e-01 1.62344609e-01 6.95099425e-02 9.98725259e+01] [-1.61942975e-01 9.86734122e-01 -1.14125043e-02 -6.63484364e+00] [-7.04405906e-02 -2.35153713e-05 9.97515976e-01 -1.08454603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.18771942099998 meters 0.05153313233002448 Centerline is valid? [True, True] Translation: X:99.93, Y:-6.64, Z:-10.84 [[ 9.83335062e-01 1.65411242e-01 7.54405528e-02 9.99338820e+01] [-1.64946260e-01 9.86224648e-01 -1.23965552e-02 -6.63842231e+00] [-7.64518622e-02 -2.53669703e-04 9.97073241e-01 -1.08432136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.24771942099999 meters 0.05182824705526118 Centerline is valid? [True, True] Translation: X:100.00, Y:-6.63, Z:-10.85 [[ 9.81654343e-01 1.74185705e-01 7.75505775e-02 9.99982916e+01] [-1.73722406e-01 9.84712341e-01 -1.27330868e-02 -6.63411893e+00] [-7.85829324e-02 -9.72782958e-04 9.96907105e-01 -1.08497904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.30771942099999 meters 0.054049384245116905 Centerline is valid? [True, True] Translation: X:100.06, Y:-6.63, Z:-10.85 [[ 9.78708893e-01 1.87328605e-01 8.38862083e-02 1.00061414e+02] [-1.86831275e-01 9.82294938e-01 -1.38104907e-02 -6.62797691e+00] [-8.49880977e-02 -2.15611716e-03 9.96379634e-01 -1.08497633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.36771942099999 meters 0.05537664173803027 Centerline is valid? [True, True] Translation: X:100.12, Y:-6.63, Z:-10.86 [[ 9.77522088e-01 1.93368741e-01 8.40184313e-02 1.00122639e+02] [-1.92890729e-01 9.81122522e-01 -1.38478939e-02 -6.63069654e+00] [-8.51101250e-02 -2.66975437e-03 9.96367974e-01 -1.08564010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.42771942099999 meters 0.057408709388670355 Centerline is valid? [True, True] Translation: X:100.18, Y:-6.63, Z:-10.87 [[ 9.76597258e-01 1.98862545e-01 8.19236449e-02 1.00183717e+02] [-1.98427004e-01 9.80022598e-01 -1.35067246e-02 -6.62985652e+00] [-8.29730050e-02 -3.06523323e-03 9.96547081e-01 -1.08674231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.48771942099998 meters 0.06184397900737565 Centerline is valid? [True, True] Translation: X:100.24, Y:-6.64, Z:-10.88 [[ 9.75632952e-01 2.05557451e-01 7.67233864e-02 1.00242768e+02] [-2.05195937e-01 9.78639143e-01 -1.26512853e-02 -6.63751146e+00] [-7.76850750e-02 -3.40031641e-03 9.96972150e-01 -1.08786096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.54771942099998 meters 0.06539334580191772 Centerline is valid? [True, True] Translation: X:100.30, Y:-6.65, Z:-10.89 [[ 9.75336625e-01 2.07758729e-01 7.45303863e-02 1.00301457e+02] [-2.07423966e-01 9.78173938e-01 -1.22900686e-02 -6.64664194e+00] [-7.54570505e-02 -3.47243433e-03 9.97143007e-01 -1.08916200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.60771942099998 meters 0.0628979359201616 Centerline is valid? [True, True] Translation: X:100.36, Y:-6.67, Z:-10.90 [[ 9.75694535e-01 2.07288594e-01 7.10747037e-02 1.00360521e+02] [-2.06982987e-01 9.78274349e-01 -1.17192924e-02 -6.66604744e+00] [-7.19598351e-02 -3.27680493e-03 9.97402148e-01 -1.08988409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.66771942099999 meters 0.06224342060475805 Centerline is valid? [True, True] Translation: X:100.42, Y:-6.69, Z:-10.90 [[ 9.75521017e-01 2.06225282e-01 7.63536348e-02 1.00419618e+02] [-2.05868611e-01 9.78498534e-01 -1.25990019e-02 -6.68524936e+00] [-7.73101525e-02 -3.42822555e-03 9.97001197e-01 -1.08992580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.72771942099999 meters 0.059831695779309295 Centerline is valid? [True, True] Translation: X:100.48, Y:-6.70, Z:-10.90 [[ 9.75906102e-01 2.02487326e-01 8.12783095e-02 1.00478007e+02] [-2.02069996e-01 9.79279212e-01 -1.34142499e-02 -6.70435507e+00] [-8.23103745e-02 -3.33285934e-03 9.96601171e-01 -1.08981443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.78771942099999 meters 0.0548856768940196 Centerline is valid? [True, True] Translation: X:100.53, Y:-6.73, Z:-10.91 [[ 9.78277041e-01 1.91145038e-01 8.02346872e-02 1.00534583e+02] [-1.90700333e-01 9.81558996e-01 -1.32408368e-02 -6.72981122e+00] [-8.12859993e-02 -2.34757498e-03 9.96688053e-01 -1.09056150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.84771942099998 meters 0.05201183362768526 Centerline is valid? [True, True] Translation: X:100.59, Y:-6.76, Z:-10.91 [[ 9.80839330e-01 1.77311564e-01 8.07144228e-02 1.00590996e+02] [-1.76814606e-01 9.84154030e-01 -1.33206763e-02 -6.75871808e+00] [-8.17973345e-02 -1.20604563e-03 9.96648254e-01 -1.09124844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.90771942099998 meters 0.051061945020696387 Centerline is valid? [True, True] Translation: X:100.65, Y:-6.79, Z:-10.92 [[ 9.83250668e-01 1.63027915e-01 8.14863343e-02 1.00648286e+02] [-1.62472307e-01 9.86621457e-01 -1.34480799e-02 -6.78942133e+00] [-8.25885783e-02 -1.64391458e-05 9.96583728e-01 -1.09169869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.96771942099998 meters 0.05243368976238505 Centerline is valid? [True, True] Translation: X:100.71, Y:-6.81, Z:-10.93 [[ 9.84985675e-01 1.53300965e-01 7.93853519e-02 1.00706620e+02] [-1.52741866e-01 9.88179236e-01 -1.31041928e-02 -6.80831766e+00] [-8.04558418e-02 7.81975395e-04 9.96757867e-01 -1.09290102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.02771942099999 meters 0.052969887097377336 Centerline is valid? [True, True] Translation: X:100.77, Y:-6.82, Z:-10.94 [[ 9.85158600e-01 1.53999471e-01 7.58069642e-02 1.00767449e+02] [-1.53490837e-01 9.88070679e-01 -1.25258149e-02 -6.81866300e+00] [-7.68316075e-02 7.04239876e-04 9.97043835e-01 -1.09393751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.08771942099999 meters 0.05103498688505347 Centerline is valid? [True, True] Translation: X:100.83, Y:-6.82, Z:-10.94 [[ 9.83340335e-01 1.63438730e-01 7.95585736e-02 1.00830800e+02] [-1.62908570e-01 9.86553486e-01 -1.31535850e-02 -6.81678286e+00] [-8.06385933e-02 -2.63227982e-05 9.96743406e-01 -1.09396089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.14771942099999 meters 0.0512819062921565 Centerline is valid? [True, True] Translation: X:100.89, Y:-6.81, Z:-10.95 [[ 9.81308953e-01 1.74172016e-01 8.18342693e-02 1.00894712e+02] [-1.73648276e-01 9.84714800e-01 -1.35292228e-02 -6.80736258e+00] [-8.29398281e-02 -9.34032351e-04 9.96554119e-01 -1.09461198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.20771942099998 meters 0.05614892461721 Centerline is valid? [True, True] Translation: X:100.96, Y:-6.79, Z:-10.96 [[ 9.78598574e-01 1.89998258e-01 7.90284269e-02 1.00958409e+02] [-1.89558699e-01 9.81782042e-01 -1.30966121e-02 -6.79203832e+00] [-8.00770238e-02 -2.16419989e-03 9.96786329e-01 -1.09581488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.26771942099998 meters 0.058683503794741666 Centerline is valid? [True, True] Translation: X:101.02, Y:-6.79, Z:-10.96 [[ 9.76594870e-01 2.00477936e-01 7.79169865e-02 1.01020235e+02] [-2.00083688e-01 9.79693693e-01 -1.29145862e-02 -6.79127573e+00] [-7.89238698e-02 -2.97759939e-03 9.96876199e-01 -1.09634634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.32771942099998 meters 0.061058258489311124 Centerline is valid? [True, True] Translation: X:101.08, Y:-6.80, Z:-10.97 [[ 9.75768439e-01 2.04462099e-01 7.79179272e-02 1.01080314e+02] [-2.04080385e-01 9.78868924e-01 -1.29161025e-02 -6.79522987e+00] [-7.89122910e-02 -3.29839538e-03 9.96876106e-01 -1.09703654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.38771942099999 meters 0.06009071618888598 Centerline is valid? [True, True] Translation: X:101.14, Y:-6.81, Z:-10.98 [[ 9.76529840e-01 2.00771131e-01 7.79770802e-02 1.01138258e+02] [-2.00376967e-01 9.79633579e-01 -1.29275663e-02 -6.81031644e+00] [-7.89844483e-02 -3.00065660e-03 9.96871332e-01 -1.09796489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.44771942099999 meters 0.05841793767831758 Centerline is valid? [True, True] Translation: X:101.20, Y:-6.83, Z:-10.99 [[ 9.77712975e-01 1.95798999e-01 7.57633910e-02 1.01196613e+02] [-1.95411986e-01 9.80640801e-01 -1.25608578e-02 -6.83364806e+00] [-7.67560758e-02 -2.52416101e-03 9.97046706e-01 -1.09866992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.50771942099999 meters 0.05714508682949869 Centerline is valid? [True, True] Translation: X:101.25, Y:-6.86, Z:-11.00 [[ 9.78706100e-01 1.91324966e-01 7.43580974e-02 1.01254774e+02] [-1.90938954e-01 9.81524441e-01 -1.23323679e-02 -6.85608520e+00] [-7.53437799e-02 -2.12809365e-03 9.97155347e-01 -1.09960216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.56771942099998 meters 0.05540167801058532 Centerline is valid? [True, True] Translation: X:101.31, Y:-6.88, Z:-11.00 [[ 9.79425215e-01 1.86934117e-01 7.60387068e-02 1.01312931e+02] [-1.86516814e-01 9.82370756e-01 -1.26164550e-02 -6.87761474e+00] [-7.70566478e-02 -1.82562316e-03 9.97025045e-01 -1.10012399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.62771942099998 meters 0.05364733167024343 Centerline is valid? [True, True] Translation: X:101.37, Y:-6.91, Z:-11.01 [[ 9.80676721e-01 1.80147114e-01 7.62901434e-02 1.01370370e+02] [-1.79706323e-01 9.83638828e-01 -1.26607280e-02 -6.90689404e+00] [-7.73227408e-02 -1.29373995e-03 9.97005276e-01 -1.10064412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.68771942099998 meters 0.05213192620188911 Centerline is valid? [True, True] Translation: X:101.43, Y:-6.93, Z:-11.01 [[ 9.80799260e-01 1.78144237e-01 7.93564263e-02 1.01429379e+02] [-1.77660267e-01 9.84003682e-01 -1.31750760e-02 -6.92636257e+00] [-8.04340796e-02 -1.17637908e-03 9.96759236e-01 -1.10072998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.74771942099999 meters 0.05501132688070986 Centerline is valid? [True, True] Translation: X:101.49, Y:-6.93, Z:-11.02 [[ 9.79421011e-01 1.87170330e-01 7.55099327e-02 1.01488594e+02] [-1.86758576e-01 9.82325790e-01 -1.25409856e-02 -6.93084540e+00] [-7.65226548e-02 -1.81922277e-03 9.97066183e-01 -1.10183931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.80771942099999 meters 0.058428531714951173 Centerline is valid? [True, True] Translation: X:101.55, Y:-6.94, Z:-11.02 [[ 9.77713866e-01 1.96123470e-01 7.49078199e-02 1.01548100e+02] [-1.95744525e-01 9.80576021e-01 -1.24397656e-02 -6.94004918e+00] [-7.58925420e-02 -2.50026432e-03 9.97112868e-01 -1.10242257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.86771942099999 meters 0.060778326179751506 Centerline is valid? [True, True] Translation: X:101.61, Y:-6.95, Z:-11.03 [[ 9.76496349e-01 2.01262360e-01 7.71255060e-02 1.01609255e+02] [-2.00876659e-01 9.79532819e-01 -1.28072081e-02 -6.94895468e+00] [-7.81245732e-02 -2.98652203e-03 9.96939131e-01 -1.10298614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.92771942099998 meters 0.06205606773196369 Centerline is valid? [True, True] Translation: X:101.67, Y:-6.97, Z:-11.04 [[ 9.75557497e-01 2.06367881e-01 7.54974734e-02 1.01666967e+02] [-2.06012926e-01 9.78468858e-01 -1.25446593e-02 -6.96825048e+00] [-7.64607413e-02 -3.31541896e-03 9.97067081e-01 -1.10368684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.98771942099998 meters 0.06379856181400953 Centerline is valid? [True, True] Translation: X:101.73, Y:-6.98, Z:-11.04 [[ 9.74870827e-01 2.09747169e-01 7.50532816e-02 1.01726742e+02] [-2.09406313e-01 9.77749181e-01 -1.24713675e-02 -6.97976744e+00] [-7.59991186e-02 -3.55865862e-03 9.97101534e-01 -1.10444235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.04771942099998 meters 0.06517037359365568 Centerline is valid? [True, True] Translation: X:101.79, Y:-7.00, Z:-11.05 [[ 9.74584111e-01 2.11159733e-01 7.48156288e-02 1.01785903e+02] [-2.10825195e-01 9.77444725e-01 -1.24316473e-02 -6.99717685e+00] [-7.57532051e-02 -3.65733366e-03 9.97119890e-01 -1.10506296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.10771942099998 meters 0.06304562110993012 Centerline is valid? [True, True] Translation: X:101.84, Y:-7.02, Z:-11.06 [[ 9.75631177e-01 2.05922072e-01 7.57621700e-02 1.01844423e+02] [-2.05562089e-01 9.78562907e-01 -1.26041552e-02 -7.01588933e+00] [-7.67335231e-02 -3.27682323e-03 9.97046252e-01 -1.10565929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.16771942099999 meters 0.05869006901664679 Centerline is valid? [True, True] Translation: X:101.90, Y:-7.04, Z:-11.06 [[ 9.77232868e-01 1.98258172e-01 7.55620250e-02 1.01901008e+02] [-1.97877121e-01 9.80146208e-01 -1.25720457e-02 -7.04382060e+00] [-7.65543430e-02 -2.66617967e-03 9.97061846e-01 -1.10617015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.22771942099999 meters 0.05482196546658375 Centerline is valid? [True, True] Translation: X:101.96, Y:-7.06, Z:-11.07 [[ 9.79128313e-01 1.88281513e-01 7.65363842e-02 1.01958381e+02] [-1.87859995e-01 9.82113247e-01 -1.27354815e-02 -7.06457267e+00] [-7.75652525e-02 -1.90845429e-03 9.96985451e-01 -1.10688887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.28771942099999 meters 0.052658422888270516 Centerline is valid? [True, True] Translation: X:102.02, Y:-7.09, Z:-11.07 [[ 9.81291588e-01 1.77375725e-01 7.48643502e-02 1.02015910e+02] [-1.76940664e-01 9.84142677e-01 -1.24576687e-02 -7.09229041e+00] [-7.58868900e-02 -1.02194232e-03 9.97115909e-01 -1.10730176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.34771942099998 meters 0.0526067880121098 Centerline is valid? [True, True] Translation: X:102.07, Y:-7.11, Z:-11.08 [[ 9.83249682e-01 1.68312183e-01 6.99362040e-02 1.02074715e+02] [-1.67909558e-01 9.85733696e-01 -1.16387673e-02 -7.11340241e+00] [-7.08974192e-02 -2.99142816e-04 9.97483567e-01 -1.10849827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.40771942099998 meters 0.05169035636193465 Centerline is valid? [True, True] Translation: X:102.14, Y:-7.12, Z:-11.09 [[ 9.83155513e-01 1.67415528e-01 7.33299263e-02 1.02136366e+02] [-1.66969761e-01 9.85886395e-01 -1.22112576e-02 -7.11953048e+00] [-7.43393308e-02 -2.38315095e-04 9.97232975e-01 -1.10850596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.46771942099998 meters 0.05169305706699944 Centerline is valid? [True, True] Translation: X:102.20, Y:-7.13, Z:-11.09 [[ 9.82840196e-01 1.68016292e-01 7.61293240e-02 1.02197231e+02] [-1.67537922e-01 9.85784173e-01 -1.26731275e-02 -7.12723294e+00] [-7.71763747e-02 -2.98889657e-04 9.97017411e-01 -1.10911850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.52771942099999 meters 0.05177940672485179 Centerline is valid? [True, True] Translation: X:102.26, Y:-7.13, Z:-11.10 [[ 9.83018882e-01 1.67831070e-01 7.42065306e-02 1.02259354e+02] [-1.67374398e-01 9.85815737e-01 -1.23751368e-02 -7.13085790e+00] [-7.52308981e-02 -2.55280270e-04 9.97166108e-01 -1.10985874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.58771942099999 meters 0.051970299743442645 Centerline is valid? [True, True] Translation: X:102.32, Y:-7.13, Z:-11.11 [[ 9.83235846e-01 1.66602751e-01 7.40998983e-02 1.02322112e+02] [-1.66142330e-01 9.86024089e-01 -1.23782983e-02 -7.13492980e+00] [-7.51265433e-02 -1.40343159e-04 9.97173998e-01 -1.11058151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.64771942099999 meters 0.051721487988219655 Centerline is valid? [True, True] Translation: X:102.38, Y:-7.14, Z:-11.11 [[ 9.83349907e-01 1.64717369e-01 7.67538191e-02 1.02384583e+02] [-1.64214903e-01 9.86340807e-01 -1.28560683e-02 -7.14230468e+00] [-7.78230415e-02 3.78925479e-05 9.96967187e-01 -1.11083393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.70771942099998 meters 0.051724554609322175 Centerline is valid? [True, True] Translation: X:102.45, Y:-7.14, Z:-11.12 [[ 9.83469735e-01 1.63662440e-01 7.74718380e-02 1.02446321e+02] [-1.63147017e-01 9.86516391e-01 -1.29792547e-02 -7.14421519e+00] [-7.85514545e-02 1.25404897e-04 9.96910053e-01 -1.11172291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.76771942099998 meters 0.05244782251960022 Centerline is valid? [True, True] Translation: X:102.51, Y:-7.15, Z:-11.13 [[ 9.83680123e-01 1.63875921e-01 7.42839083e-02 1.02507569e+02] [-1.63401144e-01 9.86480951e-01 -1.24659167e-02 -7.14720740e+00] [-7.53225241e-02 1.24398904e-04 9.97159216e-01 -1.11276911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.82771942099998 meters 0.05273216315727835 Centerline is valid? [True, True] Translation: X:102.57, Y:-7.15, Z:-11.14 [[ 9.83203864e-01 1.66871745e-01 7.39187493e-02 1.02570295e+02] [-1.66408680e-01 9.85978607e-01 -1.24232816e-02 -7.14542639e+00] [-7.49554001e-02 -8.61030207e-05 9.97186883e-01 -1.11382940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.88771942099999 meters 0.05222477374278536 Centerline is valid? [True, True] Translation: X:102.63, Y:-7.14, Z:-11.14 [[ 9.82111362e-01 1.72769024e-01 7.48874981e-02 1.02634190e+02] [-1.72309025e-01 9.84962230e-01 -1.26097470e-02 -7.14188315e+00] [-7.59399308e-02 -5.19615960e-04 9.97112259e-01 -1.11400642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.94771942099999 meters 0.05321083730916992 Centerline is valid? [True, True] Translation: X:102.70, Y:-7.14, Z:-11.15 [[ 9.80271970e-01 1.82293685e-01 7.63929130e-02 1.02696741e+02] [-1.81841920e-01 9.83243321e-01 -1.28874659e-02 -7.13562651e+00] [-7.74621251e-02 -1.25821239e-03 9.96994502e-01 -1.11458637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.00771942099999 meters 0.055083816312752804 Centerline is valid? [True, True] Translation: X:102.76, Y:-7.13, Z:-11.15 [[ 9.78213132e-01 1.91706642e-01 7.96720238e-02 1.02760970e+02] [-1.91244048e-01 9.81450107e-01 -1.34685281e-02 -7.13027600e+00] [-8.07761226e-02 -2.06170925e-03 9.96730138e-01 -1.11490974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.06771942099998 meters 0.06053049809324301 Centerline is valid? [True, True] Translation: X:102.82, Y:-7.12, Z:-11.16 [[ 9.75657864e-01 2.04180422e-01 8.00130460e-02 1.02824375e+02] [-2.03754923e-01 9.78928371e-01 -1.35342330e-02 -7.11852551e+00] [-8.10904662e-02 -3.09827118e-03 9.96701930e-01 -1.11550774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.12771942099998 meters 0.06799721760263602 Centerline is valid? [True, True] Translation: X:102.88, Y:-7.11, Z:-11.17 [[ 9.74607098e-01 2.11125128e-01 7.46135708e-02 1.02884296e+02] [-2.10775371e-01 9.77453039e-01 -1.26213620e-02 -7.11418961e+00] [-7.55959482e-02 -3.42583406e-03 9.97132647e-01 -1.11721086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.18771942099998 meters 0.06698550947551969 Centerline is valid? [True, True] Translation: X:102.95, Y:-7.13, Z:-11.18 [[ 9.73796367e-01 2.14208928e-01 7.63882892e-02 1.02945620e+02] [-2.13851724e-01 9.76780659e-01 -1.29222150e-02 -7.12560858e+00] [-7.73826573e-02 -3.75216132e-03 9.96994406e-01 -1.11761194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.24771942099999 meters 0.06750519806731119 Centerline is valid? [True, True] Translation: X:103.00, Y:-7.14, Z:-11.19 [[ 9.74206852e-01 2.13180454e-01 7.39939413e-02 1.03004507e+02] [-2.12840814e-01 9.77006448e-01 -1.25374883e-02 -7.14100808e+00] [-7.49653052e-02 -3.53482367e-03 9.97179877e-01 -1.11868584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.30771942099999 meters 0.06270316981690471 Centerline is valid? [True, True] Translation: X:103.06, Y:-7.17, Z:-11.19 [[ 9.75607337e-01 2.07319408e-01 7.21733145e-02 1.03061088e+02] [-2.06978418e-01 9.78268759e-01 -1.22543523e-02 -7.16992884e+00] [-7.31454639e-02 -2.98288247e-03 9.97316822e-01 -1.11920389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.36771942099999 meters 0.058112137570030704 Centerline is valid? [True, True] Translation: X:103.12, Y:-7.20, Z:-11.20 [[ 9.78149696e-01 1.95108081e-01 7.18053517e-02 1.03115824e+02] [-1.94737457e-01 9.80779595e-01 -1.21946291e-02 -7.19823380e+00] [-7.28044944e-02 -2.05501882e-03 9.97344114e-01 -1.12017995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.42771942099998 meters 0.05357175961139107 Centerline is valid? [True, True] Translation: X:103.17, Y:-7.23, Z:-11.20 [[ 9.80601912e-01 1.80893694e-01 7.54808680e-02 1.03171899e+02] [-1.80442186e-01 9.83502092e-01 -1.28161440e-02 -7.23170685e+00] [-7.65539512e-02 -1.05239750e-03 9.97064885e-01 -1.12041170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.48771942099998 meters 0.05164529831754285 Centerline is valid? [True, True] Translation: X:103.23, Y:-7.26, Z:-11.20 [[ 9.82059742e-01 1.72177250e-01 7.69003118e-02 1.03230284e+02] [-1.71681780e-01 9.85065912e-01 -1.30581400e-02 -7.25779039e+00] [-7.80001904e-02 -3.78508852e-04 9.96953272e-01 -1.12039711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.54771942099998 meters 0.05223850535423263 Centerline is valid? [True, True] Translation: X:103.29, Y:-7.27, Z:-11.21 [[ 9.81734333e-01 1.75110573e-01 7.43907754e-02 1.03291002e+02] [-1.74655229e-01 9.84548597e-01 -1.26337477e-02 -7.26716534e+00] [-7.54536363e-02 -5.89754082e-04 9.97149137e-01 -1.12139047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.60771942099998 meters 0.0523930310032352 Centerline is valid? [True, True] Translation: X:103.35, Y:-7.28, Z:-11.22 [[ 9.81625483e-01 1.76166546e-01 7.33263848e-02 1.03351688e+02] [-1.75727153e-01 9.84360153e-01 -1.24522273e-02 -7.27709296e+00] [-7.43732372e-02 -6.62013137e-04 9.97230256e-01 -1.12222747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.66771942099999 meters 0.05179267542197137 Centerline is valid? [True, True] Translation: X:103.41, Y:-7.30, Z:-11.23 [[ 9.82574976e-01 1.69328004e-01 7.66449166e-02 1.03409286e+02] [-1.68824625e-01 9.85559746e-01 -1.30473386e-02 -7.29819549e+00] [-7.77474243e-02 -1.19560950e-04 9.96973081e-01 -1.12268930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.72771942099999 meters 0.05302578972103821 Centerline is valid? [True, True] Translation: X:103.47, Y:-7.32, Z:-11.23 [[ 9.84306465e-01 1.58552490e-01 7.74718769e-02 1.03467236e+02] [-1.58005203e-01 9.87350276e-01 -1.31828703e-02 -7.32067564e+00] [-7.85820560e-02 7.35024809e-04 9.96907378e-01 -1.12328967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.78771942099999 meters 0.05412348880504022 Centerline is valid? [True, True] Translation: X:103.53, Y:-7.34, Z:-11.23 [[ 9.85342737e-01 1.50463900e-01 8.03760306e-02 1.03527522e+02] [-1.49845847e-01 9.88614431e-01 -1.37014196e-02 -7.33625811e+00] [-8.15224728e-02 1.45657988e-03 9.96670439e-01 -1.12325631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.84771942099998 meters 0.057029692104784875 Centerline is valid? [True, True] Translation: X:103.59, Y:-7.35, Z:-11.24 [[ 9.86304106e-01 1.44326595e-01 7.98376101e-02 1.03585721e+02] [-1.43695360e-01 9.89528151e-01 -1.36264802e-02 -7.34587188e+00] [-8.09682262e-02 1.96755929e-03 9.96714741e-01 -1.12435962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.90771942099998 meters 0.057315991223190935 Centerline is valid? [True, True] Translation: X:103.65, Y:-7.35, Z:-11.25 [[ 9.86418549e-01 1.42644630e-01 8.14306755e-02 1.03649208e+02] [-1.41982864e-01 9.89771656e-01 -1.38901183e-02 -7.35018809e+00] [-8.25791254e-02 2.13970989e-03 9.96582214e-01 -1.12470246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.96771942099998 meters 0.056767583987884056 Centerline is valid? [True, True] Translation: X:103.71, Y:-7.35, Z:-11.26 [[ 9.86060382e-01 1.47058819e-01 7.78371789e-02 1.03711490e+02] [-1.46466013e-01 9.89126260e-01 -1.33022089e-02 -7.34768037e+00] [-7.89470048e-02 1.71627992e-03 9.96877337e-01 -1.12589270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.02771942099999 meters 0.05326740550491859 Centerline is valid? [True, True] Translation: X:103.78, Y:-7.33, Z:-11.27 [[ 9.84832515e-01 1.55903933e-01 7.61503819e-02 1.03776697e+02] [-1.55360691e-01 9.87771702e-01 -1.30430453e-02 -7.32965890e+00] [-7.72526544e-02 1.01443922e-03 9.97011032e-01 -1.12662340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.08771942099999 meters 0.05200087636529294 Centerline is valid? [True, True] Translation: X:103.84, Y:-7.32, Z:-11.27 [[ 9.83016175e-01 1.68268900e-01 7.32446375e-02 1.03841164e+02] [-1.67800756e-01 9.85741130e-01 -1.25431436e-02 -7.32178378e+00] [-7.43108728e-02 3.96074611e-05 9.97235124e-01 -1.12729521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.14771942099999 meters 0.05314091669532487 Centerline is valid? [True, True] Translation: X:103.91, Y:-7.30, Z:-11.28 [[ 9.79530463e-01 1.86868972e-01 7.48335439e-02 1.03906899e+02] [-1.86432062e-01 9.82383892e-01 -1.28442918e-02 -7.29632102e+00] [-7.59154677e-02 -1.36999674e-03 9.97113316e-01 -1.12828227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.20771942099998 meters 0.056384632202379166 Centerline is valid? [True, True] Translation: X:103.97, Y:-7.29, Z:-11.29 [[ 9.77383181e-01 1.97578689e-01 7.53974796e-02 1.03970151e+02] [-1.97164691e-01 9.80284586e-01 -1.29698114e-02 -7.28744238e+00] [-7.64735454e-02 -2.18924528e-03 9.97069207e-01 -1.12885803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.26771942099998 meters 0.055416807573206495 Centerline is valid? [True, True] Translation: X:104.03, Y:-7.30, Z:-11.29 [[ 9.76889784e-01 1.98975204e-01 7.80718770e-02 1.04031680e+02] [-1.98535798e-01 9.80001631e-01 -1.34290597e-02 -7.30109458e+00] [-7.91826167e-02 -2.38135116e-03 9.96857283e-01 -1.12886294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.32771942099998 meters 0.05574810367655081 Centerline is valid? [True, True] Translation: X:104.09, Y:-7.30, Z:-11.30 [[ 9.76934652e-01 1.98518423e-01 7.86709742e-02 1.04092658e+02] [-1.98070438e-01 9.80094319e-01 -1.35361731e-02 -7.30434351e+00] [-7.97921546e-02 -2.35843774e-03 9.96808733e-01 -1.12985377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.38771942099999 meters 0.05806183412391416 Centerline is valid? [True, True] Translation: X:104.15, Y:-7.31, Z:-11.30 [[ 9.75846859e-01 2.03898628e-01 7.84108201e-02 1.04152828e+02] [-2.03468614e-01 9.78988115e-01 -1.35201411e-02 -7.31264914e+00] [-7.95199992e-02 -2.76055369e-03 9.96829448e-01 -1.13035423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.44771942099999 meters 0.05618737891836346 Centerline is valid? [True, True] Translation: X:104.21, Y:-7.33, Z:-11.31 [[ 9.76418092e-01 2.01877649e-01 7.65057197e-02 1.04211757e+02] [-2.01462642e-01 9.79407457e-01 -1.31847197e-02 -7.33268002e+00] [-7.75919726e-02 -2.53924556e-03 9.96981965e-01 -1.13105477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.50771942099999 meters 0.05327098785385706 Centerline is valid? [True, True] Translation: X:104.27, Y:-7.36, Z:-11.32 [[ 9.78736660e-01 1.91042747e-01 7.46807788e-02 1.04268414e+02] [-1.90613416e-01 9.81580400e-01 -1.29012866e-02 -7.36042846e+00] [-7.57698860e-02 -1.60819620e-03 9.97124033e-01 -1.13198567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.56771942099998 meters 0.05214960662394139 Centerline is valid? [True, True] Translation: X:104.32, Y:-7.39, Z:-11.33 [[ 9.81757093e-01 1.75478902e-01 7.32131470e-02 1.04323542e+02] [-1.75022898e-01 9.84483112e-01 -1.26486074e-02 -7.39401619e+00] [-7.42966706e-02 -3.96117164e-04 9.97236104e-01 -1.13312275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.62771942099998 meters 0.052724930695989235 Centerline is valid? [True, True] Translation: X:104.38, Y:-7.42, Z:-11.33 [[ 9.83813695e-01 1.63381086e-01 7.36018672e-02 1.04382593e+02] [-1.62886826e-01 9.86562900e-01 -1.27092951e-02 -7.42088964e+00] [-7.46893299e-02 5.14804022e-04 9.97206718e-01 -1.13349721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.68771942099998 meters 0.05216137070157903 Centerline is valid? [True, True] Translation: X:104.44, Y:-7.42, Z:-11.34 [[ 9.83335926e-01 1.65666583e-01 7.48668072e-02 1.04444625e+02] [-1.65159682e-01 9.86181750e-01 -1.29551710e-02 -7.42375374e+00] [-7.59785179e-02 3.74307035e-04 9.97109385e-01 -1.13403316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.74771942099999 meters 0.051272237968307675 Centerline is valid? [True, True] Translation: X:104.51, Y:-7.43, Z:-11.34 [[ 9.82306100e-01 1.70197094e-01 7.81516136e-02 1.04506034e+02] [-1.69656444e-01 9.85410040e-01 -1.35552516e-02 -7.42731034e+00] [-7.93184491e-02 5.64814141e-05 9.96849327e-01 -1.13429842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.80771942099999 meters 0.0517721908149728 Centerline is valid? [True, True] Translation: X:104.57, Y:-7.42, Z:-11.35 [[ 9.79864225e-01 1.83392432e-01 7.89513494e-02 1.04569621e+02] [-1.82883522e-01 9.83039251e-01 -1.36911986e-02 -7.41718365e+00] [-8.01231375e-02 -1.02338511e-03 9.96784448e-01 -1.13495177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.86771942099999 meters 0.05510709301693585 Centerline is valid? [True, True] Translation: X:104.63, Y:-7.41, Z:-11.36 [[ 9.77583695e-01 1.95808019e-01 7.73908124e-02 1.04631742e+02] [-1.95355606e-01 9.80640266e-01 -1.34482712e-02 -7.41060631e+00] [-7.85258262e-02 -1.97191847e-03 9.96910129e-01 -1.13583749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.92771942099998 meters 0.05716326891208109 Centerline is valid? [True, True] Translation: X:104.69, Y:-7.42, Z:-11.37 [[ 9.76823282e-01 1.99302378e-01 7.80694423e-02 1.04692441e+02] [-1.98853345e-01 9.79935398e-01 -1.35632870e-02 -7.41696109e+00] [-7.92062053e-02 -2.27543522e-03 9.96855656e-01 -1.13669121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.98771942099998 meters 0.0587917972547963 Centerline is valid? [True, True] Translation: X:104.75, Y:-7.43, Z:-11.37 [[ 9.75479311e-01 2.06158731e-01 7.70629008e-02 1.04752624e+02] [-2.05741365e-01 9.78514612e-01 -1.34031516e-02 -7.42583261e+00] [-7.81703512e-02 -2.78052929e-03 9.96936139e-01 -1.13720548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.04771942099998 meters 0.05947370947654825 Centerline is valid? [True, True] Translation: X:104.81, Y:-7.44, Z:-11.38 [[ 9.75007123e-01 2.07233985e-01 8.00948518e-02 1.04813206e+02] [-2.06787149e-01 9.78286851e-01 -1.39252362e-02 -7.43697700e+00] [-8.12415225e-02 -2.98538150e-03 9.96689973e-01 -1.13760459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.10771942099998 meters 0.057949478985260636 Centerline is valid? [True, True] Translation: X:104.87, Y:-7.46, Z:-11.38 [[ 9.75095637e-01 2.06256012e-01 8.15288679e-02 1.04873389e+02] [-2.05787352e-01 9.78493677e-01 -1.42017800e-02 -7.45620957e+00] [-8.27046843e-02 -2.92951614e-03 9.96569793e-01 -1.13795134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.16771942099999 meters 0.05921737537443983 Centerline is valid? [True, True] Translation: X:104.93, Y:-7.47, Z:-11.39 [[ 9.74551692e-01 2.09182400e-01 8.05712278e-02 1.04934081e+02] [-2.08733448e-01 9.77871645e-01 -1.40497139e-02 -7.46531402e+00] [-8.17272719e-02 -3.12573776e-03 9.96649830e-01 -1.13882950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.22771942099999 meters 0.062407815168723714 Centerline is valid? [True, True] Translation: X:104.99, Y:-7.47, Z:-11.40 [[ 9.74001746e-01 2.13148543e-01 7.67352377e-02 1.04992986e+02] [-2.12753002e-01 9.77014282e-01 -1.33885712e-02 -7.47315137e+00] [-7.78251776e-02 -3.28516044e-03 9.96961609e-01 -1.14001669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.28771942099998 meters 0.0651476673557254 Centerline is valid? [True, True] Translation: X:105.05, Y:-7.49, Z:-11.41 [[ 9.72997940e-01 2.17941483e-01 7.60034195e-02 1.05051578e+02] [-2.17567851e-01 9.75955084e-01 -1.32629128e-02 -7.48811716e+00] [-7.70664625e-02 -3.63111382e-03 9.97019346e-01 -1.14074952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.34771942099998 meters 0.06270776210756228 Centerline is valid? [True, True] Translation: X:105.11, Y:-7.51, Z:-11.41 [[ 9.72562451e-01 2.20072034e-01 7.54359184e-02 1.05110708e+02] [-2.19710391e-01 9.75476331e-01 -1.31632810e-02 -7.50981529e+00] [-7.64828229e-02 -3.77194227e-03 9.97063764e-01 -1.14114297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.40771942099998 meters 0.060798799599919046 Centerline is valid? [True, True] Translation: X:105.17, Y:-7.54, Z:-11.42 [[ 9.74031045e-01 2.13878555e-01 7.42932471e-02 1.05166067e+02] [-2.13509101e-01 9.76854932e-01 -1.29732938e-02 -7.53763791e+00] [-7.53484342e-02 -3.22589350e-03 9.97152048e-01 -1.14187607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.46771942099998 meters 0.058644112669896435 Centerline is valid? [True, True] Translation: X:105.22, Y:-7.57, Z:-11.43 [[ 9.76765341e-01 2.00910325e-01 7.45956439e-02 1.05220309e+02] [-2.00499990e-01 9.79607094e-01 -1.30267454e-02 -7.56686900e+00] [-7.56916296e-02 -2.23235239e-03 9.97128775e-01 -1.14303629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.52771942099999 meters 0.054072522529429255 Centerline is valid? [True, True] Translation: X:105.28, Y:-7.59, Z:-11.43 [[ 9.77888339e-01 1.93548568e-01 7.92044720e-02 1.05278572e+02] [-1.93062022e-01 9.81089101e-01 -1.38286433e-02 -7.59007016e+00] [-8.03831583e-02 -1.76850650e-03 9.96762469e-01 -1.14274306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.58771942099999 meters 0.053607068867365 Centerline is valid? [True, True] Translation: X:105.34, Y:-7.61, Z:-11.43 [[ 9.78699394e-01 1.89646520e-01 7.86237439e-02 1.05336891e+02] [-1.89154693e-01 9.81851377e-01 -1.37250198e-02 -7.60859099e+00] [-7.97997334e-02 -1.43938158e-03 9.96809877e-01 -1.14339658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.64771942099999 meters 0.05347824415391587 Centerline is valid? [True, True] Translation: X:105.40, Y:-7.62, Z:-11.44 [[ 9.79210019e-01 1.87753976e-01 7.67866130e-02 1.05397037e+02] [-1.87278365e-01 9.82215298e-01 -1.34134877e-02 -7.62252298e+00] [-7.79394217e-02 -1.24584977e-03 9.96957318e-01 -1.14434507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.70771942099998 meters 0.05387150996856147 Centerline is valid? [True, True] Translation: X:105.46, Y:-7.63, Z:-11.45 [[ 9.79347725e-01 1.88426218e-01 7.33048003e-02 1.05457144e+02] [-1.87992810e-01 9.82086597e-01 -1.28304350e-02 -7.63363970e+00] [-7.44092522e-02 -1.21531806e-03 9.97227048e-01 -1.14531247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.76771942099998 meters 0.05485061174759168 Centerline is valid? [True, True] Translation: X:105.52, Y:-7.64, Z:-11.46 [[ 9.78001588e-01 1.93993366e-01 7.66776868e-02 1.05518612e+02] [-1.93535667e-01 9.81001354e-01 -1.34271791e-02 -7.63999304e+00] [-7.78256982e-02 -1.70806483e-03 9.96965518e-01 -1.14571370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.82771942099998 meters 0.057914894779118015 Centerline is valid? [True, True] Translation: X:105.58, Y:-7.64, Z:-11.47 [[ 9.76798660e-01 2.01174791e-01 7.34376004e-02 1.05578250e+02] [-2.00772800e-01 9.79552998e-01 -1.28921349e-02 -7.64338147e+00] [-7.45295942e-02 -2.15125255e-03 9.97216482e-01 -1.14686881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.88771942099999 meters 0.05982125841487988 Centerline is valid? [True, True] Translation: X:105.64, Y:-7.65, Z:-11.47 [[ 9.74774575e-01 2.08853461e-01 7.87067963e-02 1.05640791e+02] [-2.08417273e-01 9.77942517e-01 -1.38084764e-02 -7.64840030e+00] [-7.98546705e-02 -2.94370413e-03 9.96802170e-01 -1.14679095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.94771942099999 meters 0.06268893486365497 Centerline is valid? [True, True] Translation: X:105.70, Y:-7.65, Z:-11.47 [[ 9.73402664e-01 2.12500738e-01 8.56194491e-02 1.05703047e+02] [-2.11996193e-01 9.77154627e-01 -1.50482191e-02 -7.65077999e+00] [-8.68611985e-02 -3.50302074e-03 9.96214265e-01 -1.14701455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.00771942099999 meters 0.06436368980853444 Centerline is valid? [True, True] Translation: X:105.76, Y:-7.66, Z:-11.48 [[ 9.72442341e-01 2.17424395e-01 8.41577502e-02 1.05762835e+02] [-2.16952788e-01 9.76069588e-01 -1.48205262e-02 -7.66085816e+00] [-8.53661645e-02 -3.84615141e-03 9.96342223e-01 -1.14765773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.06771942099998 meters 0.07052171926733174 Centerline is valid? [True, True] Translation: X:105.82, Y:-7.66, Z:-11.49 [[ 9.71153951e-01 2.25104476e-01 7.86637085e-02 1.05822205e+02] [-2.24717461e-01 9.74325480e-01 -1.38536119e-02 -7.66198467e+00] [-7.97625656e-02 -4.22311897e-03 9.96804945e-01 -1.14927293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.12771942099998 meters 0.07777663993211148 Centerline is valid? [True, True] Translation: X:105.88, Y:-7.66, Z:-11.50 [[ 9.68963321e-01 2.35043713e-01 7.65802577e-02 1.05882620e+02] [-2.34707406e-01 9.71972441e-01 -1.34909950e-02 -7.66477336e+00] [-7.76048736e-02 -4.90167426e-03 9.96972145e-01 -1.15042520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.18771942099998 meters 0.07970593215204803 Centerline is valid? [True, True] Translation: X:105.94, Y:-7.68, Z:-11.51 [[ 9.68782068e-01 2.36293264e-01 7.50119830e-02 1.05941237e+02] [-2.35974738e-01 9.71669410e-01 -1.32091212e-02 -7.68335213e+00] [-7.60080757e-02 -4.90417325e-03 9.97095142e-01 -1.15132492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.24771942099999 meters 0.06812442235149514 Centerline is valid? [True, True] Translation: X:106.00, Y:-7.73, Z:-11.51 [[ 9.70837870e-01 2.26591016e-01 7.82964948e-02 1.05995163e+02] [-2.26210381e-01 9.73980504e-01 -1.38145060e-02 -7.72748154e+00] [-7.93895025e-02 -4.29983433e-03 9.96834399e-01 -1.15129732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.30771942099999 meters 0.06319844026673939 Centerline is valid? [True, True] Translation: X:106.05, Y:-7.76, Z:-11.52 [[ 9.73286645e-01 2.15849915e-01 7.82426999e-02 1.06051090e+02] [-2.15435124e-01 9.76420565e-01 -1.38053386e-02 -7.75799469e+00] [-7.93776625e-02 -3.41967402e-03 9.96838750e-01 -1.15176956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.36771942099999 meters 0.05968026824465788 Centerline is valid? [True, True] Translation: X:106.11, Y:-7.78, Z:-11.52 [[ 9.75834883e-01 2.02601765e-01 8.18462393e-02 1.06106815e+02] [-2.02101092e-01 9.79258157e-01 -1.44433688e-02 -7.78302068e+00] [-8.30748495e-02 -2.44687125e-03 9.96540306e-01 -1.15244054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.42771942099998 meters 0.0532554739184557 Centerline is valid? [True, True] Translation: X:106.16, Y:-7.81, Z:-11.52 [[ 9.78030544e-01 1.90763095e-01 8.40577027e-02 1.06163906e+02] [-1.90191339e-01 9.81634988e-01 -1.48325491e-02 -7.81384075e+00] [-8.53434850e-02 -1.48036094e-03 9.96350490e-01 -1.15228435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.48771942099998 meters 0.05308186089789583 Centerline is valid? [True, True] Translation: X:106.22, Y:-7.83, Z:-11.53 [[ 9.79338604e-01 1.85564289e-01 8.03852816e-02 1.06223301e+02] [-1.85024334e-01 9.82631631e-01 -1.41800477e-02 -7.82846360e+00] [-8.16204309e-02 -9.86165093e-04 9.96662999e-01 -1.15339630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.54771942099998 meters 0.053232076485011555 Centerline is valid? [True, True] Translation: X:106.28, Y:-7.84, Z:-11.54 [[ 9.79948420e-01 1.83710748e-01 7.71456750e-02 1.06283791e+02] [-1.83205917e-01 9.82980041e-01 -1.36320014e-02 -7.83856957e+00] [-7.83370039e-02 -7.74885872e-04 9.96926634e-01 -1.15447984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.60771942099998 meters 0.053287472045961584 Centerline is valid? [True, True] Translation: X:106.35, Y:-7.85, Z:-11.55 [[ 9.79960511e-01 1.83288660e-01 7.79914348e-02 1.06345240e+02] [-1.82769509e-01 9.83058869e-01 -1.38046002e-02 -7.84635583e+00] [-7.92003983e-02 -7.26493167e-04 9.96858450e-01 -1.15520648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.66771942099999 meters 0.05291734677689025 Centerline is valid? [True, True] Translation: X:106.41, Y:-7.86, Z:-11.56 [[ 9.79940771e-01 1.82696309e-01 7.96124655e-02 1.06406527e+02] [-1.82151460e-01 9.83169167e-01 -1.41150674e-02 -7.85720125e+00] [-8.08512921e-02 -6.69596789e-04 9.96725950e-01 -1.15555668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.72771942099999 meters 0.05362661796836477 Centerline is valid? [True, True] Translation: X:106.47, Y:-7.86, Z:-11.56 [[ 9.78970031e-01 1.87664160e-01 7.99990043e-02 1.06468933e+02] [-1.87128684e-01 9.82232678e-01 -1.42063856e-02 -7.85788721e+00] [-8.12436657e-02 -1.06248270e-03 9.96693703e-01 -1.15641803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.78771942099998 meters 0.05734422362619941 Centerline is valid? [True, True] Translation: X:106.53, Y:-7.85, Z:-11.57 [[ 9.76554611e-01 1.99842249e-01 8.00260466e-02 1.06531599e+02] [-1.99344878e-01 9.79825944e-01 -1.42386168e-02 -7.84664980e+00] [-8.12570738e-02 -2.04799562e-03 9.96691072e-01 -1.15721663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.84771942099998 meters 0.06057257335788044 Centerline is valid? [True, True] Translation: X:106.59, Y:-7.84, Z:-11.58 [[ 9.74893650e-01 2.07500428e-01 8.07833060e-02 1.06593434e+02] [-2.07019235e-01 9.78231187e-01 -1.43798665e-02 -7.84403816e+00] [-8.20085778e-02 -2.70485763e-03 9.96627953e-01 -1.15765990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.90771942099998 meters 0.061398412975727505 Centerline is valid? [True, True] Translation: X:106.65, Y:-7.85, Z:-11.58 [[ 9.73706102e-01 2.13073276e-01 8.05990409e-02 1.06654385e+02] [-2.12613164e-01 9.77031095e-01 -1.43485689e-02 -7.84832825e+00] [-8.18050658e-02 -3.16512794e-03 9.96643323e-01 -1.15825858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.96771942099998 meters 0.06244533591392074 Centerline is valid? [True, True] Translation: X:106.71, Y:-7.86, Z:-11.59 [[ 9.73622331e-01 2.14331945e-01 7.82392131e-02 1.06714747e+02] [-2.13902868e-01 9.76755705e-01 -1.39232180e-02 -7.85653191e+00] [-7.94047882e-02 -3.17963615e-03 9.96837384e-01 -1.15922635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.02771942099999 meters 0.06393866739425287 Centerline is valid? [True, True] Translation: X:106.77, Y:-7.87, Z:-11.60 [[ 9.72653730e-01 2.18559821e-01 7.85896001e-02 1.06774198e+02] [-2.18138503e-01 9.75817223e-01 -1.40121453e-02 -7.86841303e+00] [-7.97515773e-02 -3.51445238e-03 9.96808575e-01 -1.15977040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.08771942099999 meters 0.06494907416190564 Centerline is valid? [True, True] Translation: X:106.83, Y:-7.88, Z:-11.61 [[ 9.72321220e-01 2.20831180e-01 7.63219240e-02 1.06833169e+02] [-2.20440429e-01 9.75305446e-01 -1.36126785e-02 -7.88128318e+00] [-7.74432920e-02 -3.58854153e-03 9.96990300e-01 -1.16078092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.14771942099999 meters 0.06058518780239821 Centerline is valid? [True, True] Translation: X:106.89, Y:-7.92, Z:-11.61 [[ 9.74420838e-01 2.10240814e-01 7.93903664e-02 1.06887843e+02] [-2.09782698e-01 9.77645463e-01 -1.41622367e-02 -7.91614101e+00] [-8.05931117e-02 -2.85474675e-03 9.96742996e-01 -1.16113305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.20771942099998 meters 0.05619273484883341 Centerline is valid? [True, True] Translation: X:106.94, Y:-7.94, Z:-11.62 [[ 9.76319469e-01 2.00896063e-01 8.02562544e-02 1.06944655e+02] [-2.00396384e-01 9.79610299e-01 -1.43161450e-02 -7.94279560e+00] [-8.14959105e-02 -2.10593209e-03 9.96671451e-01 -1.16158827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.26771942099998 meters 0.05247453755372968 Centerline is valid? [True, True] Translation: X:107.00, Y:-7.98, Z:-11.62 [[ 9.79545619e-01 1.83876403e-01 8.17303363e-02 1.07000197e+02] [-1.83298737e-01 9.82949124e-01 -1.45805603e-02 -7.97563760e+00] [-8.30177834e-02 -6.98743461e-04 9.96547821e-01 -1.16202325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.32771942099998 meters 0.0526283342562956 Centerline is valid? [True, True] Translation: X:107.06, Y:-8.01, Z:-11.62 [[ 9.82284949e-01 1.68633694e-01 8.17248804e-02 1.07059232e+02] [-1.68003818e-01 9.85678616e-01 -1.45733467e-02 -8.00648167e+00] [-8.30120243e-02 5.85087188e-04 9.96548374e-01 -1.16224133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.38771942099999 meters 0.05449426419548149 Centerline is valid? [True, True] Translation: X:107.12, Y:-8.01, Z:-11.64 [[ 9.83256514e-01 1.63927530e-01 7.95888996e-02 1.07118615e+02] [-1.63312208e-01 9.86471889e-01 -1.42244364e-02 -8.01418584e+00] [-8.08439889e-02 9.88430792e-04 9.96726278e-01 -1.16389081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.44771942099999 meters 0.05312892975725042 Centerline is valid? [True, True] Translation: X:107.18, Y:-8.01, Z:-11.64 [[ 9.82154434e-01 1.70980404e-01 7.83477422e-02 1.07182082e+02] [-1.70405979e-01 9.85274345e-01 -1.40095545e-02 -8.01220059e+00] [-7.95893796e-02 4.08622334e-04 9.96827650e-01 -1.16440616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.50771942099999 meters 0.05329677674016017 Centerline is valid? [True, True] Translation: X:107.24, Y:-8.01, Z:-11.66 [[ 9.80803622e-01 1.80380089e-01 7.40761638e-02 1.07244765e+02] [-1.79891830e-01 9.83596932e-01 -1.32666634e-02 -8.00737506e+00] [-7.52541294e-02 -3.13705143e-04 9.97164338e-01 -1.16552736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.56771942099998 meters 0.054203685744481506 Centerline is valid? [True, True] Translation: X:107.31, Y:-8.00, Z:-11.66 [[ 9.78325950e-01 1.93407313e-01 7.39726067e-02 1.07308693e+02] [-1.92955461e-01 9.81117708e-01 -1.32752586e-02 -7.99700176e+00] [-7.51433665e-02 -1.28588843e-03 9.97171911e-01 -1.16614618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.62771942099998 meters 0.056237470379880666 Centerline is valid? [True, True] Translation: X:107.37, Y:-7.99, Z:-11.66 [[ 9.76016448e-01 2.04185353e-01 7.54999043e-02 1.07371709e+02] [-2.03746429e-01 9.78929875e-01 -1.35533509e-02 -7.98926913e+00] [-7.66765076e-02 -2.15454245e-03 9.97053695e-01 -1.16646913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.68771942099998 meters 0.05787033545815069 Centerline is valid? [True, True] Translation: X:107.43, Y:-7.99, Z:-11.67 [[ 9.74904058e-01 2.09160058e-01 7.62505661e-02 1.07434900e+02] [-2.08727534e-01 9.77878039e-01 -1.36878580e-02 -7.98852512e+00] [-7.74267072e-02 -2.57124430e-03 9.96994731e-01 -1.16704347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.74771942099999 meters 0.059525329818492186 Centerline is valid? [True, True] Translation: X:107.50, Y:-7.98, Z:-11.68 [[ 9.74143117e-01 2.12251636e-01 7.74237091e-02 1.07496906e+02] [-2.11814780e-01 9.77210881e-01 -1.39065683e-02 -7.98421337e+00] [-7.86109829e-02 -2.85249818e-03 9.96901287e-01 -1.16779924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.80771942099999 meters 0.06059832310102166 Centerline is valid? [True, True] Translation: X:107.56, Y:-7.99, Z:-11.69 [[ 9.74304654e-01 2.12701228e-01 7.40852755e-02 1.07557552e+02] [-2.12302563e-01 9.77113376e-01 -1.33068352e-02 -7.99040433e+00] [-7.52200939e-02 -2.76358242e-03 9.97163126e-01 -1.16873014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.86771942099999 meters 0.06117570551250638 Centerline is valid? [True, True] Translation: X:107.62, Y:-8.00, Z:-11.70 [[ 9.74385764e-01 2.12918406e-01 7.23749597e-02 1.07618618e+02] [-2.12538204e-01 9.77066222e-01 -1.30042443e-02 -7.99838098e+00] [-7.34839714e-02 -2.71129348e-03 9.97292713e-01 -1.16980055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.92771942099998 meters 0.06216099448414549 Centerline is valid? [True, True] Translation: X:107.68, Y:-8.01, Z:-11.70 [[ 9.73838441e-01 2.14965183e-01 7.36794525e-02 1.07679562e+02] [-2.14575344e-01 9.76617418e-01 -1.32604659e-02 -8.00784421e+00] [-7.48071751e-02 -2.89624249e-03 9.97193812e-01 -1.17023300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.98771942099998 meters 0.06234054154447763 Centerline is valid? [True, True] Translation: X:107.74, Y:-8.02, Z:-11.71 [[ 9.73057120e-01 2.18670930e-01 7.30949043e-02 1.07738819e+02] [-2.18295504e-01 9.75793649e-01 -1.31843707e-02 -8.02141820e+00] [-7.42085819e-02 -3.12714314e-03 9.97237839e-01 -1.17063196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.04771942099998 meters 0.06580623398043087 Centerline is valid? [True, True] Translation: X:107.80, Y:-8.03, Z:-11.71 [[ 9.71378350e-01 2.25767009e-01 7.38468631e-02 1.07798860e+02] [-2.25404021e-01 9.74174285e-01 -1.33225415e-02 -8.02641625e+00] [-7.49475054e-02 -3.70415148e-03 9.97180601e-01 -1.17120636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.10771942099998 meters 0.06935572624859256 Centerline is valid? [True, True] Translation: X:107.86, Y:-8.03, Z:-11.72 [[ 9.70272852e-01 2.30552708e-01 7.35937596e-02 1.07859226e+02] [-2.30206002e-01 9.73051365e-01 -1.32754812e-02 -8.03225529e+00] [-7.46712064e-02 -4.06088613e-03 9.97199940e-01 -1.17186820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.16771942099999 meters 0.07309447435413186 Centerline is valid? [True, True] Translation: X:107.92, Y:-8.04, Z:-11.73 [[ 9.68835523e-01 2.36970006e-01 7.21314488e-02 1.07919490e+02] [-2.36654610e-01 9.71506711e-01 -1.30117798e-02 -8.03651603e+00] [-7.31595881e-02 -4.46396533e-03 9.97310256e-01 -1.17270304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.22771942099999 meters 0.07596913131568923 Centerline is valid? [True, True] Translation: X:107.98, Y:-8.05, Z:-11.73 [[ 9.67660983e-01 2.41264015e-01 7.36471166e-02 1.07979264e+02] [-2.40947276e-01 9.70447220e-01 -1.32892459e-02 -8.04673280e+00] [-7.46768564e-02 -4.88558740e-03 9.97195817e-01 -1.17322960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.28771942099998 meters 0.07322634169526306 Centerline is valid? [True, True] Translation: X:108.04, Y:-8.07, Z:-11.74 [[ 9.68704277e-01 2.38702359e-01 6.80676705e-02 1.08038332e+02] [-2.38426223e-01 9.71083074e-01 -1.22718872e-02 -8.07161627e+00] [-6.90286911e-02 -4.34128793e-03 9.97605229e-01 -1.17435439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.34771942099998 meters 0.06932228911808583 Centerline is valid? [True, True] Translation: X:108.09, Y:-8.10, Z:-11.75 [[ 9.70641679e-01 2.31059577e-01 6.68296621e-02 1.08094673e+02] [-2.30773003e-01 9.72932590e-01 -1.20829230e-02 -8.09538657e+00] [-6.78126313e-02 -3.69429313e-03 9.97691234e-01 -1.17530894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.40771942099998 meters 0.06363593127998193 Centerline is valid? [True, True] Translation: X:108.15, Y:-8.13, Z:-11.76 [[ 9.73198248e-01 2.19723263e-01 6.78738403e-02 1.08151124e+02] [-2.19400175e-01 9.75557783e-01 -1.22708989e-02 -8.12697160e+00] [-6.89110552e-02 -2.94951521e-03 9.97618448e-01 -1.17572293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.46771942099998 meters 0.05842835008053448 Centerline is valid? [True, True] Translation: X:108.21, Y:-8.15, Z:-11.76 [[ 9.75880238e-01 2.07193366e-01 6.87653317e-02 1.08206445e+02] [-2.06830367e-01 9.78297784e-01 -1.24356762e-02 -8.15352507e+00] [-6.98495612e-02 -2.08702812e-03 9.97555353e-01 -1.17643939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.52771942099999 meters 0.053638327461133006 Centerline is valid? [True, True] Translation: X:108.26, Y:-8.18, Z:-11.77 [[ 9.78892047e-01 1.91901427e-01 7.03150252e-02 1.08262814e+02] [-1.91482389e-01 9.81413679e-01 -1.27155967e-02 -8.18340555e+00] [-7.14482687e-02 -1.01689255e-03 9.97443788e-01 -1.17674638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.58771942099999 meters 0.05207549949887816 Centerline is valid? [True, True] Translation: X:108.32, Y:-8.21, Z:-11.77 [[ 9.82353170e-01 1.72704760e-01 7.18005205e-02 1.08320590e+02] [-1.72216518e-01 9.84973560e-01 -1.29829214e-02 -8.21392833e+00] [-7.29638267e-02 3.88578438e-04 9.97334512e-01 -1.17669392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.64771942099999 meters 0.05484549363184031 Centerline is valid? [True, True] Translation: X:108.38, Y:-8.23, Z:-11.77 [[ 9.84458455e-01 1.58847461e-01 7.48934941e-02 1.08378682e+02] [-1.58276163e-01 9.87302033e-01 -1.35407466e-02 -8.23475923e+00] [-7.60934122e-02 1.47644757e-03 9.97099600e-01 -1.17714254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.70771942099998 meters 0.05787839890097909 Centerline is valid? [True, True] Translation: X:108.44, Y:-8.25, Z:-11.78 [[ 9.85987613e-01 1.50025678e-01 7.29432880e-02 1.08437998e+02] [-1.49457619e-01 9.88679809e-01 -1.32157137e-02 -8.24749863e+00] [-7.41002524e-02 2.12859982e-03 9.97248526e-01 -1.17787407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.76771942099998 meters 0.05842166999148735 Centerline is valid? [True, True] Translation: X:108.50, Y:-8.25, Z:-11.79 [[ 9.86545053e-01 1.46813885e-01 7.19342885e-02 1.08500215e+02] [-1.46252902e-01 9.89161372e-01 -1.30333729e-02 -8.25129768e+00] [-7.30680996e-02 2.33741103e-03 9.97324215e-01 -1.17865488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.82771942099998 meters 0.06205636872079871 Centerline is valid? [True, True] Translation: X:108.56, Y:-8.26, Z:-11.79 [[ 9.87780497e-01 1.37851751e-01 7.27088997e-02 1.08560970e+02] [-1.37253740e-01 9.90448204e-01 -1.31820438e-02 -8.25919041e+00] [-7.38315669e-02 3.04139732e-03 9.97266088e-01 -1.17912373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.88771942099999 meters 0.06568459356675024 Centerline is valid? [True, True] Translation: X:108.62, Y:-8.26, Z:-11.79 [[ 9.88724201e-01 1.28011062e-01 7.77021401e-02 1.08621973e+02] [-1.27297282e-01 9.91764507e-01 -1.40913106e-02 -8.26270288e+00] [-7.88660683e-02 4.04114864e-03 9.96877030e-01 -1.17928489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.94771942099999 meters 0.07201917477259934 Centerline is valid? [True, True] Translation: X:108.68, Y:-8.26, Z:-11.80 [[ 9.89894303e-01 1.19067264e-01 7.70211343e-02 1.08683232e+02] [-1.18338924e-01 9.92875005e-01 -1.39686836e-02 -8.26241071e+00] [-7.81355720e-02 4.71292213e-03 9.96931603e-01 -1.18041046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.00771942099999 meters 0.07422417658232883 Centerline is valid? [True, True] Translation: X:108.75, Y:-8.26, Z:-11.81 [[ 9.90649622e-01 1.12606768e-01 7.70262466e-02 1.08745690e+02] [-1.11858596e-01 9.93625884e-01 -1.39734708e-02 -8.25553909e+00] [-7.81087797e-02 5.22676582e-03 9.96931141e-01 -1.18103392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.06771942099998 meters 0.08403794729247484 Centerline is valid? [True, True] Translation: X:108.81, Y:-8.25, Z:-11.83 [[ 9.90542267e-01 1.13623384e-01 7.69138690e-02 1.08807046e+02] [-1.12881073e-01 9.93510644e-01 -1.39450348e-02 -8.25376382e+00] [-7.79992295e-02 5.13102631e-03 9.96940215e-01 -1.18251944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.12771942099998 meters 0.07347302027805332 Centerline is valid? [True, True] Translation: X:108.87, Y:-8.23, Z:-11.83 [[ 9.90394682e-01 1.17219064e-01 7.33352903e-02 1.08874915e+02] [-1.16552140e-01 9.93095206e-01 -1.33233374e-02 -8.22509415e+00] [-7.43906744e-02 4.64797745e-03 9.97218343e-01 -1.18307442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.18771942099998 meters 0.06984628037902403 Centerline is valid? [True, True] Translation: X:108.94, Y:-8.21, Z:-11.83 [[ 9.89738411e-01 1.21613095e-01 7.50208883e-02 1.08939127e+02] [-1.20926900e-01 9.92567708e-01 -1.36393094e-02 -8.21026546e+00] [-7.61220298e-02 4.42730488e-03 9.97088680e-01 -1.18334031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.24771942099999 meters 0.06414308550963138 Centerline is valid? [True, True] Translation: X:109.00, Y:-8.19, Z:-11.84 [[ 9.88330475e-01 1.32224425e-01 7.56278569e-02 1.09004087e+02] [-1.31557883e-01 9.91213119e-01 -1.37504757e-02 -8.19038409e+00] [-7.67814727e-02 3.64057345e-03 9.97041299e-01 -1.18395377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.30771942099999 meters 0.05820308392657325 Centerline is valid? [True, True] Translation: X:109.07, Y:-8.17, Z:-11.85 [[ 9.86667251e-01 1.44621227e-01 7.46487495e-02 1.09068787e+02] [-1.44007004e-01 9.89483558e-01 -1.35746651e-02 -8.17149741e+00] [-7.58268949e-02 2.64373474e-03 9.97117492e-01 -1.18453930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.36771942099999 meters 0.05400217108000342 Centerline is valid? [True, True] Translation: X:109.13, Y:-8.15, Z:-11.85 [[ 9.84500903e-01 1.58081752e-01 7.59482222e-02 1.09132225e+02] [-1.57485751e-01 9.87424671e-01 -1.38114939e-02 -8.15339729e+00] [-7.71764935e-02 1.63666543e-03 9.97016103e-01 -1.18507873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.42771942099998 meters 0.05195754389881645 Centerline is valid? [True, True] Translation: X:109.20, Y:-8.14, Z:-11.86 [[ 9.82771344e-01 1.68391354e-01 7.61894810e-02 1.09196350e+02] [-1.67822724e-01 9.85719873e-01 -1.38515086e-02 -8.14074251e+00] [-7.74339599e-02 8.26539467e-04 9.96997141e-01 -1.18574391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.48771942099998 meters 0.05214884718427681 Centerline is valid? [True, True] Translation: X:109.26, Y:-8.13, Z:-11.87 [[ 9.82086413e-01 1.73697516e-01 7.30441700e-02 1.09260472e+02] [-1.73190007e-01 9.84798977e-01 -1.32739234e-02 -8.13258971e+00] [-7.42394714e-02 3.85619495e-04 9.97240368e-01 -1.18679771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.54771942099998 meters 0.05241078419106063 Centerline is valid? [True, True] Translation: X:109.32, Y:-8.13, Z:-11.88 [[ 9.81507053e-01 1.77254763e-01 7.22817626e-02 1.09323135e+02] [-1.76765832e-01 9.84164991e-01 -1.31571363e-02 -8.13228740e+00] [-7.34693454e-02 1.36876182e-04 9.97297466e-01 -1.18775023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.60771942099998 meters 0.05185680849802908 Centerline is valid? [True, True] Translation: X:109.38, Y:-8.14, Z:-11.88 [[ 9.81629749e-01 1.75657325e-01 7.44818145e-02 1.09384902e+02] [-1.75131571e-01 9.84451329e-01 -1.35835547e-02 -8.14165354e+00] [-7.57097722e-02 2.89904233e-04 9.97129854e-01 -1.18787487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.66771942099999 meters 0.05278317844021391 Centerline is valid? [True, True] Translation: X:109.44, Y:-8.16, Z:-11.89 [[ 9.82995593e-01 1.68420823e-01 7.31716458e-02 1.09444725e+02] [-1.67891113e-01 9.85714808e-01 -1.33750606e-02 -8.15855396e+00] [-7.43790135e-02 8.62756608e-04 9.97229672e-01 -1.18859089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.72771942099999 meters 0.05574714075834017 Centerline is valid? [True, True] Translation: X:109.50, Y:-8.18, Z:-11.89 [[ 9.85104932e-01 1.56632666e-01 7.09540775e-02 1.09501781e+02] [-1.56103450e-01 9.87655451e-01 -1.29778016e-02 -8.18310881e+00] [-7.21109291e-02 1.70832005e-03 9.97395155e-01 -1.18942458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.78771942099998 meters 0.05974516030142982 Centerline is valid? [True, True] Translation: X:109.56, Y:-8.20, Z:-11.90 [[ 9.86621753e-01 1.46937966e-01 7.06169235e-02 1.09558382e+02] [-1.46388747e-01 9.89142777e-01 -1.29190676e-02 -8.20238841e+00] [-7.17485213e-02 2.40871014e-03 9.97419845e-01 -1.19020317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.84771942099998 meters 0.05988580996376462 Centerline is valid? [True, True] Translation: X:109.62, Y:-8.21, Z:-11.91 [[ 9.86649838e-01 1.46011441e-01 7.21301278e-02 1.09619704e+02] [-1.45436324e-01 9.89279682e-01 -1.31904176e-02 -8.21035990e+00] [-7.32828218e-02 2.52398273e-03 9.97308005e-01 -1.19053791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.90771942099998 meters 0.05543827140787242 Centerline is valid? [True, True] Translation: X:109.68, Y:-8.20, Z:-11.91 [[ 9.84595430e-01 1.60290093e-01 6.98493096e-02 1.09683311e+02] [-1.59784316e-01 9.87068889e-01 -1.28055172e-02 -8.19642622e+00] [-7.09986779e-02 1.44742953e-03 9.97475359e-01 -1.19135962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.96771942099998 meters 0.051968453948794895 Centerline is valid? [True, True] Translation: X:109.75, Y:-8.18, Z:-11.91 [[ 9.80979894e-01 1.78995208e-01 7.50943639e-02 1.09748251e+02] [-1.78464954e-01 9.83849940e-01 -1.37679137e-02 -8.18263682e+00] [-7.63459760e-02 1.04334302e-04 9.97081381e-01 -1.19132573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.02771942099999 meters 0.05399210781140417 Centerline is valid? [True, True] Translation: X:109.81, Y:-8.17, Z:-11.93 [[ 9.77956368e-01 1.95155432e-01 7.42677610e-02 1.09811253e+02] [-1.94683883e-01 9.80771651e-01 -1.36071423e-02 -8.17421204e+00] [-7.54952223e-02 -1.15154467e-03 9.97145499e-01 -1.19256162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.08771942099999 meters 0.05654265724620781 Centerline is valid? [True, True] Translation: X:109.87, Y:-8.17, Z:-11.93 [[ 9.76161613e-01 2.04479493e-01 7.27780307e-02 1.09871683e+02] [-2.04050211e-01 9.78869186e-01 -1.33651857e-02 -8.17499523e+00] [-7.39730781e-02 -1.80379125e-03 9.97258607e-01 -1.19325509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.14771942099998 meters 0.05741924571362979 Centerline is valid? [True, True] Translation: X:109.93, Y:-8.19, Z:-11.94 [[ 9.75517459e-01 2.08195973e-01 7.08528296e-02 1.09929385e+02] [-2.07799005e-01 9.78085022e-01 -1.30101533e-02 -8.19048159e+00] [-7.20087530e-02 -2.03151574e-03 9.97401931e-01 -1.19395863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.20771942099998 meters 0.05658834938604547 Centerline is valid? [True, True] Translation: X:109.99, Y:-8.21, Z:-11.95 [[ 9.76414028e-01 2.04457943e-01 6.93728660e-02 1.09986693e+02] [-2.04068141e-01 9.78873836e-01 -1.27360366e-02 -8.20935570e+00] [-7.05112673e-02 -1.72114697e-03 9.97509498e-01 -1.19477296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.26771942099998 meters 0.05540681191570446 Centerline is valid? [True, True] Translation: X:110.04, Y:-8.24, Z:-11.96 [[ 9.78492762e-01 1.95074527e-01 6.70659714e-02 1.10042702e+02] [-1.94688954e-01 9.80787892e-01 -1.23013451e-02 -8.23743419e+00] [-6.81771717e-02 -1.02022670e-03 9.97672708e-01 -1.19617235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.32771942099998 meters 0.0528577439136835 Centerline is valid? [True, True] Translation: X:110.10, Y:-8.27, Z:-11.96 [[ 9.80430724e-01 1.83901840e-01 7.02546028e-02 1.10098499e+02] [-1.83447759e-01 9.82944588e-01 -1.29172955e-02 -8.27270466e+00] [-7.14318961e-02 -2.23536051e-04 9.97445454e-01 -1.19629644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.38771942099999 meters 0.05303003449621711 Centerline is valid? [True, True] Translation: X:110.16, Y:-8.30, Z:-11.97 [[ 9.82429396e-01 1.72805809e-01 7.05027254e-02 1.10156102e+02] [-1.72320561e-01 9.84955745e-01 -1.29539589e-02 -8.30280757e+00] [-7.16805837e-02 5.77280813e-04 9.97427471e-01 -1.19685590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.44771942099999 meters 0.054603549430626466 Centerline is valid? [True, True] Translation: X:110.21, Y:-8.33, Z:-11.98 [[ 9.83937050e-01 1.65391627e-01 6.71825260e-02 1.10212451e+02] [-1.64931651e-01 9.86227362e-01 -1.23750341e-02 -8.32808531e+00] [-6.83039724e-02 1.09572959e-03 9.97663955e-01 -1.19773257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.50771942099999 meters 0.05790647767775329 Centerline is valid? [True, True] Translation: X:110.27, Y:-8.36, Z:-11.99 [[ 9.84985511e-01 1.57422283e-01 7.08644360e-02 1.10269620e+02] [-1.56890383e-01 9.87529861e-01 -1.30453484e-02 -8.35504833e+00] [-7.20343752e-02 1.73153072e-03 9.97400647e-01 -1.19850710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.56771942099998 meters 0.05703103969654721 Centerline is valid? [True, True] Translation: X:110.33, Y:-8.37, Z:-11.98 [[ 9.85465612e-01 1.52775272e-01 7.42781505e-02 1.10331806e+02] [-1.52175888e-01 9.88258520e-01 -1.36966106e-02 -8.36628727e+00] [-7.54985185e-02 2.19419515e-03 9.97143500e-01 -1.19805222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.62771942099998 meters 0.060436377030471465 Centerline is valid? [True, True] Translation: X:110.39, Y:-8.38, Z:-11.99 [[ 9.85356685e-01 1.52733993e-01 7.57926888e-02 1.10389718e+02] [-1.52107703e-01 9.88264732e-01 -1.40023632e-02 -8.38389402e+00] [-7.70418781e-02 2.26867036e-03 9.97025277e-01 -1.19932098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.68771942099998 meters 0.05632287372818273 Centerline is valid? [True, True] Translation: X:110.45, Y:-8.38, Z:-11.99 [[ 9.84759439e-01 1.56669520e-01 7.55215847e-02 1.10453579e+02] [-1.56057586e-01 9.87649108e-01 -1.39738971e-02 -8.38355879e+00] [-7.67781095e-02 1.97521082e-03 9.97046248e-01 -1.19942598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.74771942099999 meters 0.05321420915938171 Centerline is valid? [True, True] Translation: X:110.52, Y:-8.37, Z:-12.00 [[ 9.82900070e-01 1.68265188e-01 7.47949069e-02 1.10517110e+02] [-1.67695940e-01 9.85741160e-01 -1.38722044e-02 -8.37270734e+00] [-7.60626273e-02 1.09218843e-03 9.97102444e-01 -1.20023751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.80771942099999 meters 0.052649689883808276 Centerline is valid? [True, True] Translation: X:110.58, Y:-8.36, Z:-12.02 [[ 9.80797110e-01 1.82442336e-01 6.89334698e-02 1.10581373e+02] [-1.81993895e-01 9.83216555e-01 -1.27839032e-02 -8.36258405e+00] [-7.01088538e-02 -7.05537242e-06 9.97539347e-01 -1.20154085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.86771942099999 meters 0.053704943290857426 Centerline is valid? [True, True] Translation: X:110.64, Y:-8.36, Z:-12.02 [[ 9.79192743e-01 1.91922603e-01 6.59339555e-02 1.10642721e+02] [-1.91533310e-01 9.81409850e-01 -1.22350575e-02 -8.36359326e+00] [-6.70564175e-02 -6.48069303e-04 9.97748975e-01 -1.20245984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.92771942099998 meters 0.053165589118973004 Centerline is valid? [True, True] Translation: X:110.70, Y:-8.37, Z:-12.03 [[ 9.78468873e-01 1.94358755e-01 6.94502615e-02 1.10704145e+02] [-1.93932733e-01 9.80930141e-01 -1.28900605e-02 -8.37301518e+00] [-7.06311509e-02 -8.56156055e-04 9.97502134e-01 -1.20262880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.98771942099998 meters 0.0536547443746121 Centerline is valid? [True, True] Translation: X:110.77, Y:-8.38, Z:-12.03 [[ 9.78016805e-01 1.96477100e-01 6.98561224e-02 1.10766222e+02] [-1.96051890e-01 9.80507882e-01 -1.29595226e-02 -8.38246045e+00] [-7.10407280e-02 -1.02079394e-03 9.97472893e-01 -1.20339228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.04771942099998 meters 0.053282953238225086 Centerline is valid? [True, True] Translation: X:110.82, Y:-8.41, Z:-12.04 [[ 9.78926640e-01 1.92188243e-01 6.90384795e-02 1.10824417e+02] [-1.91760381e-01 9.81357847e-01 -1.28348029e-02 -8.40600001e+00] [-7.02181518e-02 -6.74514685e-04 9.97531431e-01 -1.20433884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.10771942099998 meters 0.05328533065176135 Centerline is valid? [True, True] Translation: X:110.88, Y:-8.42, Z:-12.05 [[ 9.79602469e-01 1.88691898e-01 6.90968249e-02 1.10882979e+02] [-1.88252991e-01 9.82036255e-01 -1.28687638e-02 -8.42325870e+00] [-7.02838186e-02 -4.01411111e-04 9.97526954e-01 -1.20526030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.16771942099999 meters 0.053393851310754 Centerline is valid? [True, True] Translation: X:110.94, Y:-8.45, Z:-12.06 [[ 9.80400288e-01 1.84964398e-01 6.78487113e-02 1.10941218e+02] [-1.84531006e-01 9.82745216e-01 -1.26550010e-02 -8.44651399e+00] [-6.90187210e-02 -1.13224354e-04 9.97615358e-01 -1.20610159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.22771942099999 meters 0.05317434052081564 Centerline is valid? [True, True] Translation: X:111.00, Y:-8.47, Z:-12.07 [[ 9.80553466e-01 1.83847383e-01 6.86661471e-02 1.11000264e+02] [-1.83399249e-01 9.82954800e-01 -1.28287015e-02 -8.46708099e+00] [-6.98542421e-02 -1.40921155e-05 9.97557209e-01 -1.20668485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.28771942099998 meters 0.054265770794071355 Centerline is valid? [True, True] Translation: X:111.06, Y:-8.49, Z:-12.08 [[ 9.81875173e-01 1.76024953e-01 7.02592412e-02 1.11056855e+02] [-1.75534022e-01 9.84385535e-01 -1.31501566e-02 -8.49321692e+00] [-7.14769364e-02 5.78925109e-04 9.97442085e-01 -1.20771788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.34771942099998 meters 0.0584000547283333 Centerline is valid? [True, True] Translation: X:111.11, Y:-8.52, Z:-12.08 [[ 9.84792984e-01 1.60311443e-01 6.69553611e-02 1.11112336e+02] [-1.59827356e-01 9.87065074e-01 -1.25601250e-02 -8.52484137e+00] [-6.81028302e-02 1.66782465e-03 9.97676913e-01 -1.20839403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.40771942099998 meters 0.06364231407051554 Centerline is valid? [True, True] Translation: X:111.17, Y:-8.55, Z:-12.08 [[ 9.87055849e-01 1.44491028e-01 6.95923451e-02 1.11169425e+02] [-1.43928654e-01 9.89501949e-01 -1.30550842e-02 -8.55051218e+00] [-7.07481037e-02 2.86976467e-03 9.97490085e-01 -1.20833488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.46771942099998 meters 0.06606509060405538 Centerline is valid? [True, True] Translation: X:111.23, Y:-8.57, Z:-12.08 [[ 9.88297382e-01 1.34696265e-01 7.15905142e-02 1.11228805e+02] [-1.34075122e-01 9.90880106e-01 -1.34341493e-02 -8.56504080e+00] [-7.27471461e-02 3.67842771e-03 9.97343633e-01 -1.20821557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.52771942099999 meters 0.06652397691711183 Centerline is valid? [True, True] Translation: X:111.29, Y:-8.57, Z:-12.09 [[ 9.88526172e-01 1.32120737e-01 7.32128264e-02 1.11291122e+02] [-1.31464777e-01 9.91225776e-01 -1.37285760e-02 -8.56993210e+00] [-7.43842702e-02 3.94614877e-03 9.97221845e-01 -1.20851488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.58771942099999 meters 0.07444813163954168 Centerline is valid? [True, True] Translation: X:111.35, Y:-8.58, Z:-12.10 [[ 9.89252959e-01 1.29723611e-01 6.74564173e-02 1.11348149e+02] [-1.29159066e-01 9.91542782e-01 -1.26825786e-02 -8.58282889e+00] [-6.85311535e-02 3.83367050e-03 9.97641611e-01 -1.21028061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.64771942099998 meters 0.07493301724071867 Centerline is valid? [True, True] Translation: X:111.41, Y:-8.58, Z:-12.11 [[ 9.90423893e-01 1.22815712e-01 6.30619746e-02 1.11409965e+02] [-1.22308634e-01 9.92421322e-01 -1.18540206e-02 -8.58379100e+00] [-6.40399082e-02 4.02748122e-03 9.97939211e-01 -1.21064850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.70771942099998 meters 0.07768054122224648 Centerline is valid? [True, True] Translation: X:111.47, Y:-8.59, Z:-12.11 [[ 9.91230833e-01 1.14534954e-01 6.59028081e-02 1.11472592e+02] [-1.13962810e-01 9.93407768e-01 -1.23888709e-02 -8.58547107e+00] [-6.68873202e-02 4.76976161e-03 9.97749135e-01 -1.21054843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.76771942099998 meters 0.07990296777194895 Centerline is valid? [True, True] Translation: X:111.53, Y:-8.59, Z:-12.11 [[ 9.91418271e-01 1.12266072e-01 6.69786605e-02 1.11534612e+02] [-1.11669856e-01 9.93665580e-01 -1.25920068e-02 -8.59005156e+00] [-6.79680447e-02 5.00444821e-03 9.97674947e-01 -1.21117438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.82771942099998 meters 0.07926566323732002 Centerline is valid? [True, True] Translation: X:111.60, Y:-8.57, Z:-12.12 [[ 9.91076718e-01 1.16281130e-01 6.51585653e-02 1.11597824e+02] [-1.15724941e-01 9.93205646e-01 -1.22590248e-02 -8.57340548e+00] [-6.61413482e-02 4.60916301e-03 9.97799618e-01 -1.21211820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.88771942099999 meters 0.07850160883575467 Centerline is valid? [True, True] Translation: X:111.66, Y:-8.57, Z:-12.13 [[ 9.90547911e-01 1.21040371e-01 6.45295661e-02 1.11658973e+02] [-1.20504885e-01 9.92638486e-01 -1.21412304e-02 -8.56573033e+00] [-6.55241098e-02 4.25034243e-03 9.97841934e-01 -1.21303700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.94771942099999 meters 0.07609259613737526 Centerline is valid? [True, True] Translation: X:111.72, Y:-8.55, Z:-12.13 [[ 9.90070040e-01 1.22583101e-01 6.88091505e-02 1.11723791e+02] [-1.21977984e-01 9.92448401e-01 -1.29438521e-02 -8.55414261e+00] [-6.98762289e-02 4.42211876e-03 9.97545867e-01 -1.21312027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.00771942099999 meters 0.07728016198899441 Centerline is valid? [True, True] Translation: X:111.79, Y:-8.55, Z:-12.14 [[ 9.89996586e-01 1.22365809e-01 7.02379360e-02 1.11787195e+02] [-1.21735209e-01 9.92474761e-01 -1.32056133e-02 -8.55155051e+00] [-7.13252943e-02 4.52308225e-03 9.97442853e-01 -1.21401163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.06771942099998 meters 0.07448579626461795 Centerline is valid? [True, True] Translation: X:111.85, Y:-8.54, Z:-12.15 [[ 9.89245652e-01 1.27229783e-01 7.21500065e-02 1.11849982e+02] [-1.26574891e-01 9.91863872e-01 -1.35961759e-02 -8.54413526e+00] [-7.32928233e-02 4.31757864e-03 9.97301118e-01 -1.21458215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.12771942099998 meters 0.06816645445339037 Centerline is valid? [True, True] Translation: X:111.91, Y:-8.53, Z:-12.16 [[ 9.88019477e-01 1.39269697e-01 6.64941008e-02 1.11913839e+02] [-1.38740769e-01 9.90249465e-01 -1.25298435e-02 -8.52730045e+00] [-6.75907752e-02 3.15428670e-03 9.97708142e-01 -1.21611494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.18771942099998 meters 0.056613376778892124 Centerline is valid? [True, True] Translation: X:111.98, Y:-8.50, Z:-12.16 [[ 9.85776232e-01 1.55336490e-01 6.41544626e-02 1.11980394e+02] [-1.54877942e-01 9.87859628e-01 -1.20903986e-02 -8.50036954e+00] [-6.52536836e-02 1.98231647e-03 9.97866738e-01 -1.21638813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.24771942099999 meters 0.05421514150186923 Centerline is valid? [True, True] Translation: X:112.04, Y:-8.50, Z:-12.17 [[ 9.84325329e-01 1.63954713e-01 6.49807555e-02 1.12041496e+02] [-1.63502893e-01 9.86466829e-01 -1.22474174e-02 -8.49549242e+00] [-6.61093816e-02 1.43090161e-03 9.97811356e-01 -1.21700180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.30771942099999 meters 0.05206916960848205 Centerline is valid? [True, True] Translation: X:112.10, Y:-8.49, Z:-12.18 [[ 9.82155069e-01 1.76213943e-01 6.57272145e-02 1.12103985e+02] [-1.75779279e-01 9.84351703e-01 -1.23842835e-02 -8.48753907e+00] [-6.68809789e-02 6.09804440e-04 9.97760774e-01 -1.21769928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.36771942099999 meters 0.052047570583138 Centerline is valid? [True, True] Translation: X:112.17, Y:-8.48, Z:-12.18 [[ 9.78399536e-01 1.95521220e-01 6.71252560e-02 1.12165678e+02] [-1.95112984e-01 9.80699206e-01 -1.26487679e-02 -8.47715756e+00] [-6.83027878e-02 -7.21460372e-04 9.97664377e-01 -1.21815329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.42771942099998 meters 0.052322063778389334 Centerline is valid? [True, True] Translation: X:112.22, Y:-8.49, Z:-12.18 [[ 9.77251287e-01 2.00411008e-01 6.93927188e-02 1.12223764e+02] [-1.99987435e-01 9.79711287e-01 -1.30697860e-02 -8.48563891e+00] [-7.06041589e-02 -1.10520667e-03 9.97503800e-01 -1.21836391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.48771942099998 meters 0.05177983733715163 Centerline is valid? [True, True] Translation: X:112.28, Y:-8.51, Z:-12.19 [[ 9.77600500e-01 1.98577509e-01 6.97440635e-02 1.12279139e+02] [-1.98145426e-01 9.80084693e-01 -1.31295713e-02 -8.50863472e+00] [-7.09623265e-02 -9.83991716e-04 9.97478511e-01 -1.21891803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.54771942099998 meters 0.052416552042167046 Centerline is valid? [True, True] Translation: X:112.33, Y:-8.52, Z:-12.20 [[ 9.77722917e-01 1.97500896e-01 7.10724553e-02 1.12334698e+02] [-1.97049783e-01 9.80302266e-01 -1.33734947e-02 -8.52028121e+00] [-7.23137661e-02 -9.29239667e-04 9.97381500e-01 -1.21994354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.60771942099998 meters 0.05212557464814843 Centerline is valid? [True, True] Translation: X:112.39, Y:-8.54, Z:-12.20 [[ 9.76906501e-01 2.00740546e-01 7.31909877e-02 1.12391207e+02] [-2.00271889e-01 9.79643691e-01 -1.37626137e-02 -8.53966478e+00] [-7.44638039e-02 -1.21331050e-03 9.97222979e-01 -1.21987236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.66771942099999 meters 0.05496558219861257 Centerline is valid? [True, True] Translation: X:112.45, Y:-8.55, Z:-12.21 [[ 9.74662525e-01 2.10702614e-01 7.50824257e-02 1.12449303e+02] [-2.10239489e-01 9.77548093e-01 -1.41096620e-02 -8.55269469e+00] [-7.63696247e-02 -2.03313205e-03 9.97077503e-01 -1.22051561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.72771942099999 meters 0.05948025008904996 Centerline is valid? [True, True] Translation: X:112.51, Y:-8.57, Z:-12.21 [[ 9.72538646e-01 2.21193856e-01 7.24006909e-02 1.12506904e+02] [-2.20792513e-01 9.75225960e-01 -1.36012485e-02 -8.56712015e+00] [-7.36155459e-02 -2.75779069e-03 9.97282882e-01 -1.22146072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.78771942099998 meters 0.06204481096978215 Centerline is valid? [True, True] Translation: X:112.56, Y:-8.59, Z:-12.22 [[ 9.71762353e-01 2.24696805e-01 7.20366226e-02 1.12561467e+02] [-2.24308954e-01 9.74424091e-01 -1.35345465e-02 -8.59173627e+00] [-7.32353899e-02 -3.00609672e-03 9.97310153e-01 -1.22219573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.84771942099998 meters 0.0615274655970856 Centerline is valid? [True, True] Translation: X:112.61, Y:-8.63, Z:-12.23 [[ 9.72286886e-01 2.23786910e-01 6.76581880e-02 1.12614281e+02] [-2.23442949e-01 9.74634180e-01 -1.27068487e-02 -8.63204724e+00] [-6.87856090e-02 -2.76304272e-03 9.97627639e-01 -1.22303052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.90771942099998 meters 0.06018607020391489 Centerline is valid? [True, True] Translation: X:112.67, Y:-8.67, Z:-12.23 [[ 9.73097342e-01 2.18638821e-01 7.26541773e-02 1.12668223e+02] [-2.18228161e-01 9.75802440e-01 -1.36406659e-02 -8.66580013e+00] [-7.38785026e-02 -2.58149180e-03 9.97263908e-01 -1.22334783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.96771942099998 meters 0.057535931072967145 Centerline is valid? [True, True] Translation: X:112.72, Y:-8.70, Z:-12.24 [[ 9.74150408e-01 2.13168791e-01 7.47666314e-02 1.12722626e+02] [-2.12717913e-01 9.77012839e-01 -1.40357241e-02 -8.69931995e+00] [-7.60399371e-02 -2.23129542e-03 9.97102276e-01 -1.22370491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.02771942099999 meters 0.05568680063245667 Centerline is valid? [True, True] Translation: X:112.77, Y:-8.74, Z:-12.25 [[ 9.76554065e-01 2.02539759e-01 7.29369922e-02 1.12774204e+02] [-2.02081342e-01 9.79273079e-01 -1.36882322e-02 -8.74094079e+00] [-7.41976442e-02 -1.37190641e-03 9.97242612e-01 -1.22518242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.08771942099999 meters 0.05343399253584047 Centerline is valid? [True, True] Translation: X:112.83, Y:-8.78, Z:-12.26 [[ 9.78379867e-01 1.93760473e-01 7.23167701e-02 1.12829651e+02] [-1.93286182e-01 9.81048614e-01 -1.35671834e-02 -8.77950920e+00] [-7.35750509e-02 -7.03973300e-04 9.97289435e-01 -1.22575436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.14771942099998 meters 0.053417485081772416 Centerline is valid? [True, True] Translation: X:112.89, Y:-8.81, Z:-12.27 [[ 9.79130837e-01 1.90829590e-01 6.99061590e-02 1.12886477e+02] [-1.90379220e-01 9.81623067e-01 -1.31113184e-02 -8.80788561e+00] [-7.11235258e-02 -4.70983869e-04 9.97467404e-01 -1.22666082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.20771942099998 meters 0.05322867760060864 Centerline is valid? [True, True] Translation: X:112.95, Y:-8.82, Z:-12.27 [[ 9.78209564e-01 1.93972086e-01 7.40329618e-02 1.12946735e+02] [-1.93473553e-01 9.81006791e-01 -1.39161513e-02 -8.82185503e+00] [-7.53261832e-02 -7.10507903e-04 9.97158694e-01 -1.22693999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.26771942099998 meters 0.05568161998411036 Centerline is valid? [True, True] Translation: X:113.01, Y:-8.83, Z:-12.27 [[ 9.75484640e-01 2.05568936e-01 7.85565406e-02 1.13007058e+02] [-2.05044733e-01 9.78641161e-01 -1.47694123e-02 -8.83151934e+00] [-7.99147965e-02 -1.70027008e-03 9.96800248e-01 -1.22748622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.32771942099998 meters 0.05843193631948657 Centerline is valid? [True, True] Translation: X:113.07, Y:-8.84, Z:-12.28 [[ 9.73342216e-01 2.15537198e-01 7.84133129e-02 1.13067881e+02] [-2.15045759e-01 9.76492439e-01 -1.47593456e-02 -8.83788926e+00] [-7.97511952e-02 -2.49655624e-03 9.96811674e-01 -1.22812102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.38771942099999 meters 0.06299984723963725 Centerline is valid? [True, True] Translation: X:113.13, Y:-8.85, Z:-12.29 [[ 9.71197820e-01 2.25159959e-01 7.79601699e-02 1.13127165e+02] [-2.24704859e-01 9.74316343e-01 -1.46761929e-02 -8.84584603e+00] [-7.92623586e-02 -3.26454248e-03 9.96848444e-01 -1.22889063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.44771942099999 meters 0.06528938254915656 Centerline is valid? [True, True] Translation: X:113.19, Y:-8.86, Z:-12.29 [[ 9.70002926e-01 2.29213854e-01 8.09650069e-02 1.13186717e+02] [-2.28737307e-01 9.73368909e-01 -1.52384585e-02 -8.86122784e+00] [-8.23016863e-02 -3.73836835e-03 9.96600450e-01 -1.22925673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.50771942099998 meters 0.0649078958287187 Centerline is valid? [True, True] Translation: X:113.25, Y:-8.88, Z:-12.30 [[ 9.69514832e-01 2.30019744e-01 8.44506246e-02 1.13246513e+02] [-2.29503407e-01 9.73177899e-01 -1.59048430e-02 -8.87882006e+00] [-8.58439093e-02 -3.96172486e-03 9.96300722e-01 -1.22984515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.56771942099998 meters 0.06416733484960241 Centerline is valid? [True, True] Translation: X:113.31, Y:-8.91, Z:-12.30 [[ 9.69296235e-01 2.30648384e-01 8.52416042e-02 1.13305187e+02] [-2.30122583e-01 9.73028814e-01 -1.60786511e-02 -8.90877595e+00] [-8.66510519e-02 -4.03104220e-03 9.96230569e-01 -1.23039692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.62771942099998 meters 0.06602803913774372 Centerline is valid? [True, True] Translation: X:113.36, Y:-8.93, Z:-12.31 [[ 9.68896625e-01 2.32927599e-01 8.35707082e-02 1.13361756e+02] [-2.32427779e-01 9.72485359e-01 -1.57972751e-02 -8.92864831e+00] [-8.49509115e-02 -4.11822757e-03 9.96376627e-01 -1.23144537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.68771942099998 meters 0.06754010174913355 Centerline is valid? [True, True] Translation: X:113.42, Y:-8.95, Z:-12.32 [[ 9.67975570e-01 2.38481538e-01 7.84209923e-02 1.13418023e+02] [-2.38058802e-01 9.71137465e-01 -1.48334289e-02 -8.95470033e+00] [-7.96950626e-02 -4.31041065e-03 9.96809971e-01 -1.23246926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.74771942099999 meters 0.07261642864251548 Centerline is valid? [True, True] Translation: X:113.48, Y:-8.96, Z:-12.33 [[ 9.67319693e-01 2.41448807e-01 7.74279278e-02 1.13476440e+02] [-2.41046114e-01 9.70403142e-01 -1.46462497e-02 -8.96483601e+00] [-7.86726240e-02 -4.49609532e-03 9.96890367e-01 -1.23346872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.80771942099999 meters 0.07229056085345804 Centerline is valid? [True, True] Translation: X:113.53, Y:-8.99, Z:-12.34 [[ 9.65885689e-01 2.46968287e-01 7.79198410e-02 1.13533454e+02] [-2.46577482e-01 9.69010833e-01 -1.47495745e-02 -8.98772868e+00] [-7.91478472e-02 -4.96687529e-03 9.96850515e-01 -1.23382042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.86771942099999 meters 0.07321246941804235 Centerline is valid? [True, True] Translation: X:113.59, Y:-9.01, Z:-12.35 [[ 9.66172278e-01 2.46485498e-01 7.58684928e-02 1.13591711e+02] [-2.46114221e-01 9.69134565e-01 -1.43521818e-02 -9.01067352e+00] [-7.70643835e-02 -4.80563482e-03 9.97014537e-01 -1.23489409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.92771942099998 meters 0.06803293809808766 Centerline is valid? [True, True] Translation: X:113.64, Y:-9.05, Z:-12.35 [[ 9.68835463e-01 2.35662342e-01 7.62961746e-02 1.13644177e+02] [-2.35250692e-01 9.71827042e-01 -1.44676182e-02 -9.05388028e+00] [-7.75561585e-02 -3.93198624e-03 9.96980231e-01 -1.23520925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.98771942099998 meters 0.06290269805988849 Centerline is valid? [True, True] Translation: X:113.70, Y:-9.09, Z:-12.36 [[ 9.71312168e-01 2.24935713e-01 7.71789941e-02 1.13699413e+02] [-2.24480823e-01 9.74368636e-01 -1.46328614e-02 -9.08836012e+00] [-7.84922444e-02 -3.11212779e-03 9.96909867e-01 -1.23581712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.04771942099998 meters 0.05700259839002577 Centerline is valid? [True, True] Translation: X:113.75, Y:-9.13, Z:-12.36 [[ 9.73109137e-01 2.15784668e-01 8.05951934e-02 1.13754959e+02] [-2.15257068e-01 9.76437832e-01 -1.52824683e-02 -9.12585497e+00] [-8.19939183e-02 -2.47717554e-03 9.96629751e-01 -1.23550835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.10771942099998 meters 0.05537896632862391 Centerline is valid? [True, True] Translation: X:113.81, Y:-9.15, Z:-12.36 [[ 9.74407767e-01 2.10445948e-01 7.90063676e-02 1.13811818e+02] [-2.09921495e-01 9.77603473e-01 -1.49804955e-02 -9.15105802e+00] [-8.03894839e-02 -1.98802367e-03 9.96761546e-01 -1.23623154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.16771942099999 meters 0.05432215211968868 Centerline is valid? [True, True] Translation: X:113.87, Y:-9.17, Z:-12.37 [[ 9.75449433e-01 2.05589980e-01 7.89377190e-02 1.13869353e+02] [-2.05050272e-01 9.78636937e-01 -1.49710053e-02 -9.17275116e+00] [-8.03292563e-02 -1.58274209e-03 9.96767127e-01 -1.23687260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.22771942099999 meters 0.053665391393826575 Centerline is valid? [True, True] Translation: X:113.93, Y:-9.19, Z:-12.37 [[ 9.75482843e-01 2.05247574e-01 7.94144539e-02 1.13929434e+02] [-2.04700496e-01 9.78708831e-01 -1.50576102e-02 -9.18957261e+00] [-8.08141653e-02 -1.56773768e-03 9.96727953e-01 -1.23718479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.28771942099998 meters 0.05639802087502973 Centerline is valid? [True, True] Translation: X:113.99, Y:-9.19, Z:-12.38 [[ 9.73895448e-01 2.12424856e-01 8.00208513e-02 1.13990841e+02] [-2.11891347e-01 9.77175032e-01 -1.51991301e-02 -9.19154208e+00] [-8.14230509e-02 -2.15336234e-03 9.96677305e-01 -1.23806337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.34771942099998 meters 0.058099991687219875 Centerline is valid? [True, True] Translation: X:114.05, Y:-9.20, Z:-12.39 [[ 9.71923409e-01 2.22252896e-01 7.72563082e-02 1.14051870e+02] [-2.21784262e-01 9.74984903e-01 -1.47030354e-02 -9.19564452e+00] [-7.85915264e-02 -2.84400896e-03 9.96902846e-01 -1.23866530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.40771942099998 meters 0.0597720702484821 Centerline is valid? [True, True] Translation: X:114.11, Y:-9.21, Z:-12.39 [[ 9.70893372e-01 2.27188987e-01 7.58368295e-02 1.14111946e+02] [-2.26752314e-01 9.73845490e-01 -1.44343018e-02 -9.20617952e+00] [-7.71326688e-02 -3.18200861e-03 9.97015760e-01 -1.23936823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.46771942099998 meters 0.061132743168195745 Centerline is valid? [True, True] Translation: X:114.17, Y:-9.21, Z:-12.40 [[ 9.70372462e-01 2.29557895e-01 7.53688182e-02 1.14173333e+02] [-2.29133561e-01 9.73289252e-01 -1.43472281e-02 -9.21306983e+00] [-7.66491802e-02 -3.34737069e-03 9.97052505e-01 -1.24032002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.52771942099999 meters 0.06267558268825477 Centerline is valid? [True, True] Translation: X:114.23, Y:-9.22, Z:-12.41 [[ 9.69685164e-01 2.32895245e-01 7.39627475e-02 1.14233330e+02] [-2.32495684e-01 9.72495400e-01 -1.40873440e-02 -9.22454027e+00] [-7.52093072e-02 -3.53573105e-03 9.97161501e-01 -1.24098320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.58771942099999 meters 0.06305517857898406 Centerline is valid? [True, True] Translation: X:114.29, Y:-9.24, Z:-12.42 [[ 9.69999424e-01 2.32525841e-01 7.09425934e-02 1.14292879e+02] [-2.32157721e-01 9.72584383e-01 -1.35059347e-02 -9.23887510e+00] [-7.21381372e-02 -3.36912193e-03 9.97388960e-01 -1.24202187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.64771942099998 meters 0.06092060310539156 Centerline is valid? [True, True] Translation: X:114.35, Y:-9.26, Z:-12.43 [[ 9.71299826e-01 2.28018466e-01 6.77069167e-02 1.14351150e+02] [-2.27670933e-01 9.73652559e-01 -1.29089556e-02 -9.26047016e+00] [-6.88664929e-02 -2.87643059e-03 9.97621738e-01 -1.24290144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.70771942099998 meters 0.05725995548111082 Centerline is valid? [True, True] Translation: X:114.41, Y:-9.29, Z:-12.43 [[ 9.73892999e-01 2.15854398e-01 7.02801944e-02 1.14406918e+02] [-2.15445806e-01 9.76423392e-01 -1.34336706e-02 -9.28793022e+00] [-7.15229427e-02 -2.05861540e-03 9.97436830e-01 -1.24338739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.76771942099998 meters 0.05322795046424791 Centerline is valid? [True, True] Translation: X:114.46, Y:-9.32, Z:-12.44 [[ 9.76937778e-01 2.01030747e-01 7.19667688e-02 1.14462978e+02] [-2.00562105e-01 9.79584425e-01 -1.37548423e-02 -9.32005364e+00] [-7.32626720e-02 -9.96181561e-04 9.97312182e-01 -1.24375890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.82771942099998 meters 0.05230584864133713 Centerline is valid? [True, True] Translation: X:114.52, Y:-9.34, Z:-12.44 [[ 9.79143212e-01 1.90168758e-01 7.15151271e-02 1.14521475e+02] [-1.89677510e-01 9.81751398e-01 -1.36614055e-02 -9.34452682e+00] [-7.28080486e-02 -1.88338750e-04 9.97345954e-01 -1.24444938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.88771942099999 meters 0.05166012104181579 Centerline is valid? [True, True] Translation: X:114.58, Y:-9.36, Z:-12.44 [[ 9.79018511e-01 1.89041211e-01 7.60669142e-02 1.14581827e+02] [-1.88479378e-01 9.81969152e-01 -1.45639813e-02 -9.36021852e+00] [-7.74485559e-02 -7.86373778e-05 9.96996347e-01 -1.24435226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.94771942099999 meters 0.05154727914889348 Centerline is valid? [True, True] Translation: X:114.64, Y:-9.36, Z:-12.45 [[ 9.78182218e-01 1.92527161e-01 7.80566470e-02 1.14643066e+02] [-1.91946628e-01 9.81291577e-01 -1.49443256e-02 -9.36343290e+00] [-7.94735189e-02 -3.64436570e-04 9.96836911e-01 -1.24515009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.00771942099998 meters 0.05119981811183429 Centerline is valid? [True, True] Translation: X:114.70, Y:-9.37, Z:-12.46 [[ 9.77787919e-01 1.93681018e-01 8.01152228e-02 1.14704843e+02] [-1.93071447e-01 9.81064454e-01 -1.53607933e-02 -9.37077618e+00] [-8.15732914e-02 -4.48363865e-04 9.96667245e-01 -1.24557552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.06771942099998 meters 0.05179970614043787 Centerline is valid? [True, True] Translation: X:114.76, Y:-9.38, Z:-12.47 [[ 9.78641434e-01 1.91289859e-01 7.52936455e-02 1.14764661e+02] [-1.90742711e-01 9.81533568e-01 -1.44593503e-02 -9.38096524e+00] [-7.66691676e-02 -2.11194769e-04 9.97056565e-01 -1.24683754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.12771942099998 meters 0.05171824083920284 Centerline is valid? [True, True] Translation: X:114.83, Y:-9.39, Z:-12.47 [[ 9.78179988e-01 1.93035465e-01 7.68193986e-02 1.14827002e+02] [-1.92469158e-01 9.81191725e-01 -1.47790982e-02 -9.38651670e+00] [-7.82274483e-02 -3.28746901e-04 9.96935483e-01 -1.24746806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.18771942099998 meters 0.05260860434196434 Centerline is valid? [True, True] Translation: X:114.89, Y:-9.38, Z:-12.48 [[ 9.75796713e-01 2.03870704e-01 7.91044309e-02 1.14890287e+02] [-2.03304484e-01 9.78997064e-01 -1.52326879e-02 -9.38087873e+00] [-8.05485044e-02 -1.21827871e-03 9.96749946e-01 -1.24817380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.24771942099999 meters 0.059098135211531906 Centerline is valid? [True, True] Translation: X:114.95, Y:-9.36, Z:-12.49 [[ 9.71672997e-01 2.23096674e-01 7.79708942e-02 1.14954330e+02] [-2.22606836e-01 9.74792438e-01 -1.50299664e-02 -9.36135353e+00] [-7.93585735e-02 -2.75264151e-03 9.96842334e-01 -1.24927444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.30771942099999 meters 0.06106834111412517 Centerline is valid? [True, True] Translation: X:115.01, Y:-9.37, Z:-12.50 [[ 9.69308256e-01 2.33226607e-01 7.77615302e-02 1.15014815e+02] [-2.32771349e-01 9.72415877e-01 -1.49953980e-02 -9.36763777e+00] [-7.91138724e-02 -3.56549318e-03 9.96859209e-01 -1.24955373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.36771942099999 meters 0.061984143378076687 Centerline is valid? [True, True] Translation: X:115.08, Y:-9.38, Z:-12.50 [[ 9.68450259e-01 2.35343887e-01 8.19594402e-02 1.15075660e+02] [-2.34845837e-01 9.71904163e-01 -1.58028443e-02 -9.37726108e+00] [-8.33758240e-02 -3.94356469e-03 9.96510371e-01 -1.24998930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.42771942099998 meters 0.06239887634563483 Centerline is valid? [True, True] Translation: X:115.14, Y:-9.39, Z:-12.51 [[ 9.68354286e-01 2.36237214e-01 8.05105882e-02 1.15135269e+02] [-2.35757644e-01 9.71687489e-01 -1.55485213e-02 -9.38965972e+00] [-8.19042707e-02 -3.92450937e-03 9.96632474e-01 -1.25104831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.48771942099998 meters 0.06389751460439878 Centerline is valid? [True, True] Translation: X:115.19, Y:-9.41, Z:-12.52 [[ 9.68087026e-01 2.37791172e-01 7.91382863e-02 1.15193355e+02] [-2.37331177e-01 9.71308211e-01 -1.53059304e-02 -9.40591301e+00] [-8.05072824e-02 -3.96450998e-03 9.96746136e-01 -1.25202426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.54771942099998 meters 0.06347725448451455 Centerline is valid? [True, True] Translation: X:115.25, Y:-9.43, Z:-12.53 [[ 9.68795332e-01 2.34653405e-01 7.98334724e-02 1.15250609e+02] [-2.34172306e-01 9.72072029e-01 -1.54693862e-02 -9.42570030e+00] [-8.12338296e-02 -3.70811919e-03 9.96688173e-01 -1.25299334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.60771942099998 meters 0.06360645568738658 Centerline is valid? [True, True] Translation: X:115.31, Y:-9.44, Z:-12.54 [[ 9.68857283e-01 2.34420701e-01 7.97652875e-02 1.15310264e+02] [-2.33939887e-01 9.72128248e-01 -1.54531160e-02 -9.44498074e+00] [-8.11646194e-02 -3.68841833e-03 9.96693885e-01 -1.25356883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.66771942099999 meters 0.06275525345480047 Centerline is valid? [True, True] Translation: X:115.37, Y:-9.46, Z:-12.54 [[ 9.67722522e-01 2.38319355e-01 8.19573361e-02 1.15369463e+02] [-2.37823577e-01 9.71178180e-01 -1.59024904e-02 -9.46303391e+00] [-8.33850477e-02 -4.10218875e-03 9.96508959e-01 -1.25387616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.72771942099999 meters 0.07277225357070827 Centerline is valid? [True, True] Translation: X:115.43, Y:-9.46, Z:-12.55 [[ 9.65238686e-01 2.49219710e-01 7.87643078e-02 1.15429189e+02] [-2.48795479e-01 9.68434996e-01 -1.53123629e-02 -9.46253495e+00] [-8.00942547e-02 -4.81611867e-03 9.96775659e-01 -1.25511474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.78771942099998 meters 0.07251355797782585 Centerline is valid? [True, True] Translation: X:115.49, Y:-9.48, Z:-12.55 [[ 9.62865275e-01 2.57968004e-01 7.96427649e-02 1.15488171e+02] [-2.57563972e-01 9.66137199e-01 -1.54826468e-02 -9.47783615e+00] [-8.09398654e-02 -5.60540389e-03 9.96703224e-01 -1.25546936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.84771942099998 meters 0.07053872629261933 Centerline is valid? [True, True] Translation: X:115.55, Y:-9.50, Z:-12.55 [[ 9.63019284e-01 2.55924008e-01 8.42422731e-02 1.15545473e+02] [-2.55464120e-01 9.66679809e-01 -1.63777250e-02 -9.50388552e+00] [-8.56267575e-02 -5.74881311e-03 9.96310699e-01 -1.25548955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.90771942099998 meters 0.06707313955517136 Centerline is valid? [True, True] Translation: X:115.60, Y:-9.53, Z:-12.56 [[ 9.64894138e-01 2.49298634e-01 8.26407481e-02 1.15601774e+02] [-2.48831675e-01 9.68413443e-01 -1.60686299e-02 -9.53151529e+00] [-8.40362989e-02 -5.05910904e-03 9.96449851e-01 -1.25644889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.96771942099998 meters 0.06276360649363642 Centerline is valid? [True, True] Translation: X:115.66, Y:-9.56, Z:-12.57 [[ 9.67125759e-01 2.39301818e-01 8.60372398e-02 1.15657655e+02] [-2.38755918e-01 9.70935443e-01 -1.67325030e-02 -9.56085249e+00] [-8.75407239e-02 -4.35946546e-03 9.96151403e-01 -1.25690397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.02771942099999 meters 0.05783159575583039 Centerline is valid? [True, True] Translation: X:115.71, Y:-9.59, Z:-12.58 [[ 9.70175047e-01 2.27287474e-01 8.42661359e-02 1.15712837e+02] [-2.26718396e-01 9.73822438e-01 -1.63898751e-02 -9.59299057e+00] [-8.57854672e-02 -3.20363526e-03 9.96308482e-01 -1.25758220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.08771942099999 meters 0.05460265662002989 Centerline is valid? [True, True] Translation: X:115.77, Y:-9.62, Z:-12.58 [[ 9.73058856e-01 2.14654868e-01 8.41412544e-02 1.15768181e+02] [-2.14040224e-01 9.76687740e-01 -1.63658444e-02 -9.62244040e+00] [-8.56927398e-02 -2.08468313e-03 9.96319431e-01 -1.25835138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.14771942099998 meters 0.05190096927360056 Centerline is valid? [True, True] Translation: X:115.83, Y:-9.65, Z:-12.58 [[ 9.74613189e-01 2.05733905e-01 8.83328510e-02 1.15825501e+02] [-2.05019418e-01 9.78607024e-01 -1.71851720e-02 -9.64715839e+00] [-8.99787210e-02 -1.36105441e-03 9.95942758e-01 -1.25844668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.20771942099998 meters 0.051564533234084386 Centerline is valid? [True, True] Translation: X:115.88, Y:-9.66, Z:-12.59 [[ 9.75669127e-01 2.01541987e-01 8.63167566e-02 1.15883850e+02] [-2.00843406e-01 9.79479414e-01 -1.67929899e-02 -9.66218577e+00] [-8.79299787e-02 -9.51749589e-04 9.96126203e-01 -1.25935705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.26771942099998 meters 0.05193445865780219 Centerline is valid? [True, True] Translation: X:115.94, Y:-9.67, Z:-12.60 [[ 9.75770021e-01 2.02178153e-01 8.36472435e-02 1.15944958e+02] [-2.01523545e-01 9.79348283e-01 -1.62849827e-02 -9.67088544e+00] [-8.52122521e-02 -9.66491109e-04 9.96362353e-01 -1.26032817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.32771942099998 meters 0.05112691789761559 Centerline is valid? [True, True] Translation: X:116.00, Y:-9.68, Z:-12.61 [[ 9.76671561e-01 1.97446079e-01 8.44257520e-02 1.16004974e+02] [-1.96759345e-01 9.80313603e-01 -1.64620469e-02 -9.68499159e+00] [-8.60140798e-02 -5.33542650e-04 9.96293779e-01 -1.26074373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.38771942099999 meters 0.05093981785576969 Centerline is valid? [True, True] Translation: X:116.06, Y:-9.70, Z:-12.61 [[ 9.77787707e-01 1.91341635e-01 8.55545324e-02 1.16064276e+02] [-1.90610564e-01 9.81523498e-01 -1.67103384e-02 -9.69723026e+00] [-8.71711674e-02 3.15658236e-05 9.96193348e-01 -1.26133207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.44771942099999 meters 0.05133424361008684 Centerline is valid? [True, True] Translation: X:116.13, Y:-9.71, Z:-12.62 [[ 9.78832299e-01 1.85533992e-01 8.63971504e-02 1.16125925e+02] [-1.84763698e-01 9.82637677e-01 -1.68988844e-02 -9.71116511e+00] [-8.80324127e-02 5.78116928e-04 9.96117443e-01 -1.26182103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.50771942099998 meters 0.0508803383801105 Centerline is valid? [True, True] Translation: X:116.19, Y:-9.71, Z:-12.62 [[ 9.78192711e-01 1.87945500e-01 8.84053685e-02 1.16189192e+02] [-1.87145702e-01 9.82179376e-01 -1.73251091e-02 -9.70937826e+00] [-9.00861060e-02 4.02610733e-04 9.95933899e-01 -1.26236154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.56771942099998 meters 0.05127326041821031 Centerline is valid? [True, True] Translation: X:116.25, Y:-9.70, Z:-12.63 [[ 9.75753214e-01 2.01860638e-01 8.46046639e-02 1.16254433e+02] [-2.01177724e-01 9.79413918e-01 -1.66102815e-02 -9.69512118e+00] [-8.62159474e-02 -8.13038151e-04 9.96276141e-01 -1.26335176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.62771942099998 meters 0.05414366963128619 Centerline is valid? [True, True] Translation: X:116.32, Y:-9.68, Z:-12.65 [[ 9.72973000e-01 2.16408628e-01 8.05657950e-02 1.16316675e+02] [-2.15838474e-01 9.76300843e-01 -1.58245558e-02 -9.68153235e+00] [-8.20810240e-02 -1.99233278e-03 9.96623668e-01 -1.26451254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.68771942099998 meters 0.05821670191515316 Centerline is valid? [True, True] Translation: X:116.38, Y:-9.67, Z:-12.66 [[ 9.71296545e-01 2.24884987e-01 7.75226743e-02 1.16378430e+02] [-2.24383297e-01 9.74381857e-01 -1.52359331e-02 -9.67000434e+00] [-7.89630200e-02 -2.59618408e-03 9.96874165e-01 -1.26601187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.74771942099999 meters 0.059352071502385396 Centerline is valid? [True, True] Translation: X:116.44, Y:-9.68, Z:-12.67 [[ 9.71049550e-01 2.26646653e-01 7.54590411e-02 1.16440278e+02] [-2.26176881e-01 9.73973393e-01 -1.48272591e-02 -9.67617071e+00] [-7.68556470e-02 -2.66908726e-03 9.97038658e-01 -1.26683116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.80771942099999 meters 0.0587786926873284 Centerline is valid? [True, True] Translation: X:116.50, Y:-9.69, Z:-12.67 [[ 9.70625793e-01 2.28868996e-01 7.41926678e-02 1.16500600e+02] [-2.28421369e-01 9.73453213e-01 -1.45780879e-02 -9.68807593e+00] [-7.55595632e-02 -2.79732261e-03 9.97137366e-01 -1.26736234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.86771942099998 meters 0.06040420147532153 Centerline is valid? [True, True] Translation: X:116.56, Y:-9.69, Z:-12.68 [[ 9.69675290e-01 2.31827933e-01 7.73669325e-02 1.16561828e+02] [-2.31348441e-01 9.72751766e-01 -1.52282635e-02 -9.69393994e+00] [-7.87891571e-02 -3.13224838e-03 9.96886382e-01 -1.26788862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.92771942099998 meters 0.06103956058506285 Centerline is valid? [True, True] Translation: X:116.62, Y:-9.70, Z:-12.68 [[ 9.68329120e-01 2.37288681e-01 7.76710877e-02 1.16621822e+02] [-2.36821534e-01 9.71432607e-01 -1.53052476e-02 -9.70427083e+00] [-7.90839893e-02 -3.57366918e-03 9.96861551e-01 -1.26828047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.98771942099998 meters 0.06530321242814831 Centerline is valid? [True, True] Translation: X:116.68, Y:-9.71, Z:-12.69 [[ 9.67540629e-01 2.39994076e-01 7.91705408e-02 1.16682540e+02] [-2.39517620e-01 9.70766650e-01 -1.56019686e-02 -9.70715429e+00] [-8.06005007e-02 -3.86720103e-03 9.96738985e-01 -1.26919687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.04771942099998 meters 0.06272020093496107 Centerline is valid? [True, True] Translation: X:116.74, Y:-9.73, Z:-12.69 [[ 9.66630181e-01 2.42941222e-01 8.12751846e-02 1.16742252e+02] [-2.42449689e-01 9.70031807e-01 -1.60138056e-02 -9.72682398e+00] [-8.27299277e-02 -4.22571542e-03 9.96563045e-01 -1.26912038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.10771942099998 meters 0.06500548325251103 Centerline is valid? [True, True] Translation: X:116.80, Y:-9.74, Z:-12.70 [[ 9.66079996e-01 2.45748311e-01 7.93549582e-02 1.16801874e+02] [-2.45286613e-01 9.69324004e-01 -1.56669116e-02 -9.73814625e+00] [-8.07707829e-02 -4.32921894e-03 9.96723301e-01 -1.27017576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.16771942099999 meters 0.06933141785955517 Centerline is valid? [True, True] Translation: X:116.86, Y:-9.75, Z:-12.71 [[ 9.65738858e-01 2.47604574e-01 7.77202234e-02 1.16860269e+02] [-2.47167955e-01 9.68851207e-01 -1.53408139e-02 -9.75171924e+00] [-7.90977880e-02 -4.39472857e-03 9.96857174e-01 -1.27149368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.22771942099999 meters 0.06732224793041273 Centerline is valid? [True, True] Translation: X:116.92, Y:-9.77, Z:-12.72 [[ 9.65570406e-01 2.48231290e-01 7.78139974e-02 1.16919218e+02] [-2.47793929e-01 9.68690661e-01 -1.53808789e-02 -9.77252492e+00] [-7.91957080e-02 -4.43051466e-03 9.96849242e-01 -1.27188011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.28771942099998 meters 0.06723254106358642 Centerline is valid? [True, True] Translation: X:116.98, Y:-9.79, Z:-12.73 [[ 9.66205738e-01 2.46518322e-01 7.53338454e-02 1.16977765e+02] [-2.46101551e-01 9.69129325e-01 -1.49123443e-02 -9.79152063e+00] [-7.66844048e-02 -4.13138352e-03 9.97046856e-01 -1.27283125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.34771942099998 meters 0.06157524658460342 Centerline is valid? [True, True] Translation: X:117.03, Y:-9.83, Z:-12.73 [[ 9.68913397e-01 2.34681905e-01 7.83021904e-02 1.17033232e+02] [-2.34190465e-01 9.72066658e-01 -1.55318346e-02 -9.82610054e+00] [-7.97599891e-02 -3.28862371e-03 9.96808672e-01 -1.27293742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.40771942099998 meters 0.05782065526796266 Centerline is valid? [True, True] Translation: X:117.09, Y:-9.85, Z:-12.73 [[ 9.70409463e-01 2.27760718e-01 8.01905851e-02 1.17090551e+02] [-2.27221599e-01 9.73713152e-01 -1.59073150e-02 -9.85036322e+00] [-8.17056889e-02 -2.78442401e-03 9.96652611e-01 -1.27322389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.46771942099998 meters 0.05397064190100764 Centerline is valid? [True, True] Translation: X:117.15, Y:-9.88, Z:-12.74 [[ 9.73142932e-01 2.15208895e-01 8.17188246e-02 1.17146993e+02] [-2.14604648e-01 9.76566449e-01 -1.62115718e-02 -9.87830398e+00] [-8.32927368e-02 -1.76106311e-03 9.96523567e-01 -1.27391583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.52771942099999 meters 0.052757955013039065 Centerline is valid? [True, True] Translation: X:117.21, Y:-9.90, Z:-12.75 [[ 9.75672591e-01 2.05542910e-01 7.62568504e-02 1.17205302e+02] [-2.04987803e-01 9.78647710e-01 -1.51214968e-02 -9.90283394e+00] [-7.77367085e-02 -8.78094270e-04 9.96973537e-01 -1.27499595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.58771942099999 meters 0.05179861126886988 Centerline is valid? [True, True] Translation: X:117.26, Y:-9.92, Z:-12.75 [[ 9.76354894e-01 2.01780969e-01 7.75600522e-02 1.17264981e+02] [-2.01192522e-01 9.79430512e-01 -1.54091444e-02 -9.92223312e+00] [-7.90739537e-02 -5.59708981e-04 9.96868595e-01 -1.27505469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.64771942099998 meters 0.052038942366645954 Centerline is valid? [True, True] Translation: X:117.32, Y:-9.93, Z:-12.76 [[ 9.76704955e-01 2.00536777e-01 7.63703640e-02 1.17324104e+02] [-1.99960541e-01 9.79686082e-01 -1.51974895e-02 -9.93210074e+00] [-7.78666382e-02 -4.27595982e-04 9.96963692e-01 -1.27628788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.70771942099998 meters 0.05180294220948941 Centerline is valid? [True, True] Translation: X:117.39, Y:-9.94, Z:-12.77 [[ 9.76317063e-01 2.01532132e-01 7.86752293e-02 1.17385308e+02] [-2.00921920e-01 9.79481776e-01 -1.56790347e-02 -9.94258557e+00] [-8.02207826e-02 -4.99869048e-04 9.96776994e-01 -1.27658044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.76771942099998 meters 0.05154292401378405 Centerline is valid? [True, True] Translation: X:117.45, Y:-9.95, Z:-12.77 [[ 9.75657214e-01 2.04331046e-01 7.96355767e-02 1.17448364e+02] [-2.03713147e-01 9.78901585e-01 -1.58947013e-02 -9.94650387e+00] [-8.12031732e-02 -7.15033963e-04 9.96697313e-01 -1.27707297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.82771942099998 meters 0.052970617521846224 Centerline is valid? [True, True] Translation: X:117.51, Y:-9.94, Z:-12.78 [[ 9.74343774e-01 2.11195167e-01 7.77869614e-02 1.17510750e+02] [-2.10625161e-01 9.77443140e-01 -1.55546983e-02 -9.94249903e+00] [-7.93174090e-02 -1.22826782e-03 9.96848655e-01 -1.27825482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.88771942099999 meters 0.0535488553594442 Centerline is valid? [True, True] Translation: X:117.57, Y:-9.95, Z:-12.79 [[ 9.73205181e-01 2.15481248e-01 8.02465418e-02 1.17573892e+02] [-2.14887275e-01 9.76506658e-01 -1.60687879e-02 -9.94880875e+00] [-8.18238048e-02 -1.60573304e-03 9.96645517e-01 -1.27855448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.94771942099999 meters 0.055257904785137646 Centerline is valid? [True, True] Translation: X:117.64, Y:-9.94, Z:-12.79 [[ 9.71220690e-01 2.24044543e-01 8.08357256e-02 1.17637111e+02] [-2.23468424e-01 9.74576170e-01 -1.62219726e-02 -9.94254050e+00] [-8.24150163e-02 -2.30911680e-03 9.96595421e-01 -1.27935284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.00771942099998 meters 0.06117060489497792 Centerline is valid? [True, True] Translation: X:117.70, Y:-9.94, Z:-12.80 [[ 9.68894089e-01 2.34477258e-01 7.91495986e-02 1.17697656e+02] [-2.33959306e-01 9.72116582e-01 -1.58868979e-02 -9.94275704e+00] [-8.06677535e-02 -3.12506372e-03 9.96736147e-01 -1.28023243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.06771942099998 meters 0.06109545181197985 Centerline is valid? [True, True] Translation: X:117.76, Y:-9.95, Z:-12.81 [[ 9.68386965e-01 2.37599580e-01 7.59810847e-02 1.17756581e+02] [-2.37131527e-01 9.71357768e-01 -1.52553435e-02 -9.95406354e+00] [-7.74294800e-02 -3.24443490e-03 9.96992552e-01 -1.28132008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.12771942099998 meters 0.06383310731414593 Centerline is valid? [True, True] Translation: X:117.82, Y:-9.96, Z:-12.82 [[ 9.67522849e-01 2.41533627e-01 7.45724009e-02 1.17816304e+02] [-2.41094294e-01 9.70386170e-01 -1.49740851e-02 -9.96228533e+00] [-7.59807715e-02 -3.49121081e-03 9.97103171e-01 -1.28227818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.18771942099998 meters 0.06577077324743795 Centerline is valid? [True, True] Translation: X:117.88, Y:-9.98, Z:-12.83 [[ 9.66709866e-01 2.44527880e-01 7.53535044e-02 1.17875649e+02] [-2.44088798e-01 9.69634927e-01 -1.51250248e-02 -9.97789651e+00] [-7.67638800e-02 -3.77143565e-03 9.97042167e-01 -1.28277842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.24771942099999 meters 0.06352227922049906 Centerline is valid? [True, True] Translation: X:117.94, Y:-10.00, Z:-12.83 [[ 9.65897193e-01 2.46769919e-01 7.84042138e-02 1.17935652e+02] [-2.46300305e-01 9.69065462e-01 -1.57572184e-02 -9.99816038e+00] [-7.98672232e-02 -4.09112879e-03 9.96797115e-01 -1.28278674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.30771942099999 meters 0.06456664506354119 Centerline is valid? [True, True] Translation: X:118.00, Y:-10.01, Z:-12.83 [[ 9.64686106e-01 2.50089643e-01 8.26794225e-02 1.17996941e+02] [-2.49576785e-01 9.68211882e-01 -1.66487163e-02 -1.00092897e+01] [-8.42148708e-02 -4.57407921e-03 9.96437120e-01 -1.28319725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.36771942099998 meters 0.06816621426306801 Centerline is valid? [True, True] Translation: X:118.06, Y:-10.03, Z:-12.84 [[ 9.62988640e-01 2.56644691e-01 8.23795026e-02 1.18055199e+02] [-2.56156682e-01 9.66492381e-01 -1.66202059e-02 -1.00292233e+01] [-8.38846493e-02 -5.09699054e-03 9.96462436e-01 -1.28387044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.42771942099998 meters 0.06897590164425603 Centerline is valid? [True, True] Translation: X:118.11, Y:-10.05, Z:-12.85 [[ 9.62673831e-01 2.57681344e-01 8.28216190e-02 1.18114372e+02] [-2.57192198e-01 9.66215860e-01 -1.67058209e-02 -1.00478693e+01] [-8.43283403e-02 -5.21881766e-03 9.96424355e-01 -1.28454940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.48771942099998 meters 0.0692897119408532 Centerline is valid? [True, True] Translation: X:118.17, Y:-10.07, Z:-12.86 [[ 9.62151077e-01 2.59827686e-01 8.21880704e-02 1.18170933e+02] [-2.59351680e-01 9.65640226e-01 -1.66029869e-02 -1.00737597e+01] [-8.36780225e-02 -5.34103244e-03 9.96478531e-01 -1.28552723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.54771942099998 meters 0.0711937804587132 Centerline is valid? [True, True] Translation: X:118.23, Y:-10.09, Z:-12.86 [[ 9.61775195e-01 2.61489891e-01 8.13112017e-02 1.18229373e+02] [-2.61027603e-01 9.65191109e-01 -1.64533804e-02 -1.00904355e+01] [-8.27832415e-02 -5.40001493e-03 9.96552946e-01 -1.28634975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.60771942099998 meters 0.07082684329212917 Centerline is valid? [True, True] Translation: X:118.29, Y:-10.12, Z:-12.87 [[ 9.62352085e-01 2.59925414e-01 7.94810883e-02 1.18286645e+02] [-2.59478648e-01 9.65614968e-01 -1.60799446e-02 -1.01193983e+01] [-8.09277147e-02 -5.14907718e-03 9.96706673e-01 -1.28702945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.66771942099999 meters 0.06895720999702454 Centerline is valid? [True, True] Translation: X:118.34, Y:-10.14, Z:-12.88 [[ 9.63671109e-01 2.54442837e-01 8.12209112e-02 1.18342723e+02] [-2.53954477e-01 9.67076085e-01 -1.64611546e-02 -1.01430041e+01] [-8.27352237e-02 -4.76327491e-03 9.96560181e-01 -1.28796500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.72771942099999 meters 0.06552737445072392 Centerline is valid? [True, True] Translation: X:118.40, Y:-10.17, Z:-12.89 [[ 9.65543404e-01 2.47094595e-01 8.16712724e-02 1.18398440e+02] [-2.46574474e-01 9.68982456e-01 -1.65538046e-02 -1.01721879e+01] [-8.32283857e-02 -4.15463417e-03 9.96521839e-01 -1.28863554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.78771942099998 meters 0.05766741795240485 Centerline is valid? [True, True] Translation: X:118.45, Y:-10.21, Z:-12.88 [[ 9.67737192e-01 2.36919890e-01 8.57536786e-02 1.18453141e+02] [-2.36306481e-01 9.71523089e-01 -1.73820348e-02 -1.02111121e+01] [-8.74298285e-02 -3.44290840e-03 9.96164731e-01 -1.28841740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.84771942099998 meters 0.05446519559802531 Centerline is valid? [True, True] Translation: X:118.51, Y:-10.23, Z:-12.89 [[ 9.70147757e-01 2.26217738e-01 8.74006000e-02 1.18509098e+02] [-2.25536846e-01 9.74073495e-01 -1.77188473e-02 -1.02344567e+01] [-8.91429254e-02 -2.52215566e-03 9.96015651e-01 -1.28925022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.90771942099998 meters 0.05133167526345734 Centerline is valid? [True, True] Translation: X:118.57, Y:-10.26, Z:-12.90 [[ 9.72580798e-01 2.15121159e-01 8.83712487e-02 1.18566089e+02] [-2.14379247e-01 9.76586184e-01 -1.79154788e-02 -1.02632224e+01] [-9.01561391e-02 -1.52071103e-03 9.95926482e-01 -1.28953289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.96771942099998 meters 0.050291838931710395 Centerline is valid? [True, True] Translation: X:118.62, Y:-10.29, Z:-12.91 [[ 9.75448712e-01 2.03259872e-01 8.47657616e-02 1.18623159e+02] [-2.02532798e-01 9.79124741e-01 -1.71816089e-02 -1.02874429e+01] [-8.64885859e-02 -4.08068565e-04 9.96252758e-01 -1.29058013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.02771942099999 meters 0.05010154994074967 Centerline is valid? [True, True] Translation: X:118.68, Y:-10.30, Z:-12.91 [[ 9.76541215e-01 1.97695433e-01 8.53450165e-02 1.18682839e+02] [-1.96934986e-01 9.80263487e-01 -1.73236101e-02 -1.03013385e+01] [-8.70854020e-02 1.09799581e-04 9.96200844e-01 -1.29138354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.08771942099999 meters 0.050730867329847815 Centerline is valid? [True, True] Translation: X:118.74, Y:-10.32, Z:-12.92 [[ 9.77816964e-01 1.92361463e-01 8.28918087e-02 1.18742360e+02] [-1.91622898e-01 9.81323961e-01 -1.68507972e-02 -1.03179967e+01] [-8.45851620e-02 5.93026834e-04 9.96416077e-01 -1.29230413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.14771942099998 meters 0.051617721043437884 Centerline is valid? [True, True] Translation: X:118.80, Y:-10.32, Z:-12.93 [[ 9.78859774e-01 1.88934133e-01 7.83417934e-02 1.18802467e+02] [-1.88262548e-01 9.81989392e-01 -1.59388623e-02 -1.03234577e+01] [-7.99422051e-02 8.53085522e-04 9.96799135e-01 -1.29326459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.20771942099998 meters 0.051036423058376267 Centerline is valid? [True, True] Translation: X:118.86, Y:-10.32, Z:-12.93 [[ 9.77500675e-01 1.94791637e-01 8.09237232e-02 1.18864725e+02] [-1.94094323e-01 9.80844566e-01 -1.64721376e-02 -1.03192113e+01] [-8.25822289e-02 3.94690345e-04 9.96584176e-01 -1.29345978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.26771942099998 meters 0.053698576815146525 Centerline is valid? [True, True] Translation: X:118.93, Y:-10.28, Z:-12.95 [[ 9.72916902e-01 2.16941109e-01 7.98076223e-02 1.18932313e+02] [-2.16336977e-01 9.76183601e-01 -1.62447088e-02 -1.02836493e+01] [-8.14310372e-02 -1.46058796e-03 9.96677908e-01 -1.29461455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.32771942099998 meters 0.05513113557477278 Centerline is valid? [True, True] Translation: X:119.00, Y:-10.28, Z:-12.94 [[ 9.70147391e-01 2.28761795e-01 8.05113705e-02 1.18995663e+02] [-2.28186638e-01 9.73479313e-01 -1.63977339e-02 -1.02825856e+01] [-8.21273287e-02 -2.46340019e-03 9.96618801e-01 -1.29440692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.38771942099999 meters 0.05823164121225775 Centerline is valid? [True, True] Translation: X:119.06, Y:-10.27, Z:-12.95 [[ 9.68307463e-01 2.36331588e-01 8.07962736e-02 1.19058090e+02] [-2.35778386e-01 9.71667477e-01 -1.64580278e-02 -1.02743938e+01] [-8.23966632e-02 -3.11358385e-03 9.96594750e-01 -1.29536299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.44771942099999 meters 0.058027091959333046 Centerline is valid? [True, True] Translation: X:119.12, Y:-10.28, Z:-12.96 [[ 9.68616420e-01 2.35267733e-01 8.01955351e-02 1.19118886e+02] [-2.34719725e-01 9.71925947e-01 -1.63280223e-02 -1.02842312e+01] [-8.17855782e-02 -3.00788342e-03 9.96645409e-01 -1.29613853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.50771942099998 meters 0.05693250935892904 Centerline is valid? [True, True] Translation: X:119.18, Y:-10.30, Z:-12.97 [[ 9.69714646e-01 2.31429221e-01 7.80642127e-02 1.19176670e+02] [-2.30895713e-01 9.72848298e-01 -1.59172731e-02 -1.03032751e+01] [-7.96283585e-02 -2.58947918e-03 9.96821257e-01 -1.29682963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.56771942099998 meters 0.05644629460237683 Centerline is valid? [True, True] Translation: X:119.24, Y:-10.32, Z:-12.98 [[ 9.70315001e-01 2.28911355e-01 7.80281425e-02 1.19236440e+02] [-2.28368558e-01 9.73444408e-01 -1.59306809e-02 -1.03151178e+01] [-7.96027727e-02 -2.36139571e-03 9.96823867e-01 -1.29801389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.62771942099998 meters 0.05642568458193525 Centerline is valid? [True, True] Translation: X:119.30, Y:-10.33, Z:-12.99 [[ 9.71102476e-01 2.26778052e-01 7.43753777e-02 1.19296042e+02] [-2.26277165e-01 9.73944277e-01 -1.52049078e-02 -1.03309815e+01] [-7.58856129e-02 -2.06392601e-03 9.97114394e-01 -1.29904077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.68771942099998 meters 0.05290699862708968 Centerline is valid? [True, True] Translation: X:119.35, Y:-10.36, Z:-12.99 [[ 9.73184384e-01 2.17329954e-01 7.53647538e-02 1.19353334e+02] [-2.16785003e-01 9.76097312e-01 -1.54369904e-02 -1.03608187e+01] [-7.69182540e-02 -1.31491037e-03 9.97036536e-01 -1.29864874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.74771942099999 meters 0.05155077163160069 Centerline is valid? [True, True] Translation: X:119.41, Y:-10.38, Z:-12.99 [[ 9.74949484e-01 2.08937008e-01 7.62812543e-02 1.19412773e+02] [-2.08352976e-01 9.77928879e-01 -1.56251690e-02 -1.03771112e+01] [-7.78623175e-02 -6.59675902e-04 9.96963903e-01 -1.29934518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.80771942099999 meters 0.051554391436168905 Centerline is valid? [True, True] Translation: X:119.47, Y:-10.39, Z:-13.00 [[ 9.76180071e-01 2.03140554e-01 7.61996402e-02 1.19472842e+02] [-2.02539819e-01 9.79149569e-01 -1.56122939e-02 -1.03946319e+01] [-7.77823349e-02 -1.93051201e-04 9.96970346e-01 -1.29989358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.86771942099998 meters 0.052021420969122815 Centerline is valid? [True, True] Translation: X:119.53, Y:-10.41, Z:-13.01 [[ 9.77239789e-01 1.99015170e-01 7.34530865e-02 1.19531960e+02] [-1.98445209e-01 9.79996400e-01 -1.50517371e-02 -1.04111616e+01] [-7.49792843e-02 1.32743328e-04 9.97185083e-01 -1.30059777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.92771942099998 meters 0.052115109443518846 Centerline is valid? [True, True] Translation: X:119.59, Y:-10.42, Z:-13.01 [[ 9.77796027e-01 1.95597329e-01 7.52104687e-02 1.19591640e+02] [-1.94987855e-01 9.80684201e-01 -1.54348171e-02 -1.04200880e+01] [-7.67767275e-02 4.26974882e-04 9.97048219e-01 -1.30139354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.98771942099998 meters 0.052230674958454085 Centerline is valid? [True, True] Translation: X:119.65, Y:-10.43, Z:-13.02 [[ 9.77837436e-01 1.94344069e-01 7.78738145e-02 1.19652668e+02] [-1.93684787e-01 9.80933261e-01 -1.60044269e-02 -1.04323745e+01] [-7.94993803e-02 5.66754602e-04 9.96834754e-01 -1.30157618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.04771942099998 meters 0.05256274068579807 Centerline is valid? [True, True] Translation: X:119.71, Y:-10.44, Z:-13.03 [[ 9.77442590e-01 1.97565274e-01 7.46588587e-02 1.19713080e+02] [-1.96966773e-01 9.80289683e-01 -1.53697231e-02 -1.04350901e+01] [-7.62238325e-02 3.17707482e-04 9.97090681e-01 -1.30274672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.10771942099998 meters 0.0529029033931458 Centerline is valid? [True, True] Translation: X:119.78, Y:-10.43, Z:-13.04 [[ 9.75739356e-01 2.06726045e-01 7.20905724e-02 1.19777141e+02] [-2.06192074e-01 9.78398796e-01 -1.48534274e-02 -1.04292084e+01] [-7.36039195e-02 -3.71430979e-04 9.97287484e-01 -1.30377400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.16771942099999 meters 0.052803639582868434 Centerline is valid? [True, True] Translation: X:119.84, Y:-10.44, Z:-13.04 [[ 9.74549798e-01 2.12117033e-01 7.25193514e-02 1.19838967e+02] [-2.11591662e-01 9.77243956e-01 -1.49405238e-02 -1.04359438e+01] [-7.40382375e-02 -7.84205634e-04 9.97255095e-01 -1.30405010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.22771942099997 meters 0.05559340576472305 Centerline is valid? [True, True] Translation: X:119.90, Y:-10.43, Z:-13.05 [[ 9.71943363e-01 2.24616339e-01 6.98111616e-02 1.19901819e+02] [-2.24159397e-01 9.74445900e-01 -1.44136336e-02 -1.04297011e+01] [-7.12647378e-02 -1.63959242e-03 9.97456089e-01 -1.30499351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.28771942099998 meters 0.058969440955790195 Centerline is valid? [True, True] Translation: X:119.96, Y:-10.43, Z:-13.06 [[ 9.70067929e-01 2.32955859e-01 6.85549523e-02 1.19963234e+02] [-2.32535835e-01 9.72484801e-01 -1.41561910e-02 -1.04257876e+01] [-6.99664167e-02 -2.20901620e-03 9.97546902e-01 -1.30612761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.34771942099998 meters 0.058833952802981516 Centerline is valid? [True, True] Translation: X:120.02, Y:-10.44, Z:-13.06 [[ 9.69373071e-01 2.35925671e-01 6.82270234e-02 1.20023567e+02] [-2.35517260e-01 9.71768102e-01 -1.40846203e-02 -1.04421467e+01] [-6.96237685e-02 -2.41538996e-03 9.97570397e-01 -1.30624701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.40771942099998 meters 0.05838533352129927 Centerline is valid? [True, True] Translation: X:120.08, Y:-10.46, Z:-13.07 [[ 9.70460740e-01 2.31279851e-01 6.86700978e-02 1.20080973e+02] [-2.30853937e-01 9.72885025e-01 -1.41840739e-02 -1.04601948e+01] [-7.00886003e-02 -2.08767554e-03 9.97538586e-01 -1.30735238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.46771942099998 meters 0.05552331561340269 Centerline is valid? [True, True] Translation: X:120.14, Y:-10.49, Z:-13.08 [[ 9.72429962e-01 2.22388120e-01 7.01676101e-02 1.20136960e+02] [-2.21919965e-01 9.74957103e-01 -1.44974906e-02 -1.04874816e+01] [-7.16344795e-02 -1.47379930e-03 9.97429862e-01 -1.30778623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.52771942099999 meters 0.05389796445633901 Centerline is valid? [True, True] Translation: X:120.19, Y:-10.52, Z:-13.08 [[ 9.74212559e-01 2.14541709e-01 6.98694895e-02 1.20194277e+02] [-2.14057365e-01 9.76714420e-01 -1.44355922e-02 -1.05162253e+01] [-7.13395745e-02 -8.92743657e-04 9.97451687e-01 -1.30800981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.58771942099999 meters 0.05390113714836061 Centerline is valid? [True, True] Translation: X:120.25, Y:-10.54, Z:-13.09 [[ 9.75975610e-01 2.07498296e-01 6.64534789e-02 1.20253024e+02] [-2.07044249e-01 9.78235311e-01 -1.37242409e-02 -1.05355723e+01] [-6.78548962e-02 -3.64286191e-04 9.97695134e-01 -1.30911502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.64771942099998 meters 0.05375598928526503 Centerline is valid? [True, True] Translation: X:120.31, Y:-10.55, Z:-13.09 [[ 9.77156294e-01 2.01276575e-01 6.82152306e-02 1.20312894e+02] [-2.00781397e-01 9.79534446e-01 -1.41102293e-02 -1.05532506e+01] [-6.96592267e-02 9.15500333e-05 9.97570841e-01 -1.30936037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.70771942099998 meters 0.054194880457196705 Centerline is valid? [True, True] Translation: X:120.37, Y:-10.56, Z:-13.10 [[ 9.77345013e-01 2.00579884e-01 6.75606064e-02 1.20373084e+02] [-2.00090669e-01 9.79677336e-01 -1.40014878e-02 -1.05622520e+01] [-6.89960117e-02 1.66037341e-04 9.97616922e-01 -1.31021868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.76771942099998 meters 0.054284097180672494 Centerline is valid? [True, True] Translation: X:120.44, Y:-10.57, Z:-13.11 [[ 9.76710810e-01 2.03887776e-01 6.68264032e-02 1.20435348e+02] [-2.03416492e-01 9.78994265e-01 -1.38549587e-02 -1.05652811e+01] [-6.82475222e-02 -6.13045522e-05 9.97668418e-01 -1.31094254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.82771942099998 meters 0.05418632399825314 Centerline is valid? [True, True] Translation: X:120.50, Y:-10.57, Z:-13.11 [[ 9.75100378e-01 2.10426117e-01 7.00007329e-02 1.20497983e+02] [-2.09924032e-01 9.77609625e-01 -1.45369109e-02 -1.05655285e+01] [-7.14923359e-02 -5.19888750e-04 9.97441014e-01 -1.31149056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.88771942099999 meters 0.054925851057348624 Centerline is valid? [True, True] Translation: X:120.56, Y:-10.57, Z:-13.12 [[ 9.74027260e-01 2.16245107e-01 6.71487153e-02 1.20559915e+02] [-2.15794894e-01 9.76338712e-01 -1.39743507e-02 -1.05680548e+01] [-6.85817752e-02 -8.78951360e-04 9.97645111e-01 -1.31201047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.94771942099999 meters 0.0563915267378427 Centerline is valid? [True, True] Translation: X:120.62, Y:-10.57, Z:-13.13 [[ 9.72463949e-01 2.22864444e-01 6.81564990e-02 1.20621132e+02] [-2.22416880e-01 9.74848487e-01 -1.41830716e-02 -1.05685460e+01] [-6.96031622e-02 -1.36663005e-03 9.97573823e-01 -1.31286771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.00771942099998 meters 0.05610678450069305 Centerline is valid? [True, True] Translation: X:120.68, Y:-10.58, Z:-13.13 [[ 9.71537062e-01 2.25711404e-01 7.19034018e-02 1.20683400e+02] [-2.25220505e-01 9.74192813e-01 -1.49695348e-02 -1.05761376e+01] [-7.34265720e-02 -1.65066256e-03 9.97299260e-01 -1.31305091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.06771942099998 meters 0.057493154799889416 Centerline is valid? [True, True] Translation: X:120.74, Y:-10.58, Z:-13.14 [[ 9.70805034e-01 2.30162040e-01 6.75501358e-02 1.20744421e+02] [-2.29737499e-01 9.73150585e-01 -1.40932897e-02 -1.05808447e+01] [-6.89801945e-02 -1.83696272e-03 9.97616338e-01 -1.31392522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.12771942099998 meters 0.05971520066121417 Centerline is valid? [True, True] Translation: X:120.81, Y:-10.59, Z:-13.15 [[ 9.69594165e-01 2.35850574e-01 6.52814084e-02 1.20805041e+02] [-2.35466848e-01 9.71786922e-01 -1.36213613e-02 -1.05857009e+01] [-6.66522248e-02 -2.16441501e-03 9.97773920e-01 -1.31488079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.18771942099998 meters 0.06061381158595573 Centerline is valid? [True, True] Translation: X:120.87, Y:-10.60, Z:-13.16 [[ 9.68914731e-01 2.38674374e-01 6.51059733e-02 1.20866024e+02] [-2.38299152e-01 9.71096805e-01 -1.35834477e-02 -1.05967285e+01] [-6.64662235e-02 -2.35349564e-03 9.97785900e-01 -1.31552652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.24771942099999 meters 0.06177691484610194 Centerline is valid? [True, True] Translation: X:120.93, Y:-10.61, Z:-13.16 [[ 9.68435573e-01 2.41120780e-01 6.31926524e-02 1.20925192e+02] [-2.40771955e-01 9.70492051e-01 -1.31925883e-02 -1.06086304e+01] [-6.45089740e-02 -2.43884666e-03 9.97914147e-01 -1.31641078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.30771942099999 meters 0.061443897926335755 Centerline is valid? [True, True] Translation: X:120.98, Y:-10.63, Z:-13.17 [[ 9.68962691e-01 2.38507995e-01 6.50018456e-02 1.20982528e+02] [-2.38132987e-01 9.71137740e-01 -1.35709280e-02 -1.06290238e+01] [-6.63625203e-02 -2.32936078e-03 9.97792859e-01 -1.31699252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.36771942099998 meters 0.0603361068501488 Centerline is valid? [True, True] Translation: X:121.04, Y:-10.65, Z:-13.18 [[ 9.70772708e-01 2.31742732e-01 6.24151778e-02 1.21038180e+02] [-2.31382786e-01 9.72775466e-01 -1.30344971e-02 -1.06534668e+01] [-6.37366036e-02 -1.78826374e-03 9.97965153e-01 -1.31795634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.42771942099998 meters 0.057051529024813745 Centerline is valid? [True, True] Translation: X:121.09, Y:-10.68, Z:-13.18 [[ 9.72720625e-01 2.23137146e-01 6.34381615e-02 1.21094382e+02] [-2.22746899e-01 9.74786269e-01 -1.32494944e-02 -1.06835812e+01] [-6.47951031e-02 -1.24259723e-03 9.97897816e-01 -1.31803454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.48771942099998 meters 0.055370003045072134 Centerline is valid? [True, True] Translation: X:121.15, Y:-10.71, Z:-13.18 [[ 9.74141997e-01 2.15924795e-01 6.65120517e-02 1.21151011e+02] [-2.15478872e-01 9.76409671e-01 -1.38928128e-02 -1.07123481e+01] [-6.79428132e-02 -7.98369470e-04 9.97688898e-01 -1.31779365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.54771942099998 meters 0.05475028075460053 Centerline is valid? [True, True] Translation: X:121.21, Y:-10.73, Z:-13.18 [[ 9.74306509e-01 2.13783387e-01 7.08765866e-02 1.21210959e+02] [-2.13271220e-01 9.76880845e-01 -1.48054263e-02 -1.07277555e+01] [-7.24031340e-02 -6.90912884e-04 9.97375210e-01 -1.31816192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.60771942099998 meters 0.05582266671092915 Centerline is valid? [True, True] Translation: X:121.27, Y:-10.73, Z:-13.19 [[ 9.73187333e-01 2.19205632e-01 6.96800309e-02 1.21271560e+02] [-2.18724734e-01 9.75678086e-01 -1.45521041e-02 -1.07348188e+01] [-7.11751823e-02 -1.07882288e-03 9.97463247e-01 -1.31917412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.66771942099999 meters 0.05877064719739214 Centerline is valid? [True, True] Translation: X:121.33, Y:-10.74, Z:-13.20 [[ 9.71197851e-01 2.29634405e-01 6.35828182e-02 1.21332148e+02] [-2.29254499e-01 9.73275555e-01 -1.33066853e-02 -1.07393742e+01] [-6.49392754e-02 -1.65322292e-03 9.97887848e-01 -1.32013004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.72771942099997 meters 0.06196434577299591 Centerline is valid? [True, True] Translation: X:121.39, Y:-10.74, Z:-13.21 [[ 9.68269411e-01 2.41676011e-01 6.36164591e-02 1.21394170e+02] [-2.41321543e-01 9.70353880e-01 -1.33139490e-02 -1.07422131e+01] [-6.49481399e-02 -2.46053252e-03 9.97885607e-01 -1.32051628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.78771942099998 meters 0.06603401963460852 Centerline is valid? [True, True] Translation: X:121.45, Y:-10.75, Z:-13.22 [[ 9.66191542e-01 2.50092110e-01 6.26724826e-02 1.21454669e+02] [-2.49765595e-01 9.68217467e-01 -1.31180930e-02 -1.07465312e+01] [-6.39613239e-02 -2.97883939e-03 9.97947932e-01 -1.32162451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.84771942099998 meters 0.06669800673760334 Centerline is valid? [True, True] Translation: X:121.51, Y:-10.77, Z:-13.22 [[ 9.64942575e-01 2.55262244e-01 6.10492664e-02 1.21512209e+02] [-2.54962579e-01 9.66866452e-01 -1.27807125e-02 -1.07683360e+01] [-6.22889210e-02 -3.23262479e-03 9.98052925e-01 -1.32182345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.90771942099998 meters 0.06855832581117224 Centerline is valid? [True, True] Translation: X:121.57, Y:-10.78, Z:-13.23 [[ 9.64036414e-01 2.58892513e-01 6.00704507e-02 1.21570212e+02] [-2.58609330e-01 9.65900117e-01 -1.25768617e-02 -1.07844296e+01] [-6.12781108e-02 -3.41022641e-03 9.98114905e-01 -1.32252733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.96771942099998 meters 0.07056682237531152 Centerline is valid? [True, True] Translation: X:121.63, Y:-10.80, Z:-13.23 [[ 9.63040429e-01 2.62201770e-01 6.16714193e-02 1.21630088e+02] [-2.61910103e-01 9.65005909e-01 -1.29109934e-02 -1.08005567e+01] [-6.28985693e-02 -3.71855913e-03 9.98012997e-01 -1.32305151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.02771942099999 meters 0.06726294990954988 Centerline is valid? [True, True] Translation: X:121.69, Y:-10.83, Z:-13.23 [[ 9.62883431e-01 2.62595552e-01 6.24425699e-02 1.21687703e+02] [-2.62297635e-01 9.64898529e-01 -1.30682473e-02 -1.08324930e+01] [-6.36824075e-02 -3.79533960e-03 9.97962998e-01 -1.32287127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.08771942099999 meters 0.06799741741470772 Centerline is valid? [True, True] Translation: X:121.75, Y:-10.85, Z:-13.24 [[ 9.62547639e-01 2.63641625e-01 6.32070843e-02 1.21747714e+02] [-2.63337503e-01 9.64612834e-01 -1.32453979e-02 -1.08492572e+01] [-6.44624029e-02 -3.89546930e-03 9.97912533e-01 -1.32359477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.14771942099998 meters 0.06964419575262475 Centerline is valid? [True, True] Translation: X:121.81, Y:-10.86, Z:-13.25 [[ 9.62355285e-01 2.64949770e-01 6.06129044e-02 1.21806546e+02] [-2.64670727e-01 9.64254773e-01 -1.27333902e-02 -1.08636822e+01] [-6.18199912e-02 -3.78841608e-03 9.98080125e-01 -1.32467048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.20771942099998 meters 0.07107178624504457 Centerline is valid? [True, True] Translation: X:121.86, Y:-10.89, Z:-13.26 [[ 9.62761510e-01 2.64111919e-01 5.77509154e-02 1.21862319e+02] [-2.63857266e-01 9.64485469e-01 -1.21294657e-02 -1.08914325e+01] [-5.89034551e-02 -3.56021593e-03 9.98257335e-01 -1.32553220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.26771942099998 meters 0.06691897498539634 Centerline is valid? [True, True] Translation: X:121.92, Y:-10.92, Z:-13.26 [[ 9.65188960e-01 2.55340005e-01 5.66723291e-02 1.21917600e+02] [-2.55078942e-01 9.66846808e-01 -1.19156876e-02 -1.09238191e+01] [-5.78360122e-02 -2.95502764e-03 9.98321723e-01 -1.32633840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.32771942099998 meters 0.06437491188815181 Centerline is valid? [True, True] Translation: X:121.97, Y:-10.95, Z:-13.27 [[ 9.66985490e-01 2.47799971e-01 5.94494372e-02 1.21973589e+02] [-2.47498208e-01 9.68807667e-01 -1.25036708e-02 -1.09478935e+01] [-6.06934798e-02 -2.62276095e-03 9.98153006e-01 -1.32709503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.38771942099999 meters 0.05739875981286194 Centerline is valid? [True, True] Translation: X:122.03, Y:-10.99, Z:-13.27 [[ 9.70096147e-01 2.35125746e-01 6.02440778e-02 1.22028853e+02] [-2.34791498e-01 9.71963191e-01 -1.26691649e-02 -1.09885279e+01] [-6.15338730e-02 -1.85448919e-03 9.98103273e-01 -1.32652476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.44771942099999 meters 0.05504629440986279 Centerline is valid? [True, True] Translation: X:122.09, Y:-11.01, Z:-13.27 [[ 9.72157936e-01 2.25143198e-01 6.49575852e-02 1.22085846e+02] [-2.24731937e-01 9.74324800e-01 -1.36653006e-02 -1.10135104e+01] [-6.63664357e-02 -1.31321356e-03 9.97794454e-01 -1.32679991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.50771942099998 meters 0.054054674412299844 Centerline is valid? [True, True] Translation: X:122.14, Y:-11.03, Z:-13.27 [[ 9.73218399e-01 2.19761467e-01 6.74599468e-02 1.22144761e+02] [-2.19304949e-01 9.75553142e-01 -1.41918091e-02 -1.10299206e+01] [-6.89295758e-02 -9.82570475e-04 9.97621044e-01 -1.32717890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.56771942099998 meters 0.054025365084492495 Centerline is valid? [True, True] Translation: X:122.20, Y:-11.04, Z:-13.28 [[ 9.74222174e-01 2.15595597e-01 6.64055318e-02 1.22203250e+02] [-2.15143893e-01 9.76482501e-01 -1.39653501e-02 -1.10433446e+01] [-6.78547078e-02 -6.81390878e-04 9.97694981e-01 -1.32817087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.62771942099998 meters 0.053858609726226365 Centerline is valid? [True, True] Translation: X:122.26, Y:-11.07, Z:-13.29 [[ 9.76782244e-01 2.04690527e-01 6.32316076e-02 1.22261365e+02] [-2.04256610e-01 9.78826736e-01 -1.33213546e-02 -1.10653329e+01] [-6.46195432e-02 9.65888245e-05 9.97909969e-01 -1.32903674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.68771942099998 meters 0.0550396475246012 Centerline is valid? [True, True] Translation: X:122.32, Y:-11.08, Z:-13.30 [[ 9.77827888e-01 2.00594396e-01 6.01207902e-02 1.22319442e+02] [-2.00193986e-01 9.79674314e-01 -1.26730605e-02 -1.10761539e+01] [-6.14409389e-02 3.56251385e-04 9.98110657e-01 -1.33047164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.74771942099999 meters 0.05512162710119324 Centerline is valid? [True, True] Translation: X:122.38, Y:-11.09, Z:-13.31 [[ 9.78113772e-01 1.99777322e-01 5.81590179e-02 1.22380050e+02] [-1.99401446e-01 9.79841247e-01 -1.22553534e-02 -1.10886669e+01] [-5.94349463e-02 3.90137623e-04 9.98232105e-01 -1.33073304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.80771942099999 meters 0.054609339080527154 Centerline is valid? [True, True] Translation: X:122.44, Y:-11.09, Z:-13.31 [[ 9.78311367e-01 1.98589931e-01 5.88974471e-02 1.22443305e+02] [-1.98202252e-01 9.80082558e-01 -1.24115932e-02 -1.10895222e+01] [-6.01891780e-02 4.68796060e-04 9.98186878e-01 -1.33086006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.86771942099998 meters 0.05525294599220846 Centerline is valid? [True, True] Translation: X:122.51, Y:-11.09, Z:-13.31 [[ 9.78468415e-01 1.96644505e-01 6.26936921e-02 1.22505155e+02] [-1.96199325e-01 9.80474635e-01 -1.32406722e-02 -1.10921154e+01] [-6.40732803e-02 6.55119419e-04 9.97944981e-01 -1.33140529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.92771942099998 meters 0.05650521765211921 Centerline is valid? [True, True] Translation: X:122.57, Y:-11.11, Z:-13.31 [[ 9.79876715e-01 1.88314079e-01 6.61772705e-02 1.22567174e+02] [-1.87798773e-01 9.82108036e-01 -1.39795013e-02 -1.11051996e+01] [-6.76257661e-02 1.27017764e-03 9.97709949e-01 -1.33106395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.98771942099998 meters 0.058561562405154796 Centerline is valid? [True, True] Translation: X:122.63, Y:-11.11, Z:-13.32 [[ 9.81423860e-01 1.80032856e-01 6.62976487e-02 1.22627259e+02] [-1.79496075e-01 9.83658849e-01 -1.40152960e-02 -1.11149646e+01] [-6.77374825e-02 1.85477819e-03 9.97701455e-01 -1.33195715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.04771942099998 meters 0.061743521583515426 Centerline is valid? [True, True] Translation: X:122.69, Y:-11.12, Z:-13.33 [[ 9.82861645e-01 1.71820540e-01 6.67883821e-02 1.22688670e+02] [-1.71256611e-01 9.85125240e-01 -1.41221628e-02 -1.11185434e+01] [-6.82213986e-02 2.44218020e-03 9.97667217e-01 -1.33282058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.10771942099998 meters 0.061720932995068686 Centerline is valid? [True, True] Translation: X:122.75, Y:-11.12, Z:-13.34 [[ 9.82618557e-01 1.73525865e-01 6.59510875e-02 1.22751021e+02] [-1.72980368e-01 9.84826657e-01 -1.39372620e-02 -1.11195361e+01] [-6.73688645e-02 2.28676889e-03 9.97725517e-01 -1.33361551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.16771942099999 meters 0.0591176894638499 Centerline is valid? [True, True] Translation: X:122.82, Y:-11.11, Z:-13.35 [[ 9.81583935e-01 1.80046647e-01 6.38449973e-02 1.22815117e+02] [-1.79547225e-01 9.83656407e-01 -1.35228390e-02 -1.11090853e+01] [-6.52362824e-02 1.81060939e-03 9.97868202e-01 -1.33466318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.22771942099997 meters 0.057479028127566396 Centerline is valid? [True, True] Translation: X:122.88, Y:-11.10, Z:-13.36 [[ 9.79923606e-01 1.89523447e-01 6.18917560e-02 1.22877962e+02] [-1.89072750e-01 9.81875525e-01 -1.31129497e-02 -1.10997501e+01] [-6.32552118e-02 1.14764447e-03 9.97996724e-01 -1.33578628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.28771942099998 meters 0.054813365835202695 Centerline is valid? [True, True] Translation: X:122.94, Y:-11.09, Z:-13.36 [[ 9.77110100e-01 2.02899366e-01 6.39351296e-02 1.22942953e+02] [-2.02446795e-01 9.79199551e-01 -1.35474757e-02 -1.10875487e+01] [-6.53540245e-02 2.93913223e-04 9.97862097e-01 -1.33624904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.34771942099998 meters 0.05369243650923144 Centerline is valid? [True, True] Translation: X:123.01, Y:-11.08, Z:-13.37 [[ 9.74586986e-01 2.13158888e-01 6.88730398e-02 1.23008037e+02] [-2.12659139e-01 9.77017456e-01 -1.45938898e-02 -1.10794483e+01] [-7.04009794e-02 -4.23466276e-04 9.97518683e-01 -1.33652367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.40771942099998 meters 0.05426411650052468 Centerline is valid? [True, True] Translation: X:123.07, Y:-11.07, Z:-13.37 [[ 9.71558720e-01 2.24900959e-01 7.41162054e-02 1.23073099e+02] [-2.24356313e-01 9.74380662e-01 -1.57025456e-02 -1.10715262e+01] [-7.57489149e-02 -1.37249346e-03 9.97125979e-01 -1.33696368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.46771942099998 meters 0.05795849304080647 Centerline is valid? [True, True] Translation: X:123.13, Y:-11.07, Z:-13.38 [[ 9.68565890e-01 2.37937652e-01 7.25657621e-02 1.23134864e+02] [-2.37449599e-01 9.71277686e-01 -1.54060274e-02 -1.10650720e+01] [-7.41471795e-02 -2.30895840e-03 9.97244636e-01 -1.33785603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.52771942099999 meters 0.06157967016370376 Centerline is valid? [True, True] Translation: X:123.20, Y:-11.06, Z:-13.39 [[ 9.65835924e-01 2.49064212e-01 7.16099550e-02 1.23196535e+02] [-2.48619116e-01 9.68481958e-01 -1.52062965e-02 -1.10645156e+01] [-7.31402937e-02 -3.11681626e-03 9.97316792e-01 -1.33876916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.58771942099999 meters 0.06195609351732664 Centerline is valid? [True, True] Translation: X:123.26, Y:-11.08, Z:-13.39 [[ 9.64600988e-01 2.52102193e-01 7.73913332e-02 1.23257591e+02] [-2.51592263e-01 9.67693839e-01 -1.64306926e-02 -1.10780157e+01] [-7.90333299e-02 -3.62199838e-03 9.96865394e-01 -1.33895101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.64771942099998 meters 0.060705278974212594 Centerline is valid? [True, True] Translation: X:123.31, Y:-11.10, Z:-13.40 [[ 9.65609304e-01 2.48635076e-01 7.60215129e-02 1.23314538e+02] [-2.48129863e-01 9.68591788e-01 -1.61715920e-02 -1.11026008e+01] [-7.76546381e-02 -3.24776790e-03 9.96975029e-01 -1.33973782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.70771942099998 meters 0.05743849301891247 Centerline is valid? [True, True] Translation: X:123.37, Y:-11.13, Z:-13.41 [[ 9.67509779e-01 2.41084551e-01 7.61778604e-02 1.23370640e+02] [-2.40553554e-01 9.70500518e-01 -1.62089912e-02 -1.11301464e+01] [-7.78383904e-02 -2.64249751e-03 9.96962488e-01 -1.34062498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.76771942099998 meters 0.054965227299217066 Centerline is valid? [True, True] Translation: X:123.43, Y:-11.16, Z:-13.41 [[ 9.70177067e-01 2.29696715e-01 7.74330593e-02 1.23425436e+02] [-2.29111657e-01 9.73260674e-01 -1.64775123e-02 -1.11618009e+01] [-7.91473820e-02 -1.75471201e-03 9.96861381e-01 -1.34125834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.82771942099998 meters 0.053247330968448414 Centerline is valid? [True, True] Translation: X:123.48, Y:-11.19, Z:-13.42 [[ 9.72520409e-01 2.19028970e-01 7.89326543e-02 1.23481953e+02] [-2.18385615e-01 9.75717941e-01 -1.67994876e-02 -1.11890498e+01] [-8.06955814e-02 -8.99911677e-04 9.96738388e-01 -1.34180380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.88771942099999 meters 0.05336278838056685 Centerline is valid? [True, True] Translation: X:123.54, Y:-11.21, Z:-13.43 [[ 9.73765826e-01 2.13559425e-01 7.85651791e-02 1.23539852e+02] [-2.12904646e-01 9.76929972e-01 -1.67164933e-02 -1.12063953e+01] [-8.03226429e-02 -4.48941707e-04 9.96768815e-01 -1.34292058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.94771942099999 meters 0.05348852021919729 Centerline is valid? [True, True] Translation: X:123.60, Y:-11.23, Z:-13.43 [[ 9.75039072e-01 2.06924498e-01 8.05050310e-02 1.23599065e+02] [-2.06212344e-01 9.78356907e-01 -1.71531951e-02 -1.12283506e+01] [-8.23120694e-02 1.23904265e-04 9.96606596e-01 -1.34316169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.00771942099998 meters 0.053826391541698715 Centerline is valid? [True, True] Translation: X:123.66, Y:-11.24, Z:-13.44 [[ 9.75886097e-01 2.02996712e-01 8.02412688e-02 1.23659588e+02] [-2.02273844e-01 9.79179302e-01 -1.71226929e-02 -1.12416170e+01] [-8.20464399e-02 4.79088078e-04 9.96628392e-01 -1.34401523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.06771942099998 meters 0.05434582763102734 Centerline is valid? [True, True] Translation: X:123.72, Y:-11.26, Z:-13.45 [[ 9.76887530e-01 1.97151984e-01 8.25944828e-02 1.23720731e+02] [-1.96362905e-01 9.80372401e-01 -1.76511807e-02 -1.12571750e+01] [-8.44533167e-02 1.02472568e-03 9.96426910e-01 -1.34455201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.12771942099998 meters 0.05862877023060529 Centerline is valid? [True, True] Translation: X:123.78, Y:-11.28, Z:-13.45 [[ 9.79818929e-01 1.79509607e-01 8.79270558e-02 1.23776757e+02] [-1.78540165e-01 9.83752363e-01 -1.88334170e-02 -1.12840649e+01] [-8.98792283e-02 2.75482738e-03 9.95948862e-01 -1.34481705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.18771942099998 meters 0.06067699365373414 Centerline is valid? [True, True] Translation: X:123.84, Y:-11.30, Z:-13.46 [[ 9.80709451e-01 1.74198121e-01 8.86791219e-02 1.23835439e+02] [-1.73190189e-01 9.84705192e-01 -1.89958899e-02 -1.12973544e+01] [-9.06318401e-02 3.27109484e-03 9.95879094e-01 -1.34562688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.24771942099999 meters 0.06232427198458963 Centerline is valid? [True, True] Translation: X:123.90, Y:-11.30, Z:-13.47 [[ 9.81248449e-01 1.72063045e-01 8.68665054e-02 1.23896939e+02] [-1.71087556e-01 9.85080079e-01 -1.86087740e-02 -1.12994443e+01] [-8.87723463e-02 3.39805246e-03 9.96046145e-01 -1.34685227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.30771942099999 meters 0.06045716433147897 Centerline is valid? [True, True] Translation: X:123.96, Y:-11.29, Z:-13.48 [[ 9.80305245e-01 1.76538617e-01 8.85197361e-02 1.23960768e+02] [-1.75540921e-01 9.84288893e-01 -1.89936631e-02 -1.12940085e+01] [-9.04821081e-02 3.08075160e-03 9.95893316e-01 -1.34763897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.36771942099998 meters 0.05855533442369463 Centerline is valid? [True, True] Translation: X:124.02, Y:-11.29, Z:-13.48 [[ 9.79645724e-01 1.80817025e-01 8.71748749e-02 1.24023465e+02] [-1.79865810e-01 9.83513181e-01 -1.87112988e-02 -1.12920553e+01] [-8.91209599e-02 2.65066435e-03 9.96017283e-01 -1.34830220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.42771942099998 meters 0.05865155575015539 Centerline is valid? [True, True] Translation: X:124.09, Y:-11.29, Z:-13.49 [[ 9.79746487e-01 1.79395411e-01 8.89612682e-02 1.24086212e+02] [-1.78398872e-01 9.83772960e-01 -1.90946642e-02 -1.12904787e+01] [-9.09431852e-02 2.83734024e-03 9.95852040e-01 -1.34919962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.48771942099998 meters 0.06248256667792577 Centerline is valid? [True, True] Translation: X:124.14, Y:-11.31, Z:-13.50 [[ 9.80959776e-01 1.72167328e-01 8.98683981e-02 1.24144348e+02] [-1.71116968e-01 9.85061226e-01 -1.93226570e-02 -1.13054671e+01] [-9.18526046e-02 3.57674150e-03 9.95766190e-01 -1.34979188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.54771942099998 meters 0.06458768091810309 Centerline is valid? [True, True] Translation: X:124.21, Y:-11.31, Z:-13.50 [[ 9.81615239e-01 1.64361846e-01 9.70397174e-02 1.24206118e+02] [-1.63098345e-01 9.86389124e-01 -2.08668841e-02 -1.13116139e+01] [-9.91486414e-02 4.65623409e-03 9.95061740e-01 -1.34996561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.60771942099998 meters 0.06561648763431743 Centerline is valid? [True, True] Translation: X:124.27, Y:-11.31, Z:-13.51 [[ 9.81932421e-01 1.61538567e-01 9.85596848e-02 1.24268752e+02] [-1.60220585e-01 9.86853620e-01 -2.11966301e-02 -1.13109246e+01] [-1.00688055e-01 5.02236801e-03 9.94905368e-01 -1.35064124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.66771942099999 meters 0.06678998206363781 Centerline is valid? [True, True] Translation: X:124.33, Y:-11.31, Z:-13.52 [[ 9.82406297e-01 1.60245205e-01 9.59131967e-02 1.24331321e+02] [-1.58988315e-01 9.87064352e-01 -2.06562570e-02 -1.13096097e+01] [-9.79825635e-02 5.04375941e-03 9.95175350e-01 -1.35163548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.72771942099997 meters 0.06572378108444143 Centerline is valid? [True, True] Translation: X:124.40, Y:-11.30, Z:-13.52 [[ 9.82320221e-01 1.59685417e-01 9.77115665e-02 1.24396502e+02] [-1.58374976e-01 9.87154118e-01 -2.10740156e-02 -1.13013429e+01] [-9.98215882e-02 5.22636461e-03 9.94991626e-01 -1.35231881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.78771942099998 meters 0.06526421849010096 Centerline is valid? [True, True] Translation: X:124.46, Y:-11.29, Z:-13.53 [[ 9.82032996e-01 1.62585655e-01 9.57971745e-02 1.24459875e+02] [-1.61336516e-01 9.86682422e-01 -2.06960771e-02 -1.12936919e+01] [-9.78862734e-02 4.86864824e-03 9.95185698e-01 -1.35306371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.84771942099998 meters 0.0628382587951344 Centerline is valid? [True, True] Translation: X:124.52, Y:-11.28, Z:-13.54 [[ 9.80919386e-01 1.69035409e-01 9.60426391e-02 1.24524411e+02] [-1.67810091e-01 9.85600854e-01 -2.07540289e-02 -1.12827518e+01] [-9.81678729e-02 4.24110526e-03 9.95160832e-01 -1.35382295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.90771942099998 meters 0.05789356980881975 Centerline is valid? [True, True] Translation: X:124.59, Y:-11.27, Z:-13.55 [[ 9.78663853e-01 1.82561318e-01 9.42784562e-02 1.24589614e+02] [-1.81442925e-01 9.83190386e-01 -2.03747533e-02 -1.12655775e+01] [-9.64133135e-02 2.83387572e-03 9.95337351e-01 -1.35456825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.96771942099998 meters 0.0539315419239844 Centerline is valid? [True, True] Translation: X:124.65, Y:-11.25, Z:-13.56 [[ 9.75619912e-01 1.99860093e-01 9.06737610e-02 1.24654293e+02] [-1.98900097e-01 9.79823847e-01 -1.95954132e-02 -1.12473282e+01] [-9.27606544e-02 1.08265541e-03 9.95687847e-01 -1.35569191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.02771942099999 meters 0.0534431144500662 Centerline is valid? [True, True] Translation: X:124.72, Y:-11.23, Z:-13.57 [[ 9.72361440e-01 2.15700355e-01 8.93677021e-02 1.24721232e+02] [-2.14834474e-01 9.76459513e-01 -1.93124049e-02 -1.12318391e+01] [-9.14296355e-02 -4.20625397e-04 9.95811450e-01 -1.35654176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.08771942099997 meters 0.0548501754526865 Centerline is valid? [True, True] Translation: X:124.78, Y:-11.23, Z:-13.57 [[ 9.70028049e-01 2.26617441e-01 8.76933233e-02 1.24784077e+02] [-2.25827262e-01 9.73982825e-01 -1.89605903e-02 -1.12326750e+01] [-8.97085912e-02 -1.41123866e-03 9.95967056e-01 -1.35719277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.14771942099998 meters 0.0552676692648621 Centerline is valid? [True, True] Translation: X:124.84, Y:-11.25, Z:-13.58 [[ 9.69281588e-01 2.29610226e-01 8.81609224e-02 1.24843817e+02] [-2.28823520e-01 9.73281192e-01 -1.90661528e-02 -1.12468463e+01] [-9.01831512e-02 -1.69282177e-03 9.95923759e-01 -1.35795918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.20771942099998 meters 0.05487287373360002 Centerline is valid? [True, True] Translation: X:124.90, Y:-11.26, Z:-13.59 [[ 9.69353595e-01 2.28230225e-01 9.09096898e-02 1.24902954e+02] [-2.27384620e-01 9.73605905e-01 -1.96920248e-02 -1.12636875e+01] [-9.30045261e-02 -1.58293031e-03 9.95664428e-01 -1.35862821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.26771942099998 meters 0.05466475721376138 Centerline is valid? [True, True] Translation: X:124.96, Y:-11.29, Z:-13.60 [[ 9.70149167e-01 2.26172491e-01 8.75019846e-02 1.24960097e+02] [-2.25378398e-01 9.74086391e-01 -1.89810578e-02 -1.12890315e+01] [-8.95274855e-02 -1.30659965e-03 9.95983495e-01 -1.35971112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.32771942099998 meters 0.05413640418009556 Centerline is valid? [True, True] Translation: X:125.02, Y:-11.31, Z:-13.60 [[ 9.70509844e-01 2.24575251e-01 8.76162050e-02 1.25018152e+02] [-2.23770058e-01 9.74456091e-01 -1.90338823e-02 -1.13146348e+01] [-8.96526835e-02 -1.13331316e-03 9.95972445e-01 -1.36040086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.38771942099999 meters 0.05331025884624161 Centerline is valid? [True, True] Translation: X:125.07, Y:-11.34, Z:-13.61 [[ 9.71815686e-01 2.18660097e-01 8.81024110e-02 1.25074323e+02] [-2.17818942e-01 9.75800926e-01 -1.91692850e-02 -1.13422528e+01] [-9.01619720e-02 -5.61362127e-04 9.95926957e-01 -1.36118640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.44771942099999 meters 0.0531627720195014 Centerline is valid? [True, True] Translation: X:125.13, Y:-11.38, Z:-13.62 [[ 9.74566522e-01 2.05877340e-01 8.85133654e-02 1.25130631e+02] [-2.04973204e-01 9.78577589e-01 -1.92844188e-02 -1.13772346e+01] [-9.05874205e-02 6.51080841e-04 9.95888295e-01 -1.36184708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.50771942099998 meters 0.05402002550057636 Centerline is valid? [True, True] Translation: X:125.19, Y:-11.41, Z:-13.62 [[ 9.75786988e-01 1.98540422e-01 9.17684865e-02 1.25187830e+02] [-1.97532620e-01 9.80091676e-01 -2.00292608e-02 -1.14073900e+01] [-9.39181477e-02 1.41702256e-03 9.95578914e-01 -1.36217628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.56771942099998 meters 0.05356827486758779 Centerline is valid? [True, True] Translation: X:125.25, Y:-11.42, Z:-13.63 [[ 9.75324551e-01 2.00972805e-01 9.13890140e-02 1.25246309e+02] [-1.99981095e-01 9.79596076e-01 -1.99772284e-02 -1.14223942e+01] [-9.35391991e-02 1.20820616e-03 9.95614865e-01 -1.36295626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.62771942099998 meters 0.052913175747579325 Centerline is valid? [True, True] Translation: X:125.31, Y:-11.43, Z:-13.64 [[ 9.73936204e-01 2.09330163e-01 8.73450251e-02 1.25307742e+02] [-2.08456859e-01 9.77844938e-01 -1.91053669e-02 -1.14270237e+01] [-8.94092202e-02 3.99738978e-04 9.95994895e-01 -1.36412078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.68771942099998 meters 0.052644749755671606 Centerline is valid? [True, True] Translation: X:125.37, Y:-11.43, Z:-13.64 [[ 9.71899043e-01 2.19390746e-01 8.53226279e-02 1.25370154e+02] [-2.18593757e-01 9.75636953e-01 -1.86897139e-02 -1.14339565e+01] [-8.73442590e-02 -4.86478709e-04 9.96178068e-01 -1.36445467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.74771942099999 meters 0.05421180962954629 Centerline is valid? [True, True] Translation: X:125.43, Y:-11.43, Z:-13.65 [[ 9.68662858e-01 2.31788807e-01 8.92536605e-02 1.25432521e+02] [-2.30965914e-01 9.72764742e-01 -1.95832534e-02 -1.14324611e+01] [-9.13619929e-02 -1.64498303e-03 9.95816389e-01 -1.36515157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.80771942099999 meters 0.0590114678590773 Centerline is valid? [True, True] Translation: X:125.49, Y:-11.43, Z:-13.67 [[ 9.66344478e-01 2.42458678e-01 8.59775569e-02 1.25492147e+02] [-2.41734389e-01 9.70158452e-01 -1.88961366e-02 -1.14310740e+01] [-8.79933858e-02 -2.52355496e-03 9.96117862e-01 -1.36653685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.86771942099998 meters 0.058059953569953714 Centerline is valid? [True, True] Translation: X:125.55, Y:-11.45, Z:-13.67 [[ 9.65629073e-01 2.45554992e-01 8.52246360e-02 1.25551387e+02] [-2.44856052e-01 9.69378652e-01 -1.87228068e-02 -1.14486882e+01] [-8.72124214e-02 -2.78848135e-03 9.96185835e-01 -1.36693208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.92771942099998 meters 0.06386227250619961 Centerline is valid? [True, True] Translation: X:125.61, Y:-11.45, Z:-13.68 [[ 9.64520345e-01 2.50309814e-01 8.39374886e-02 1.25610653e+02] [-2.49647093e-01 9.68160702e-01 -1.84711873e-02 -1.14538876e+01] [-8.58884973e-02 -3.13891412e-03 9.96299811e-01 -1.36820634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.98771942099998 meters 0.06117426426635734 Centerline is valid? [True, True] Translation: X:125.67, Y:-11.48, Z:-13.68 [[ 9.63679964e-01 2.53864196e-01 8.29089728e-02 1.25667863e+02] [-2.53230776e-01 9.67233849e-01 -1.82443361e-02 -1.14771887e+01] [-8.48239486e-02 -3.41340231e-03 9.96390108e-01 -1.36838154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.04771942099998 meters 0.06204955395462417 Centerline is valid? [True, True] Translation: X:125.72, Y:-11.50, Z:-13.69 [[ 9.62719991e-01 2.57169592e-01 8.38690643e-02 1.25724897e+02] [-2.56534231e-01 9.66359005e-01 -1.84516016e-02 -1.15041550e+01] [-8.57928164e-02 -3.75156017e-03 9.96305936e-01 -1.36895333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.10771942099998 meters 0.06285042416634633 Centerline is valid? [True, True] Translation: X:125.78, Y:-11.52, Z:-13.70 [[ 9.62484674e-01 2.57676944e-01 8.50049696e-02 1.25783543e+02] [-2.57023720e-01 9.66223573e-01 -1.87300362e-02 -1.15224285e+01] [-8.69601039e-02 -3.82092067e-03 9.96204467e-01 -1.36965651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.16771942099999 meters 0.06316620994618007 Centerline is valid? [True, True] Translation: X:125.84, Y:-11.55, Z:-13.71 [[ 9.62785937e-01 2.57961404e-01 8.06173333e-02 1.25839450e+02] [-2.57373627e-01 9.66148398e-01 -1.77789173e-02 -1.15546810e+01] [-8.24745818e-02 -3.63148395e-03 9.96586552e-01 -1.37059789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.22771942099997 meters 0.06359770581960092 Centerline is valid? [True, True] Translation: X:125.90, Y:-11.57, Z:-13.72 [[ 9.63073946e-01 2.57933188e-01 7.71948493e-02 1.25898058e+02] [-2.57394175e-01 9.66156511e-01 -1.70245154e-02 -1.15748772e+01] [-7.89734938e-02 -3.47363736e-03 9.96870664e-01 -1.37155668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.28771942099998 meters 0.06438567388434957 Centerline is valid? [True, True] Translation: X:125.96, Y:-11.60, Z:-13.72 [[ 9.62577721e-01 2.59321841e-01 7.87166721e-02 1.25957651e+02] [-2.58764036e-01 9.65784120e-01 -1.73841161e-02 -1.15975739e+01] [-8.05313929e-02 -3.63548088e-03 9.96745443e-01 -1.37205757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.34771942099998 meters 0.06644269016455633 Centerline is valid? [True, True] Translation: X:126.01, Y:-11.62, Z:-13.73 [[ 9.61750611e-01 2.62284418e-01 7.90104207e-02 1.26014425e+02] [-2.61729974e-01 9.64982857e-01 -1.74787556e-02 -1.16222771e+01] [-8.08281067e-02 -3.86919153e-03 9.96720546e-01 -1.37265762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.40771942099998 meters 0.06624084887469268 Centerline is valid? [True, True] Translation: X:126.07, Y:-11.65, Z:-13.73 [[ 9.60578031e-01 2.66250619e-01 8.00028418e-02 1.26071829e+02] [-2.65693478e-01 9.63894564e-01 -1.77269521e-02 -1.16476967e+01] [-8.18341163e-02 -4.22811252e-03 9.96636995e-01 -1.37304687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.46771942099998 meters 0.07043572805069036 Centerline is valid? [True, True] Translation: X:126.13, Y:-11.67, Z:-13.74 [[ 9.59872616e-01 2.69609096e-01 7.71718573e-02 1.26128782e+02] [-2.69101191e-01 9.62960028e-01 -1.71036311e-02 -1.16659600e+01] [-7.89247084e-02 -4.34973152e-03 9.96871090e-01 -1.37417685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.52771942099999 meters 0.06855443417300851 Centerline is valid? [True, True] Translation: X:126.19, Y:-11.69, Z:-13.75 [[ 9.59732642e-01 2.70476506e-01 7.58664279e-02 1.26186849e+02] [-2.69988886e-01 9.62716737e-01 -1.68073296e-02 -1.16896001e+01] [-7.75838677e-02 -4.35254951e-03 9.96976328e-01 -1.37470967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.58771942099997 meters 0.06634155202052373 Centerline is valid? [True, True] Translation: X:126.24, Y:-11.72, Z:-13.75 [[ 9.61132050e-01 2.65200652e-01 7.67710621e-02 1.26241373e+02] [-2.64681981e-01 9.64185187e-01 -1.70403474e-02 -1.17225799e+01] [-7.85406321e-02 -3.94189281e-03 9.96903120e-01 -1.37515184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.64771942099998 meters 0.062047499662926636 Centerline is valid? [True, True] Translation: X:126.29, Y:-11.76, Z:-13.76 [[ 9.63986744e-01 2.54158239e-01 7.83144164e-02 1.26294552e+02] [-2.53581870e-01 9.67157682e-01 -1.73854604e-02 -1.17567313e+01] [-8.01610474e-02 -3.09976283e-03 9.96777105e-01 -1.37578483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.70771942099998 meters 0.0584663066654122 Centerline is valid? [True, True] Translation: X:126.35, Y:-11.79, Z:-13.76 [[ 9.65398617e-01 2.48245180e-01 7.98739017e-02 1.26350984e+02] [-2.47625456e-01 9.68693578e-01 -1.77309360e-02 -1.17853901e+01] [-8.17749550e-02 -2.66139020e-03 9.96647266e-01 -1.37600557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.76771942099998 meters 0.05898145602113898 Centerline is valid? [True, True] Translation: X:126.41, Y:-11.81, Z:-13.77 [[ 9.65742300e-01 2.47637227e-01 7.75732779e-02 1.26407759e+02] [-2.47051235e-01 9.68849500e-01 -1.72143729e-02 -1.18107973e+01] [-7.94197511e-02 -2.53992600e-03 9.96838027e-01 -1.37686892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.82771942099998 meters 0.06213076309697385 Centerline is valid? [True, True] Translation: X:126.47, Y:-11.82, Z:-13.78 [[ 9.63597829e-01 2.56219656e-01 7.63591023e-02 1.26466853e+02] [-2.55676325e-01 9.66613399e-01 -1.69750801e-02 -1.18236880e+01] [-7.81590806e-02 -3.16606425e-03 9.96935873e-01 -1.37759336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.88771942099999 meters 0.06400039469605087 Centerline is valid? [True, True] Translation: X:126.53, Y:-11.84, Z:-13.78 [[ 9.61914395e-01 2.62198402e-01 7.72832171e-02 1.26525993e+02] [-2.61660874e-01 9.65006918e-01 -1.71823876e-02 -1.18367296e+01] [-7.90840338e-02 -3.69400816e-03 9.96861109e-01 -1.37826930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.94771942099999 meters 0.06614017190467689 Centerline is valid? [True, True] Translation: X:126.58, Y:-11.86, Z:-13.79 [[ 9.60885371e-01 2.66433087e-01 7.55824999e-02 1.26583574e+02] [-2.65931875e-01 9.63845318e-01 -1.68059481e-02 -1.18555689e+01] [-7.73274993e-02 -3.95120624e-03 9.96997917e-01 -1.37906889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.00771942099996 meters 0.06727708741072674 Centerline is valid? [True, True] Translation: X:126.64, Y:-11.87, Z:-13.79 [[ 9.59773940e-01 2.69655465e-01 7.82298842e-02 1.26643109e+02] [-2.69129153e-01 9.62947002e-01 -1.73945527e-02 -1.18731911e+01] [-8.00217687e-02 -4.35910407e-03 9.96783585e-01 -1.37942185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.067719421 meters 0.06831304275559853 Centerline is valid? [True, True] Translation: X:126.70, Y:-11.89, Z:-13.80 [[ 9.58700244e-01 2.73034436e-01 7.96620258e-02 1.26702160e+02] [-2.72499531e-01 9.61992692e-01 -1.77219414e-02 -1.18864766e+01] [-8.14729869e-02 -4.71783506e-03 9.96664384e-01 -1.38004098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.127719421 meters 0.06982922934408232 Centerline is valid? [True, True] Translation: X:126.76, Y:-11.91, Z:-13.81 [[ 9.57993236e-01 2.76643152e-01 7.56143300e-02 1.26758517e+02] [-2.76172250e-01 9.60960902e-01 -1.68236013e-02 -1.19069386e+01] [-7.73165489e-02 -4.76568334e-03 9.96995205e-01 -1.38090912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.18771942099997 meters 0.06880074558885518 Centerline is valid? [True, True] Translation: X:126.82, Y:-11.93, Z:-13.82 [[ 9.57888531e-01 2.77343475e-01 7.43650440e-02 1.26816687e+02] [-2.76890775e-01 9.60759090e-01 -1.65368957e-02 -1.19293452e+01] [-7.60332921e-02 -4.75049189e-03 9.97093963e-01 -1.38152000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.24771942099997 meters 0.06854735517323693 Centerline is valid? [True, True] Translation: X:126.88, Y:-11.95, Z:-13.82 [[ 9.58242212e-01 2.76244648e-01 7.38969440e-02 1.26875346e+02] [-2.75792737e-01 9.61076280e-01 -1.64544875e-02 -1.19480387e+01] [-7.55660641e-02 -4.61285590e-03 9.97130128e-01 -1.38222361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.30771942099997 meters 0.06690153601036321 Centerline is valid? [True, True] Translation: X:126.93, Y:-11.98, Z:-13.83 [[ 9.59531036e-01 2.71236663e-01 7.57024648e-02 1.26930824e+02] [-2.70744467e-01 9.62503117e-01 -1.68873675e-02 -1.19765937e+01] [-7.74443315e-02 -4.29207024e-03 9.96987439e-01 -1.38272835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.36771942099998 meters 0.06620661310236386 Centerline is valid? [True, True] Translation: X:126.99, Y:-12.00, Z:-13.83 [[ 9.59626774e-01 2.70146375e-01 7.83415007e-02 1.26988587e+02] [-2.69615515e-01 9.62809437e-01 -1.74774802e-02 -1.19983101e+01] [-8.01494141e-02 -4.35022614e-03 9.96773368e-01 -1.38328085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.42771942099998 meters 0.06707165402812888 Centerline is valid? [True, True] Translation: X:127.05, Y:-12.02, Z:-13.84 [[ 9.59590274e-01 2.70341708e-01 7.81144434e-02 1.27047807e+02] [-2.69814880e-01 9.62754575e-01 -1.74229188e-02 -1.20161607e+01] [-7.99151794e-02 -4.35757575e-03 9.96792143e-01 -1.38398105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.48771942099998 meters 0.06901368024849548 Centerline is valid? [True, True] Translation: X:127.10, Y:-12.04, Z:-13.85 [[ 9.59328309e-01 2.71826718e-01 7.61539996e-02 1.27104323e+02] [-2.71328269e-01 9.62336435e-01 -1.70163808e-02 -1.20361942e+01] [-7.79112754e-02 -4.33843709e-03 9.96950857e-01 -1.38486640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.54771942099998 meters 0.06866310274414969 Centerline is valid? [True, True] Translation: X:127.16, Y:-12.06, Z:-13.86 [[ 9.59639970e-01 2.70306802e-01 7.76232048e-02 1.27161710e+02] [-2.69783891e-01 9.62764654e-01 -1.73457084e-02 -1.20572164e+01] [-7.94215409e-02 -4.29585517e-03 9.96831864e-01 -1.38570795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.60771942099998 meters 0.06817395094877277 Centerline is valid? [True, True] Translation: X:127.22, Y:-12.08, Z:-13.86 [[ 9.60114887e-01 2.67936934e-01 7.99324866e-02 1.27218649e+02] [-2.67373902e-01 9.63427218e-01 -1.78659671e-02 -1.20753340e+01] [-8.17960857e-02 -4.21847987e-03 9.96640158e-01 -1.38638491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.667719421 meters 0.06313958311922739 Centerline is valid? [True, True] Translation: X:127.28, Y:-12.11, Z:-13.86 [[ 9.60672496e-01 2.65579385e-01 8.10922048e-02 1.27275797e+02] [-2.64991621e-01 9.64080372e-01 -1.81239391e-02 -1.21058172e+01] [-8.29927476e-02 -4.07758501e-03 9.96541809e-01 -1.38635051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.727719421 meters 0.06222170288275708 Centerline is valid? [True, True] Translation: X:127.33, Y:-12.13, Z:-13.87 [[ 9.61506394e-01 2.62633868e-01 8.08016455e-02 1.27334143e+02] [-2.62039513e-01 9.64888065e-01 -1.80642054e-02 -1.21251672e+01] [-8.27088155e-02 -3.80437488e-03 9.96566495e-01 -1.38709576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.787719421 meters 0.06155770892380985 Centerline is valid? [True, True] Translation: X:127.39, Y:-12.14, Z:-13.88 [[ 9.61779721e-01 2.61599748e-01 8.09032814e-02 1.27394233e+02] [-2.61000294e-01 9.65169275e-01 -1.80863985e-02 -1.21396453e+01] [-8.28167587e-02 -3.72064895e-03 9.96557846e-01 -1.38785247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.847719421 meters 0.059288716897853457 Centerline is valid? [True, True] Translation: X:127.45, Y:-12.16, Z:-13.89 [[ 9.63609387e-01 2.54671039e-01 8.12379928e-02 1.27451405e+02] [-2.54039470e-01 9.67022752e-01 -1.81918676e-02 -1.21619918e+01] [-8.31919292e-02 -3.10780229e-03 9.96528697e-01 -1.38852535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.90771942099997 meters 0.0556695918554275 Centerline is valid? [True, True] Translation: X:127.51, Y:-12.19, Z:-13.89 [[ 9.67460051e-01 2.40400909e-01 7.89205473e-02 1.27507504e+02] [-2.39757212e-01 9.70671975e-01 -1.76747394e-02 -1.21909766e+01] [-8.08549869e-02 -1.82216612e-03 9.96724210e-01 -1.38925944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.96771942099997 meters 0.05342242066039891 Centerline is valid? [True, True] Translation: X:127.56, Y:-12.21, Z:-13.90 [[ 9.70544893e-01 2.26431375e-01 8.22887845e-02 1.27563463e+02] [-2.25680745e-01 9.74026884e-01 -1.84344878e-02 -1.22148987e+01] [-8.43256348e-02 -6.79496182e-04 9.96438019e-01 -1.38978072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.02771942099997 meters 0.053021069821893314 Centerline is valid? [True, True] Translation: X:127.62, Y:-12.23, Z:-13.90 [[ 9.72774875e-01 2.16759537e-01 8.20021120e-02 1.27621374e+02] [-2.15980184e-01 9.76225015e-01 -1.83652160e-02 -1.22339854e+01] [-8.40333488e-02 1.54389493e-04 9.96462931e-01 -1.39049515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.08771942099997 meters 0.052815061331785075 Centerline is valid? [True, True] Translation: X:127.68, Y:-12.24, Z:-13.91 [[ 9.73318276e-01 2.13808670e-01 8.32909770e-02 1.27683525e+02] [-2.12991927e-01 9.76875459e-01 -1.86755775e-02 -1.22419338e+01] [-8.53579117e-02 4.36975176e-04 9.96350258e-01 -1.39083183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.14771942099998 meters 0.05332240671264987 Centerline is valid? [True, True] Translation: X:127.75, Y:-12.24, Z:-13.92 [[ 9.73115933e-01 2.15793611e-01 8.04891139e-02 1.27746346e+02] [-2.15035953e-01 9.76438959e-01 -1.80692391e-02 -1.22436814e+01] [-8.24919330e-02 2.75411151e-04 9.96591694e-01 -1.39181837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.20771942099998 meters 0.053392248658240084 Centerline is valid? [True, True] Translation: X:127.81, Y:-12.24, Z:-13.92 [[ 9.72483932e-01 2.19179950e-01 7.89629793e-02 1.27810121e+02] [-2.18460113e-01 9.75684452e-01 -1.77490769e-02 -1.22402126e+01] [-8.09331929e-02 1.04307363e-05 9.96719528e-01 -1.39237472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.26771942099998 meters 0.05370968323164475 Centerline is valid? [True, True] Translation: X:127.87, Y:-12.24, Z:-13.93 [[ 9.71051499e-01 2.26271199e-01 7.65528023e-02 1.27872555e+02] [-2.25614752e-01 9.74064194e-01 -1.72316406e-02 -1.22370489e+01] [-7.84663676e-02 -5.38631034e-04 9.96916616e-01 -1.39326723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.32771942099998 meters 0.054280281090169524 Centerline is valid? [True, True] Translation: X:127.94, Y:-12.23, Z:-13.94 [[ 9.69996823e-01 2.31372041e-01 7.46534806e-02 1.27935872e+02] [-2.30760765e-01 9.72864928e-01 -1.68315655e-02 -1.22349937e+01] [-7.65221067e-02 -9.00529269e-04 9.97067478e-01 -1.39426913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.38771942099999 meters 0.05488837096486362 Centerline is valid? [True, True] Translation: X:128.00, Y:-12.24, Z:-13.95 [[ 9.69124637e-01 2.35655627e-01 7.25524812e-02 1.27998422e+02] [-2.35089820e-01 9.71835887e-01 -1.63641397e-02 -1.22371221e+01] [-7.43654066e-02 -1.19745883e-03 9.97230341e-01 -1.39510857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.447719421 meters 0.05537528775394694 Centerline is valid? [True, True] Translation: X:128.06, Y:-12.24, Z:-13.95 [[ 9.67351232e-01 2.41692320e-01 7.62654276e-02 1.28062744e+02] [-2.41085765e-01 9.70351365e-01 -1.72012474e-02 -1.22384059e+01] [-7.81616712e-02 -1.74686109e-03 9.96939166e-01 -1.39532309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.507719421 meters 0.05748030293085581 Centerline is valid? [True, True] Translation: X:128.13, Y:-12.24, Z:-13.96 [[ 9.65592994e-01 2.48678026e-01 7.60881654e-02 1.28125390e+02] [-2.48093047e-01 9.68583544e-01 -1.71976198e-02 -1.22364496e+01] [-7.79744151e-02 -2.27104355e-03 9.96952774e-01 -1.39628057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.567719421 meters 0.05840458857952795 Centerline is valid? [True, True] Translation: X:128.19, Y:-12.24, Z:-13.97 [[ 9.64536782e-01 2.51936346e-01 7.87202240e-02 1.28187322e+02] [-2.51321223e-01 9.67740246e-01 -1.77892957e-02 -1.22438460e+01] [-8.06624991e-02 -2.62563298e-03 9.96738013e-01 -1.39671575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.627719421 meters 0.0575354994739625 Centerline is valid? [True, True] Translation: X:128.25, Y:-12.26, Z:-13.97 [[ 9.64879840e-01 2.50392075e-01 7.94399346e-02 1.28247059e+02] [-2.49758426e-01 9.68141302e-01 -1.79763437e-02 -1.22584809e+01] [-8.14102157e-02 -2.49578137e-03 9.96677555e-01 -1.39733690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.68771942099997 meters 0.056036182204276135 Centerline is valid? [True, True] Translation: X:128.30, Y:-12.28, Z:-13.98 [[ 9.66752872e-01 2.43350196e-01 7.85465825e-02 1.28303533e+02] [-2.42705003e-01 9.69936729e-01 -1.78051560e-02 -1.22792658e+01] [-8.05181035e-02 -1.85046279e-03 9.96751429e-01 -1.39811420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.74771942099997 meters 0.05421356539108792 Centerline is valid? [True, True] Translation: X:128.36, Y:-12.30, Z:-13.99 [[ 9.68370349e-01 2.37118974e-01 7.76753407e-02 1.28361161e+02] [-2.36468511e-01 9.71479717e-01 -1.76012097e-02 -1.23049581e+01] [-7.96335989e-02 -1.32328251e-03 9.96823324e-01 -1.39851495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.80771942099997 meters 0.053878488365956725 Centerline is valid? [True, True] Translation: X:128.42, Y:-12.32, Z:-13.99 [[ 9.68787845e-01 2.35320849e-01 7.79372170e-02 1.28421013e+02] [-2.34658209e-01 9.71917056e-01 -1.76850836e-02 -1.23213753e+01] [-7.99101794e-02 -1.15551376e-03 9.96801398e-01 -1.39924012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.86771942099998 meters 0.05476926979945347 Centerline is valid? [True, True] Translation: X:128.48, Y:-12.34, Z:-14.00 [[ 9.68357096e-01 2.37927316e-01 7.53334324e-02 1.28479856e+02] [-2.37313950e-01 9.71282096e-01 -1.71224677e-02 -1.23360787e+01] [-7.72439169e-02 -1.29701138e-03 9.97011382e-01 -1.40001840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.92771942099998 meters 0.05606261600115536 Centerline is valid? [True, True] Translation: X:128.54, Y:-12.34, Z:-14.01 [[ 9.66350962e-01 2.45612314e-01 7.64225653e-02 1.28542457e+02] [-2.45003916e-01 9.69366229e-01 -1.73837811e-02 -1.23386400e+01] [-7.83511247e-02 -1.92499414e-03 9.96923967e-01 -1.40092050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.98771942099998 meters 0.059955420760768666 Centerline is valid? [True, True] Translation: X:128.60, Y:-12.34, Z:-14.01 [[ 9.63252987e-01 2.56801213e-01 7.87198864e-02 1.28602743e+02] [-2.56192133e-01 9.66459860e-01 -1.79145014e-02 -1.23426144e+01] [-8.06800761e-02 -2.91121867e-03 9.96735798e-01 -1.40140370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.04771942099998 meters 0.06206131315405712 Centerline is valid? [True, True] Translation: X:128.66, Y:-12.35, Z:-14.02 [[ 9.60918806e-01 2.65293258e-01 7.90856194e-02 1.28663118e+02] [-2.64706614e-01 9.64160919e-01 -1.80036266e-02 -1.23498808e+01] [-8.10275042e-02 -3.63446317e-03 9.96705239e-01 -1.40191620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.10771942099998 meters 0.0653635466748059 Centerline is valid? [True, True] Translation: X:128.72, Y:-12.36, Z:-14.02 [[ 9.58689892e-01 2.72503543e-01 8.15813078e-02 1.28722081e+02] [-2.71905080e-01 9.62144826e-01 -1.85731492e-02 -1.23583672e+01] [-8.35542821e-02 -4.37648161e-03 9.96493617e-01 -1.40231126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.167719421 meters 0.0654361499474703 Centerline is valid? [True, True] Translation: X:128.78, Y:-12.38, Z:-14.03 [[ 9.57751513e-01 2.76129825e-01 8.04012364e-02 1.28779864e+02] [-2.75560798e-01 9.61109248e-01 -1.83101221e-02 -1.23781219e+01] [-8.23303426e-02 -4.61888175e-03 9.96594391e-01 -1.40301033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.227719421 meters 0.06631031296022356 Centerline is valid? [True, True] Translation: X:128.84, Y:-12.40, Z:-14.04 [[ 9.57225633e-01 2.78179274e-01 7.95950932e-02 1.28837632e+02] [-2.77628517e-01 9.60517452e-01 -1.81281802e-02 -1.23971447e+01] [-8.14953601e-02 -4.74510892e-03 9.96662425e-01 -1.40373088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.287719421 meters 0.06648647897751331 Centerline is valid? [True, True] Translation: X:128.90, Y:-12.42, Z:-14.05 [[ 9.57713230e-01 2.76925734e-01 7.80865346e-02 1.28895373e+02] [-2.76391976e-01 9.60880527e-01 -1.77788969e-02 -1.24217626e+01] [-7.99552645e-02 -4.55540684e-03 9.96788044e-01 -1.40472701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.347719421 meters 0.06239102435364655 Centerline is valid? [True, True] Translation: X:128.95, Y:-12.46, Z:-14.05 [[ 9.59643111e-01 2.70596949e-01 7.65662437e-02 1.28949897e+02] [-2.70061396e-01 9.62684747e-01 -1.74619696e-02 -1.24565753e+01] [-7.84343106e-02 -3.92032779e-03 9.96911576e-01 -1.40534507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.40771942099997 meters 0.05919493110831347 Centerline is valid? [True, True] Translation: X:129.00, Y:-12.49, Z:-14.06 [[ 9.62321494e-01 2.60140775e-01 7.91461828e-02 1.29004941e+02] [-2.59532988e-01 9.65565501e-01 -1.80524859e-02 -1.24896429e+01] [-8.11170113e-02 -3.16875005e-03 9.96699548e-01 -1.40577509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.46771942099997 meters 0.05635826027535814 Centerline is valid? [True, True] Translation: X:129.06, Y:-12.52, Z:-14.06 [[ 9.64662710e-01 2.49992361e-01 8.32446760e-02 1.29060630e+02] [-2.49281928e-01 9.68244753e-01 -1.89899443e-02 -1.25199683e+01] [-8.53485618e-02 -2.43250225e-03 9.96348185e-01 -1.40622054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.52771942099997 meters 0.05496551371047109 Centerline is valid? [True, True] Translation: X:129.12, Y:-12.54, Z:-14.07 [[ 9.66574869e-01 2.42491917e-01 8.32507864e-02 1.29117679e+02] [-2.41753267e-01 9.70151819e-01 -1.89949165e-02 -1.25431142e+01] [-8.53720155e-02 -1.76614067e-03 9.96347580e-01 -1.40700285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.58771942099997 meters 0.054274968475909624 Centerline is valid? [True, True] Translation: X:129.18, Y:-12.56, Z:-14.07 [[ 9.67861788e-01 2.37419066e-01 8.29201248e-02 1.29176331e+02] [-2.36667953e-01 9.71406431e-01 -1.89162686e-02 -1.25646701e+01] [-8.50402253e-02 -1.31620272e-03 9.96376650e-01 -1.40747514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.64771942099998 meters 0.05384927085411445 Centerline is valid? [True, True] Translation: X:129.24, Y:-12.58, Z:-14.08 [[ 9.68369471e-01 2.35295003e-01 8.30471495e-02 1.29236223e+02] [-2.34531662e-01 9.71923369e-01 -1.89700766e-02 -1.25784962e+01] [-8.51790296e-02 -1.10714294e-03 9.96365047e-01 -1.40809184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.70771942099998 meters 0.05391203810554135 Centerline is valid? [True, True] Translation: X:129.30, Y:-12.59, Z:-14.09 [[ 9.68488879e-01 2.34812209e-01 8.30211867e-02 1.29297527e+02] [-2.34045539e-01 9.72040196e-01 -1.89879745e-02 -1.25907778e+01] [-8.51585389e-02 -1.04109621e-03 9.96366870e-01 -1.40891168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.76771942099998 meters 0.05400595220646048 Centerline is valid? [True, True] Translation: X:129.36, Y:-12.61, Z:-14.10 [[ 9.68800746e-01 2.34387617e-01 8.05453939e-02 1.29356087e+02] [-2.33662303e-01 9.72142762e-01 -1.84493745e-02 -1.26052385e+01] [-8.26259266e-02 -9.46654442e-04 9.96580182e-01 -1.40986092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.82771942099998 meters 0.05329519738512474 Centerline is valid? [True, True] Translation: X:129.41, Y:-12.62, Z:-14.10 [[ 9.70660742e-01 2.25629381e-01 8.31210413e-02 1.29414582e+02] [-2.24822333e-01 9.74213196e-01 -1.90674693e-02 -1.26220476e+01] [-8.52797966e-02 -1.79422525e-04 9.96357026e-01 -1.41030591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.88771942099999 meters 0.05306982801676838 Centerline is valid? [True, True] Translation: X:129.47, Y:-12.64, Z:-14.11 [[ 9.71664493e-01 2.20937399e-01 8.39927280e-02 1.29474446e+02] [-2.20095927e-01 9.75287963e-01 -1.92658181e-02 -1.26383013e+01] [-8.61736364e-02 2.33454036e-04 9.96280106e-01 -1.41055986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.947719421 meters 0.05387336040517364 Centerline is valid? [True, True] Translation: X:129.54, Y:-12.65, Z:-14.11 [[ 9.73455960e-01 2.13555841e-01 8.23249506e-02 1.29535052e+02] [-2.12718895e-01 9.76930448e-01 -1.89095357e-02 -1.26491092e+01] [-8.44639927e-02 8.95527671e-04 9.96426130e-01 -1.41145902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.007719421 meters 0.05537529747644804 Centerline is valid? [True, True] Translation: X:129.60, Y:-12.66, Z:-14.12 [[ 9.75328362e-01 2.04081969e-01 8.41732467e-02 1.29596618e+02] [-2.03170776e-01 9.78952212e-01 -1.93443262e-02 -1.26572079e+01] [-8.63494142e-02 1.76552615e-03 9.96263350e-01 -1.41195864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.067719421 meters 0.05672101829974666 Centerline is valid? [True, True] Translation: X:129.66, Y:-12.67, Z:-14.13 [[ 9.76264730e-01 1.99691986e-01 8.38468118e-02 1.29656887e+02] [-1.98771410e-01 9.79856364e-01 -1.92726028e-02 -1.26695515e+01] [-8.60064164e-02 2.14881341e-03 9.96292266e-01 -1.41255491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.12771942099997 meters 0.05869670779960745 Centerline is valid? [True, True] Translation: X:129.72, Y:-12.68, Z:-14.14 [[ 9.77742482e-01 1.93587646e-01 8.08916651e-02 1.29717084e+02] [-1.92707635e-01 9.81079487e-01 -1.86227676e-02 -1.26753700e+01] [-8.29662910e-02 2.61982951e-03 9.96548911e-01 -1.41371257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.18771942099997 meters 0.05893294773028082 Centerline is valid? [True, True] Translation: X:129.78, Y:-12.68, Z:-14.15 [[ 9.77811333e-01 1.93956417e-01 7.91574703e-02 1.29779466e+02] [-1.93115461e-01 9.81006892e-01 -1.82180590e-02 -1.26766916e+01] [-8.11875333e-02 2.52729321e-03 9.96695639e-01 -1.41452826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.24771942099997 meters 0.05600793125448864 Centerline is valid? [True, True] Translation: X:129.84, Y:-12.67, Z:-14.15 [[ 9.75747917e-01 2.03643581e-01 8.02825949e-02 1.29842742e+02] [-2.02808480e-01 9.79043477e-01 -1.85092224e-02 -1.26692390e+01] [-8.23694352e-02 1.77834415e-03 9.96600278e-01 -1.41509354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.30771942099997 meters 0.05346207341381435 Centerline is valid? [True, True] Translation: X:129.91, Y:-12.65, Z:-14.16 [[ 9.72599059e-01 2.18236290e-01 8.01498062e-02 1.29908324e+02] [-2.17453252e-01 9.75895807e-01 -1.84785459e-02 -1.26504584e+01] [-8.22505491e-02 5.43380366e-04 9.96611535e-01 -1.41618821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.36771942099998 meters 0.053007263620234425 Centerline is valid? [True, True] Translation: X:129.97, Y:-12.64, Z:-14.16 [[ 9.69968374e-01 2.29529316e-01 8.04838289e-02 1.29973648e+02] [-2.28779064e-01 9.73301657e-01 -1.85479122e-02 -1.26424939e+01] [-8.25923336e-02 -4.22126784e-04 9.96583327e-01 -1.41648208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.42771942099998 meters 0.05306824206123957 Centerline is valid? [True, True] Translation: X:130.04, Y:-12.64, Z:-14.17 [[ 9.68909772e-01 2.33648009e-01 8.13785133e-02 1.30038245e+02] [-2.32893329e-01 9.72320953e-01 -1.87793074e-02 -1.26426781e+01] [-8.35137814e-02 -7.57058476e-04 9.96506335e-01 -1.41707624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.48771942099998 meters 0.05397476014415873 Centerline is valid? [True, True] Translation: X:130.10, Y:-12.64, Z:-14.18 [[ 9.68167326e-01 2.37819609e-01 7.80631946e-02 1.30099921e+02] [-2.37136375e-01 9.71308781e-01 -1.80441514e-02 -1.26429900e+01] [-8.01147194e-02 -1.04186522e-03 9.96785105e-01 -1.41833897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.54771942099998 meters 0.05558394915620632 Centerline is valid? [True, True] Translation: X:130.16, Y:-12.64, Z:-14.19 [[ 9.66317968e-01 2.45662259e-01 7.66788040e-02 1.30162155e+02] [-2.45025269e-01 9.69354111e-01 -1.77545915e-02 -1.26430459e+01] [-7.86905469e-02 -1.63166380e-03 9.96897756e-01 -1.41904418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.60771942099998 meters 0.057986971261061275 Centerline is valid? [True, True] Translation: X:130.22, Y:-12.65, Z:-14.20 [[ 9.64093038e-01 2.54696984e-01 7.51934874e-02 1.30223772e+02] [-2.54111673e-01 9.67018129e-01 -1.74124952e-02 -1.26450521e+01] [-7.71483755e-02 -2.32027746e-03 9.97016923e-01 -1.42008246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.667719421 meters 0.0607520385632895 Centerline is valid? [True, True] Translation: X:130.28, Y:-12.65, Z:-14.21 [[ 9.62396124e-01 2.61590362e-01 7.32405807e-02 1.30284988e+02] [-2.61054903e-01 9.65174938e-01 -1.69610056e-02 -1.26495518e+01] [-7.51268086e-02 -2.79660663e-03 9.97170067e-01 -1.42098209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.727719421 meters 0.05942517420855607 Centerline is valid? [True, True] Translation: X:130.34, Y:-12.67, Z:-14.21 [[ 9.62949981e-01 2.58908595e-01 7.54564356e-02 1.30343730e+02] [-2.58331844e-01 9.65898153e-01 -1.74761685e-02 -1.26699748e+01] [-7.74079620e-02 -2.66412409e-03 9.96995943e-01 -1.42137267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.787719421 meters 0.05532321577101591 Centerline is valid? [True, True] Translation: X:130.40, Y:-12.70, Z:-14.22 [[ 9.66194450e-01 2.45542045e-01 7.85963675e-02 1.30398577e+02] [-2.44871384e-01 9.69384536e-01 -1.82106288e-02 -1.27015154e+01] [-8.06615783e-02 -1.65099280e-03 9.96740179e-01 -1.42163580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.847719421 meters 0.0526199609587343 Centerline is valid? [True, True] Translation: X:130.45, Y:-12.73, Z:-14.22 [[ 9.69461569e-01 2.30302214e-01 8.42920853e-02 1.30454902e+02] [-2.29472948e-01 9.73119069e-01 -1.95305587e-02 -1.27286438e+01] [-8.65241666e-02 -4.08627224e-04 9.96249668e-01 -1.42182523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.90771942099997 meters 0.053673080179034195 Centerline is valid? [True, True] Translation: X:130.51, Y:-12.76, Z:-14.23 [[ 9.72519906e-01 2.18094937e-01 8.14839291e-02 1.30510888e+02] [-2.17277610e-01 9.75927340e-01 -1.88750174e-02 -1.27555194e+01] [-8.36389399e-02 6.51696816e-04 9.96495912e-01 -1.42266333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.96771942099997 meters 0.055061889894839525 Centerline is valid? [True, True] Translation: X:130.57, Y:-12.77, Z:-14.23 [[ 9.75003720e-01 2.07794340e-01 7.86718379e-02 1.30569743e+02] [-2.06996654e-01 9.78171369e-01 -1.82526036e-02 -1.27689653e+01] [-8.07473272e-02 1.51154921e-03 9.96733457e-01 -1.42338511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.02771942099997 meters 0.05759398243625673 Centerline is valid? [True, True] Translation: X:130.63, Y:-12.78, Z:-14.24 [[ 9.76643501e-01 1.99369195e-01 8.01211394e-02 1.30628031e+02] [-1.98513289e-01 9.79921862e-01 -1.85908332e-02 -1.27834861e+01] [-8.22188955e-02 2.25150546e-03 9.96611752e-01 -1.42416395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.08771942099997 meters 0.06094421543045674 Centerline is valid? [True, True] Translation: X:130.69, Y:-12.80, Z:-14.25 [[ 9.78488762e-01 1.89989287e-01 8.03978502e-02 1.30686342e+02] [-1.89095678e-01 9.81781418e-01 -1.86566754e-02 -1.28012092e+01] [-8.24776839e-02 3.05246125e-03 9.96588237e-01 -1.42459818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.14771942099998 meters 0.06021010146469514 Centerline is valid? [True, True] Translation: X:130.75, Y:-12.80, Z:-14.25 [[ 9.78216365e-01 1.91720212e-01 7.95996430e-02 1.30749847e+02] [-1.90850394e-01 9.81445417e-01 -1.84667365e-02 -1.28006667e+01] [-8.16631515e-02 2.87284066e-03 9.96655847e-01 -1.42544674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.20771942099998 meters 0.057169010526498656 Centerline is valid? [True, True] Translation: X:130.81, Y:-12.79, Z:-14.26 [[ 9.76266423e-01 2.01558022e-01 7.92353143e-02 1.30813276e+02] [-2.00725670e-01 9.79474380e-01 -1.84158612e-02 -1.27941714e+01] [-8.13208249e-02 2.07422541e-03 9.96685819e-01 -1.42633589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.26771942099998 meters 0.053445157780763926 Centerline is valid? [True, True] Translation: X:130.88, Y:-12.78, Z:-14.27 [[ 9.73262302e-01 2.14389546e-01 8.24476428e-02 1.30877411e+02] [-2.13533783e-01 9.76747678e-01 -1.91650161e-02 -1.27808718e+01] [-8.46393227e-02 1.04723064e-03 9.96411104e-01 -1.42678594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.32771942099998 meters 0.052288789304130695 Centerline is valid? [True, True] Translation: X:130.94, Y:-12.77, Z:-14.28 [[ 9.70360780e-01 2.27685932e-01 8.09881069e-02 1.30943395e+02] [-2.26907063e-01 9.73734616e-01 -1.88170662e-02 -1.27670221e+01] [-8.31453045e-02 -1.17430492e-04 9.96537428e-01 -1.42764102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.38771942099999 meters 0.05337379528501145 Centerline is valid? [True, True] Translation: X:131.01, Y:-12.76, Z:-14.29 [[ 9.68382208e-01 2.37378898e-01 7.67278216e-02 1.31006458e+02] [-2.36707831e-01 9.71416751e-01 -1.78577380e-02 -1.27601708e+01] [-7.87737413e-02 -8.68960504e-04 9.96892142e-01 -1.42884097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.447719421 meters 0.05476290867910114 Centerline is valid? [True, True] Translation: X:131.07, Y:-12.76, Z:-14.30 [[ 9.66970984e-01 2.43309530e-01 7.59446468e-02 1.31067573e+02] [-2.42670261e-01 9.69947775e-01 -1.76765166e-02 -1.27632488e+01] [-7.79632061e-02 -1.33682859e-03 9.96955341e-01 -1.42971045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.507719421 meters 0.05485672800891528 Centerline is valid? [True, True] Translation: X:131.13, Y:-12.78, Z:-14.30 [[ 9.65650914e-01 2.47963282e-01 7.76693201e-02 1.31128549e+02] [-2.47309939e-01 9.68767841e-01 -1.80738612e-02 -1.27766837e+01] [-7.97251935e-02 -1.75535428e-03 9.96815335e-01 -1.42992995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.567719421 meters 0.05605795569772789 Centerline is valid? [True, True] Translation: X:131.19, Y:-12.79, Z:-14.31 [[ 9.64482998e-01 2.52635029e-01 7.71238541e-02 1.31188578e+02] [-2.52003713e-01 9.67559366e-01 -1.79722830e-02 -1.27878543e+01] [-7.91623356e-02 -2.10153615e-03 9.96859523e-01 -1.43082856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.62771942099997 meters 0.05698276338352884 Centerline is valid? [True, True] Translation: X:131.25, Y:-12.80, Z:-14.32 [[ 9.64458239e-01 2.53739743e-01 7.37322767e-02 1.31246935e+02] [-2.53164401e-01 9.67270303e-01 -1.72031278e-02 -1.28045174e+01] [-7.56841589e-02 -2.07468933e-03 9.97129683e-01 -1.43194280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.68771942099997 meters 0.05632146222681843 Centerline is valid? [True, True] Translation: X:131.31, Y:-12.83, Z:-14.32 [[ 9.64567122e-01 2.52996101e-01 7.48547983e-02 1.31305342e+02] [-2.52399171e-01 9.67465177e-01 -1.74868710e-02 -1.28265873e+01] [-7.68435209e-02 -2.02602820e-03 9.97041107e-01 -1.43227189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.74771942099997 meters 0.05670982903520934 Centerline is valid? [True, True] Translation: X:131.37, Y:-12.84, Z:-14.33 [[ 9.63813691e-01 2.55411058e-01 7.63437044e-02 1.31365934e+02] [-2.54795799e-01 9.66829962e-01 -1.78584891e-02 -1.28428227e+01] [-7.83726364e-02 -2.23979890e-03 9.96921618e-01 -1.43290791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.80771942099997 meters 0.058160568007687034 Centerline is valid? [True, True] Translation: X:131.43, Y:-12.86, Z:-14.33 [[ 9.62687995e-01 2.59353497e-01 7.72501682e-02 1.31425717e+02] [-2.58733252e-01 9.65779081e-01 -1.81072256e-02 -1.28585284e+01] [-7.93027687e-02 -2.55557855e-03 9.96847300e-01 -1.43345042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.86771942099998 meters 0.060234873633221386 Centerline is valid? [True, True] Translation: X:131.48, Y:-12.88, Z:-14.34 [[ 9.60754019e-01 2.66176546e-01 7.81137707e-02 1.31483361e+02] [-2.65564049e-01 9.63919166e-01 -1.83187564e-02 -1.28782523e+01] [-8.01713840e-02 -3.14439041e-03 9.96776134e-01 -1.43394500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.92771942099998 meters 0.06166798483549908 Centerline is valid? [True, True] Translation: X:131.54, Y:-12.89, Z:-14.35 [[ 9.59916385e-01 2.69821665e-01 7.58735952e-02 1.31541939e+02] [-2.69255031e-01 9.62904493e-01 -1.77950927e-02 -1.28921552e+01] [-7.78605273e-02 -3.34754617e-03 9.96958641e-01 -1.43478143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.98771942099998 meters 0.06425631268094027 Centerline is valid? [True, True] Translation: X:131.60, Y:-12.91, Z:-14.36 [[ 9.59577256e-01 2.71963827e-01 7.24373324e-02 1.31598242e+02] [-2.71453354e-01 9.62301611e-01 -1.69907543e-02 -1.29124528e+01] [-7.43274323e-02 -3.35941545e-03 9.97228232e-01 -1.43585472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.04771942099998 meters 0.06196075649223009 Centerline is valid? [True, True] Translation: X:131.65, Y:-12.95, Z:-14.36 [[ 9.60434287e-01 2.69010996e-01 7.21045373e-02 1.31653634e+02] [-2.68496897e-01 9.63132064e-01 -1.69128024e-02 -1.29471907e+01] [-7.39959217e-02 -3.11620921e-03 9.97253675e-01 -1.43619986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.10771942099998 meters 0.059463342990447476 Centerline is valid? [True, True] Translation: X:131.71, Y:-12.98, Z:-14.37 [[ 9.61786063e-01 2.62811419e-01 7.67966540e-02 1.31709054e+02] [-2.62207848e-01 9.64843144e-01 -1.80208690e-02 -1.29766933e+01] [-7.88328152e-02 -2.80446474e-03 9.96883906e-01 -1.43676592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.167719421 meters 0.059319755039122145 Centerline is valid? [True, True] Translation: X:131.77, Y:-13.00, Z:-14.38 [[ 9.62892305e-01 2.58974983e-01 7.59629372e-02 1.31765733e+02] [-2.58372583e-01 9.65880888e-01 -1.78246764e-02 -1.29990123e+01] [-7.79872945e-02 -2.46349657e-03 9.96951309e-01 -1.43768017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.227719421 meters 0.05870207174228919 Centerline is valid? [True, True] Translation: X:131.82, Y:-13.03, Z:-14.38 [[ 9.62329939e-01 2.60867272e-01 7.66117180e-02 1.31822649e+02] [-2.60260841e-01 9.65371058e-01 -1.79726434e-02 -1.30301096e+01] [-7.86472096e-02 -2.64341733e-03 9.96899006e-01 -1.43787628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.287719421 meters 0.061133759738703525 Centerline is valid? [True, True] Translation: X:131.88, Y:-13.04, Z:-14.38 [[ 9.60119265e-01 2.68622604e-01 7.75428524e-02 1.31881475e+02] [-2.68023847e-01 9.63239897e-01 -1.82241171e-02 -1.30438775e+01] [-7.95877790e-02 -3.28600776e-03 9.96822445e-01 -1.43836823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.347719421 meters 0.06348050936902086 Centerline is valid? [True, True] Translation: X:131.94, Y:-13.06, Z:-14.39 [[ 9.58336888e-01 2.74544177e-01 7.88410060e-02 1.31941164e+02] [-2.73945018e-01 9.61566821e-01 -1.85304056e-02 -1.30572523e+01] [-8.08983105e-02 -3.83972952e-03 9.96714964e-01 -1.43888752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.40771942099997 meters 0.07057817878629354 Centerline is valid? [True, True] Translation: X:132.00, Y:-13.07, Z:-14.40 [[ 9.56146343e-01 2.82187688e-01 7.84492217e-02 1.31998424e+02] [-2.81619666e-01 9.59348856e-01 -1.84427873e-02 -1.30716843e+01] [-8.04644986e-02 -4.45883999e-03 9.96747502e-01 -1.44000174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.46771942099997 meters 0.06831300344546935 Centerline is valid? [True, True] Translation: X:132.05, Y:-13.10, Z:-14.41 [[ 9.56753637e-01 2.81332493e-01 7.39899138e-02 1.32054158e+02] [-2.80825284e-01 9.59601407e-01 -1.73867617e-02 -1.30997362e+01] [-7.58922864e-02 -4.14339100e-03 9.97107413e-01 -1.44112305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.52771942099997 meters 0.06682354887183213 Centerline is valid? [True, True] Translation: X:132.11, Y:-13.13, Z:-14.42 [[ 9.58209413e-01 2.76546169e-01 7.31911031e-02 1.32108298e+02] [-2.76033731e-01 9.60993530e-01 -1.72283257e-02 -1.31300455e+01] [-7.51006040e-02 -3.69486935e-03 9.97169117e-01 -1.44192721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.58771942099997 meters 0.06171408039476153 Centerline is valid? [True, True] Translation: X:132.16, Y:-13.16, Z:-14.42 [[ 9.59660024e-01 2.70651095e-01 7.61618247e-02 1.32163960e+02] [-2.70077754e-01 9.62671622e-01 -1.79263726e-02 -1.31633205e+01] [-7.81706197e-02 -3.36639138e-03 9.96934312e-01 -1.44192640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.64771942099998 meters 0.0576024274311356 Centerline is valid? [True, True] Translation: X:132.22, Y:-13.20, Z:-14.42 [[ 9.61902485e-01 2.61029003e-01 8.12863361e-02 1.32218105e+02] [-2.60341123e-01 9.65327030e-01 -1.91370279e-02 -1.31989133e+01] [-8.34632167e-02 -2.75422127e-03 9.96507053e-01 -1.44189215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.70771942099998 meters 0.05586592439316941 Centerline is valid? [True, True] Translation: X:132.27, Y:-13.22, Z:-14.42 [[ 9.63250630e-01 2.55092852e-01 8.41181337e-02 1.32274242e+02] [-2.54333433e-01 9.66913785e-01 -1.98049541e-02 -1.32232185e+01] [-8.63870853e-02 -2.31691925e-03 9.96258954e-01 -1.44247701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.76771942099998 meters 0.05526444288776262 Centerline is valid? [True, True] Translation: X:132.33, Y:-13.25, Z:-14.43 [[ 9.64189984e-01 2.51733970e-01 8.34726428e-02 1.32331669e+02] [-2.50974157e-01 9.67794391e-01 -1.96466313e-02 -1.32480379e+01] [-8.57300800e-02 -2.00639095e-03 9.96316379e-01 -1.44309529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.82771942099998 meters 0.0545123601322436 Centerline is valid? [True, True] Translation: X:132.39, Y:-13.27, Z:-14.44 [[ 9.64397345e-01 2.51147099e-01 8.28425947e-02 1.32391399e+02] [-2.50394502e-01 9.67947036e-01 -1.95225330e-02 -1.32681261e+01] [-8.50902715e-02 -1.91585123e-03 9.96371404e-01 -1.44384342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.88771942099999 meters 0.05590744525820931 Centerline is valid? [True, True] Translation: X:132.45, Y:-13.28, Z:-14.45 [[ 9.63837243e-01 2.54223580e-01 7.99258393e-02 1.32449689e+02] [-2.53530745e-01 9.67143249e-01 -1.88705449e-02 -1.32793181e+01] [-8.20970734e-02 -2.07552359e-03 9.96622177e-01 -1.44497525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.947719421 meters 0.05918114374026785 Centerline is valid? [True, True] Translation: X:132.51, Y:-13.29, Z:-14.46 [[ 9.61145002e-01 2.65527235e-01 7.54690227e-02 1.32509524e+02] [-2.64944174e-01 9.64099093e-01 -1.78191998e-02 -1.32913077e+01] [-7.74910992e-02 -2.86824311e-03 9.96988918e-01 -1.44571000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.007719421 meters 0.06088223330905987 Centerline is valid? [True, True] Translation: X:132.57, Y:-13.30, Z:-14.47 [[ 9.59433526e-01 2.71615015e-01 7.55816991e-02 1.32569224e+02] [-2.71048744e-01 9.62400117e-01 -1.78491665e-02 -1.32988036e+01] [-7.75879377e-02 -3.36123582e-03 9.96979846e-01 -1.44667072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.067719421 meters 0.06309787362693903 Centerline is valid? [True, True] Translation: X:132.63, Y:-13.31, Z:-14.47 [[ 9.58847398e-01 2.73314750e-01 7.68811723e-02 1.32628527e+02] [-2.72734687e-01 9.61918054e-01 -1.81507131e-02 -1.33106714e+01] [-7.89142453e-02 -3.56439845e-03 9.96875036e-01 -1.44726066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.12771942099997 meters 0.05828115655740189 Centerline is valid? [True, True] Translation: X:132.68, Y:-13.34, Z:-14.47 [[ 9.61419663e-01 2.62840129e-01 8.11621697e-02 1.32684232e+02] [-2.62153882e-01 9.64835258e-01 -1.91903018e-02 -1.33396448e+01] [-8.33521043e-02 -2.82704432e-03 9.96516149e-01 -1.44728234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.18771942099997 meters 0.053923884911639304 Centerline is valid? [True, True] Translation: X:132.74, Y:-13.37, Z:-14.48 [[ 9.64870103e-01 2.49197811e-01 8.32234010e-02 1.32740197e+02] [-2.48425189e-01 9.68451139e-01 -1.96803540e-02 -1.33688946e+01] [-8.55020986e-02 -1.68580395e-03 9.96336564e-01 -1.44758933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.24771942099997 meters 0.052782811099695036 Centerline is valid? [True, True] Translation: X:132.80, Y:-13.39, Z:-14.48 [[ 9.68055465e-01 2.36949425e-01 8.19974776e-02 1.32796292e+02] [-2.36155275e-01 9.71521807e-01 -1.93924066e-02 -1.33941266e+01] [-8.42573571e-02 -5.91211707e-04 9.96443851e-01 -1.44813009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.30771942099997 meters 0.05287415442997004 Centerline is valid? [True, True] Translation: X:132.85, Y:-13.41, Z:-14.49 [[ 9.70070843e-01 2.29250258e-01 8.00429767e-02 1.32854393e+02] [-2.28467361e-01 9.73367512e-01 -1.89301745e-02 -1.34121443e+01] [-8.22509804e-02 7.64027212e-05 9.96611645e-01 -1.44932390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.36771942099998 meters 0.05342694171038235 Centerline is valid? [True, True] Translation: X:132.91, Y:-13.43, Z:-14.50 [[ 9.71835714e-01 2.21648391e-01 8.00458364e-02 1.32914062e+02] [-2.20838748e-01 9.75126380e-01 -1.89417794e-02 -1.34268671e+01] [-8.22532216e-02 7.31075406e-04 9.96611195e-01 -1.44983024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.42771942099998 meters 0.0534799097728515 Centerline is valid? [True, True] Translation: X:132.97, Y:-13.43, Z:-14.51 [[ 9.71392150e-01 2.24159176e-01 7.84216425e-02 1.32974166e+02] [-2.23388330e-01 9.74552400e-01 -1.85815216e-02 -1.34339510e+01] [-8.05912185e-02 5.31464531e-04 9.96747096e-01 -1.45063026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.48771942099998 meters 0.052983656423402734 Centerline is valid? [True, True] Translation: X:133.04, Y:-13.44, Z:-14.51 [[ 9.70698364e-01 2.27144808e-01 7.84214440e-02 1.33036357e+02] [-2.26382263e-01 9.73860948e-01 -1.85990681e-02 -1.34391382e+01] [-8.05962635e-02 3.00860942e-04 9.96746784e-01 -1.45125405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.54771942099998 meters 0.05318178087222747 Centerline is valid? [True, True] Translation: X:133.10, Y:-13.44, Z:-14.52 [[ 9.70184919e-01 2.29736537e-01 7.72162362e-02 1.33097958e+02] [-2.29003364e-01 9.73252851e-01 -1.83397983e-02 -1.34386201e+01] [-7.93642437e-02 1.10217913e-04 9.96845677e-01 -1.45233834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.60771942099998 meters 0.05351709963072235 Centerline is valid? [True, True] Translation: X:133.16, Y:-13.44, Z:-14.53 [[ 9.69441815e-01 2.33379059e-01 7.56094017e-02 1.33160149e+02] [-2.32685810e-01 9.72385822e-01 -1.79757351e-02 -1.34405496e+01] [-7.77166704e-02 -1.66805595e-04 9.96975472e-01 -1.45314644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.667719421 meters 0.05310728948809732 Centerline is valid? [True, True] Translation: X:133.22, Y:-13.44, Z:-14.53 [[ 9.68050529e-01 2.38457888e-01 7.75629307e-02 1.33224908e+02] [-2.37742796e-01 9.71152672e-01 -1.84621113e-02 -1.34369986e+01] [-7.97278835e-02 -5.67771395e-04 9.96816504e-01 -1.45342992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.727719421 meters 0.05324735811131342 Centerline is valid? [True, True] Translation: X:133.29, Y:-13.43, Z:-14.54 [[ 9.66302909e-01 2.44440795e-01 8.06683733e-02 1.33289770e+02] [-2.43685728e-01 9.69663621e-01 -1.92283337e-02 -1.34341305e+01] [-8.29213761e-02 -1.07733650e-03 9.96555510e-01 -1.45378923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.787719421 meters 0.0550718034204868 Centerline is valid? [True, True] Translation: X:133.35, Y:-13.43, Z:-14.55 [[ 9.64088406e-01 2.53058724e-01 8.05904956e-02 1.33352296e+02] [-2.52332330e-01 9.67449276e-01 -1.92430341e-02 -1.34308797e+01] [-8.28368342e-02 -1.78360145e-03 9.96561527e-01 -1.45460543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.847719421 meters 0.059228539257795317 Centerline is valid? [True, True] Translation: X:133.41, Y:-13.43, Z:-14.56 [[ 9.61290260e-01 2.64186003e-01 7.82738292e-02 1.33413539e+02] [-2.63537432e-01 9.64468079e-01 -1.86908032e-02 -1.34292402e+01] [-8.04304583e-02 -2.66079686e-03 9.96756671e-01 -1.45564881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.90771942099997 meters 0.06026027988222026 Centerline is valid? [True, True] Translation: X:133.47, Y:-13.44, Z:-14.56 [[ 9.59540456e-01 2.70129159e-01 7.94503012e-02 1.33474190e+02] [-2.69480844e-01 9.62818770e-01 -1.89760488e-02 -1.34388979e+01] [-8.16222254e-02 -3.20204763e-03 9.96658196e-01 -1.45627257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.96771942099997 meters 0.061633286695104324 Centerline is valid? [True, True] Translation: X:133.53, Y:-13.45, Z:-14.57 [[ 9.60006121e-01 2.69466049e-01 7.60019467e-02 1.33531895e+02] [-2.68870968e-01 9.63005184e-01 -1.81498869e-02 -1.34542941e+01] [-7.80810470e-02 -3.01071450e-03 9.96942469e-01 -1.45746691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.02771942099997 meters 0.05900404527102212 Centerline is valid? [True, True] Translation: X:133.59, Y:-13.48, Z:-14.58 [[ 9.62054953e-01 2.62035632e-01 7.60762449e-02 1.33587945e+02] [-2.61414187e-01 9.65055252e-01 -1.81929283e-02 -1.34804051e+01] [-7.81849752e-02 -2.38481298e-03 9.96936017e-01 -1.45822311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.08771942099997 meters 0.05566850327400151 Centerline is valid? [True, True] Translation: X:133.64, Y:-13.51, Z:-14.59 [[ 9.64839250e-01 2.52355881e-01 7.34964647e-02 1.33643252e+02] [-2.51747763e-01 9.67633260e-01 -1.75766379e-02 -1.35104764e+01] [-7.55531917e-02 -1.54394050e-03 9.97140578e-01 -1.45885194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.14771942099998 meters 0.05410040060755989 Centerline is valid? [True, True] Translation: X:133.70, Y:-13.53, Z:-14.59 [[ 9.66949762e-01 2.43500569e-01 7.56017950e-02 1.33699940e+02] [-2.42829640e-01 9.69900363e-01 -1.80845958e-02 -1.35344214e+01] [-7.77298178e-02 -8.71461036e-04 9.96974080e-01 -1.45911128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.20771942099998 meters 0.053789052261125195 Centerline is valid? [True, True] Translation: X:133.76, Y:-13.56, Z:-14.60 [[ 9.69358721e-01 2.34437660e-01 7.33665677e-02 1.33758434e+02] [-2.33780647e-01 9.72131144e-01 -1.75398922e-02 -1.35595776e+01] [-7.54339367e-02 -1.49236145e-04 9.97150790e-01 -1.45973058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.26771942099998 meters 0.05398072603844835 Centerline is valid? [True, True] Translation: X:133.82, Y:-13.58, Z:-14.60 [[ 9.70871138e-01 2.27604074e-01 7.48706827e-02 1.33817088e+02] [-2.26897180e-01 9.73753670e-01 -1.79293035e-02 -1.35788881e+01] [-7.69863845e-02 4.19096501e-04 9.97032056e-01 -1.46020110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.32771942099998 meters 0.054836910079699715 Centerline is valid? [True, True] Translation: X:133.88, Y:-13.59, Z:-14.61 [[ 9.71872349e-01 2.23573221e-01 7.40213002e-02 1.33875136e+02] [-2.22868747e-01 9.74686845e-01 -1.77503694e-02 -1.35946886e+01] [-7.61160948e-02 7.54058778e-04 9.97098677e-01 -1.46107307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.38771942099999 meters 0.054868785076414864 Centerline is valid? [True, True] Translation: X:133.94, Y:-13.61, Z:-14.62 [[ 9.72428422e-01 2.21392178e-01 7.32698213e-02 1.33935877e+02] [-2.20694218e-01 9.75184407e-01 -1.75907369e-02 -1.36087989e+01] [-7.53460388e-02 9.35506664e-04 9.97157008e-01 -1.46156687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.447719421 meters 0.05643967598565121 Centerline is valid? [True, True] Translation: X:134.00, Y:-13.62, Z:-14.63 [[ 9.73308824e-01 2.18075129e-01 7.15064419e-02 1.33995117e+02] [-2.17399413e-01 9.75931258e-01 -1.71952143e-02 -1.36193558e+01] [-7.35352204e-02 1.19079531e-03 9.97291910e-01 -1.46276855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.507719421 meters 0.057193454658201165 Centerline is valid? [True, True] Translation: X:134.05, Y:-13.64, Z:-14.63 [[ 9.74199630e-01 2.13744682e-01 7.24451010e-02 1.34054593e+02] [-2.13038612e-01 9.76888338e-01 -1.74276828e-02 -1.36359239e+01] [-7.44958489e-02 1.54443833e-03 9.97220128e-01 -1.46308063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.567719421 meters 0.062023596989613336 Centerline is valid? [True, True] Translation: X:134.11, Y:-13.65, Z:-14.64 [[ 9.76567107e-01 2.02461823e-01 7.29787310e-02 1.34112435e+02] [-2.01711590e-01 9.79287085e-01 -1.75851845e-02 -1.36493455e+01] [-7.50274573e-02 2.45245686e-03 9.97178452e-01 -1.46393150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.62771942099997 meters 0.06060891343470765 Centerline is valid? [True, True] Translation: X:134.18, Y:-13.65, Z:-14.64 [[ 9.76607516e-01 2.01766455e-01 7.43509103e-02 1.34177219e+02] [-2.00985956e-01 9.79430343e-01 -1.79122589e-02 -1.36472397e+01] [-7.64356305e-02 2.54975785e-03 9.97071258e-01 -1.46412132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.68771942099997 meters 0.05925699286530118 Centerline is valid? [True, True] Translation: X:134.24, Y:-13.65, Z:-14.65 [[ 9.76053479e-01 2.04301450e-01 7.47029092e-02 1.34240107e+02] [-2.03519027e-01 9.78905113e-01 -1.80217748e-02 -1.36497054e+01] [-7.68089345e-02 2.38675253e-03 9.97042973e-01 -1.46457456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.74771942099997 meters 0.058220769400659574 Centerline is valid? [True, True] Translation: X:134.30, Y:-13.64, Z:-14.65 [[ 9.74836012e-01 2.09867945e-01 7.51677818e-02 1.34304232e+02] [-2.09089800e-01 9.77727713e-01 -1.81652073e-02 -1.36384035e+01] [-7.73059181e-02 1.99128179e-03 9.97005431e-01 -1.46549459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.80771942099997 meters 0.056997756701356254 Centerline is valid? [True, True] Translation: X:134.37, Y:-13.64, Z:-14.66 [[ 9.74237562e-01 2.12998220e-01 7.41143036e-02 1.34369030e+02] [-2.12249967e-01 9.77051057e-01 -1.79215891e-02 -1.36351754e+01] [-7.62307252e-02 1.72912678e-03 9.97088706e-01 -1.46620558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.86771942099998 meters 0.056348807989885806 Centerline is valid? [True, True] Translation: X:134.43, Y:-13.63, Z:-14.67 [[ 9.73306544e-01 2.18261462e-01 7.09669387e-02 1.34433231e+02] [-2.17589514e-01 9.75889516e-01 -1.71597415e-02 -1.36322799e+01] [-7.30012017e-02 1.26002694e-03 9.97331057e-01 -1.46746415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.92771942099998 meters 0.05562194782826131 Centerline is valid? [True, True] Translation: X:134.50, Y:-13.64, Z:-14.68 [[ 9.72446291e-01 2.22684997e-01 6.89898815e-02 1.34497088e+02] [-2.22059386e-01 9.74890012e-01 -1.67061180e-02 -1.36352213e+01] [-7.09777482e-02 9.25951751e-04 9.97477469e-01 -1.46837305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.98771942099998 meters 0.0545091119879343 Centerline is valid? [True, True] Translation: X:134.56, Y:-13.62, Z:-14.69 [[ 9.69508683e-01 2.35794692e-01 6.67366307e-02 1.34564302e+02] [-2.35238619e-01 9.71802893e-01 -1.61842082e-02 -1.36232868e+01] [-6.86710012e-02 -8.30248122e-06 9.97639360e-01 -1.46916856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.04771942099998 meters 0.05430168254749592 Centerline is valid? [True, True] Translation: X:134.63, Y:-13.62, Z:-14.70 [[ 9.67392901e-01 2.44200262e-01 6.72101775e-02 1.34629034e+02] [-2.43654685e-01 9.69724647e-01 -1.63249153e-02 -1.36227468e+01] [-6.91619142e-02 -5.83467422e-04 9.97605277e-01 -1.46969447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.10771942099998 meters 0.05749316217304787 Centerline is valid? [True, True] Translation: X:134.70, Y:-13.60, Z:-14.70 [[ 9.61880490e-01 2.62909368e-01 7.52634564e-02 1.34696575e+02] [-2.62279049e-01 9.64818204e-01 -1.83175736e-02 -1.36028254e+01] [-7.74314145e-02 -2.12071113e-03 9.96995426e-01 -1.46982452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.167719421 meters 0.06005673498155635 Centerline is valid? [True, True] Translation: X:134.76, Y:-13.61, Z:-14.70 [[ 9.59915139e-01 2.69469428e-01 7.71307525e-02 1.34759339e+02] [-2.68826955e-01 9.63005169e-01 -1.87913227e-02 -1.36052331e+01] [-7.93410003e-02 -2.69675014e-03 9.96843886e-01 -1.47046650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.227719421 meters 0.05918159345458073 Centerline is valid? [True, True] Translation: X:134.82, Y:-13.62, Z:-14.71 [[ 9.60147968e-01 2.69003649e-01 7.58479761e-02 1.34819587e+02] [-2.68379474e-01 9.63135660e-01 -1.84975266e-02 -1.36231595e+01] [-7.80277927e-02 -2.59567734e-03 9.96947805e-01 -1.47110670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.287719421 meters 0.057374229235036586 Centerline is valid? [True, True] Translation: X:134.88, Y:-13.65, Z:-14.72 [[ 9.60780231e-01 2.66385653e-01 7.70716051e-02 1.34877536e+02] [-2.65729879e-01 9.63863573e-01 -1.88320099e-02 -1.36463763e+01] [-7.93030899e-02 -2.38680541e-03 9.96847693e-01 -1.47153824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.347719421 meters 0.05844713041071303 Centerline is valid? [True, True] Translation: X:134.94, Y:-13.66, Z:-14.73 [[ 9.60749356e-01 2.67520747e-01 7.34392624e-02 1.34935296e+02] [-2.66928087e-01 9.63549222e-01 -1.79525222e-02 -1.36648019e+01] [-7.55650163e-02 -2.35512764e-03 9.97138096e-01 -1.47267091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.40771942099997 meters 0.05978147674655592 Centerline is valid? [True, True] Translation: X:134.99, Y:-13.68, Z:-14.74 [[ 9.60614740e-01 2.68372447e-01 7.20801669e-02 1.34993829e+02] [-2.67804295e-01 9.63312284e-01 -1.76154106e-02 -1.36795801e+01] [-7.41632011e-02 -2.38175522e-03 9.97243274e-01 -1.47375944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.46771942099997 meters 0.05848923062286629 Centerline is valid? [True, True] Translation: X:135.05, Y:-13.71, Z:-14.75 [[ 9.61500390e-01 2.65472373e-01 7.10029580e-02 1.35050403e+02] [-2.64911745e-01 9.64116166e-01 -1.73719565e-02 -1.37064506e+01] [-7.30668741e-02 -2.10637460e-03 9.97324819e-01 -1.47462941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.52771942099997 meters 0.05665836015676958 Centerline is valid? [True, True] Translation: X:135.10, Y:-13.73, Z:-14.75 [[ 9.64017453e-01 2.56252741e-01 7.07451950e-02 1.35104416e+02] [-2.55668921e-01 9.66608844e-01 -1.73420028e-02 -1.37349225e+01] [-7.28268669e-02 -1.36935424e-03 9.97343658e-01 -1.47543279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.58771942099997 meters 0.0551871210151088 Centerline is valid? [True, True] Translation: X:135.16, Y:-13.77, Z:-14.76 [[ 9.66833606e-01 2.46053053e-01 6.84884858e-02 1.35159933e+02] [-2.45481087e-01 9.69256181e-01 -1.67776840e-02 -1.37657007e+01] [-7.05110886e-02 -5.91399199e-04 9.97510820e-01 -1.47627948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.64771942099998 meters 0.05423923631892952 Centerline is valid? [True, True] Translation: X:135.22, Y:-13.79, Z:-14.76 [[ 9.68157332e-01 2.39812313e-01 7.18431303e-02 1.35217974e+02] [-2.39163293e-01 9.70819263e-01 -1.76317236e-02 -1.37864633e+01] [-7.39749992e-02 -1.11957141e-04 9.97260090e-01 -1.47635901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.70771942099998 meters 0.05416036557503596 Centerline is valid? [True, True] Translation: X:135.28, Y:-13.81, Z:-14.77 [[ 9.69611758e-01 2.33561217e-01 7.28161806e-02 1.35276889e+02] [-2.32877266e-01 9.72342031e-01 -1.78648869e-02 -1.38067708e+01] [-7.49747777e-02 3.64771315e-04 9.97185364e-01 -1.47673515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.76771942099998 meters 0.055608422738069464 Centerline is valid? [True, True] Translation: X:135.33, Y:-13.83, Z:-14.77 [[ 9.71682177e-01 2.23825384e-01 7.57360156e-02 1.35334024e+02] [-2.23053786e-01 9.74628539e-01 -1.86069817e-02 -1.38335710e+01] [-7.79791970e-02 1.18686745e-03 9.96954280e-01 -1.47728186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.82771942099998 meters 0.058843668416179815 Centerline is valid? [True, True] Translation: X:135.39, Y:-13.86, Z:-14.78 [[ 9.74268340e-01 2.11558260e-01 7.77451212e-02 1.35389858e+02] [-2.10703082e-01 9.77362767e-01 -1.91372037e-02 -1.38602160e+01] [-8.00338203e-02 2.26363507e-03 9.96789578e-01 -1.47767318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.88771942099999 meters 0.06301010822880543 Centerline is valid? [True, True] Translation: X:135.45, Y:-13.89, Z:-14.78 [[ 9.76306184e-01 2.01774023e-01 7.81887403e-02 1.35446208e+02] [-2.00877540e-01 9.79427242e-01 -1.92481680e-02 -1.38861078e+01] [-8.04639625e-02 3.08574365e-03 9.96752742e-01 -1.47821390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.947719421 meters 0.06563380086891916 Centerline is valid? [True, True] Translation: X:135.51, Y:-13.90, Z:-14.79 [[ 9.77061742e-01 1.98019113e-01 7.83503915e-02 1.35505011e+02] [-1.97106699e-01 9.80192248e-01 -1.92900723e-02 -1.38987534e+01] [-8.06182494e-02 3.40420455e-03 9.96739238e-01 -1.47899085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.007719421 meters 0.0633994232809212 Centerline is valid? [True, True] Translation: X:135.57, Y:-13.90, Z:-14.80 [[ 9.76428834e-01 2.01699151e-01 7.68386917e-02 1.35569387e+02] [-2.00833558e-01 9.79442826e-01 -1.89111634e-02 -1.38958079e+01] [-7.90734709e-02 3.03361741e-03 9.96864175e-01 -1.47979412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.067719421 meters 0.05987714012827478 Centerline is valid? [True, True] Translation: X:135.63, Y:-13.89, Z:-14.81 [[ 9.74383645e-01 2.12596507e-01 7.33432821e-02 1.35632447e+02] [-2.11836276e-01 9.77137854e-01 -1.80833395e-02 -1.38856741e+01] [-7.55109520e-02 2.08334251e-03 9.97142796e-01 -1.48088996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.12771942099997 meters 0.05591531687410843 Centerline is valid? [True, True] Translation: X:135.70, Y:-13.87, Z:-14.82 [[ 9.71690005e-01 2.25257236e-01 7.12580651e-02 1.35699338e+02] [-2.24573741e-01 9.74298742e-01 -1.75668837e-02 -1.38720123e+01] [-7.33837109e-02 1.06687503e-03 9.97303210e-01 -1.48157129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.18771942099997 meters 0.05447047644699462 Centerline is valid? [True, True] Translation: X:135.76, Y:-13.86, Z:-14.82 [[ 9.68605102e-01 2.37268187e-01 7.42156568e-02 1.35763018e+02] [-2.36561144e-01 9.71444171e-01 -1.83043031e-02 -1.38609571e+01] [-7.64393960e-02 1.73100740e-04 9.97074214e-01 -1.48225887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.24771942099997 meters 0.053832535181399244 Centerline is valid? [True, True] Translation: X:135.83, Y:-13.86, Z:-14.82 [[ 9.66128451e-01 2.46256657e-01 7.71587710e-02 1.35826539e+02] [-2.45521801e-01 9.69204485e-01 -1.90186866e-02 -1.38641970e+01] [-7.94661051e-02 -5.69666256e-04 9.96837406e-01 -1.48224644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.30771942099997 meters 0.05412829903010082 Centerline is valid? [True, True] Translation: X:135.89, Y:-13.88, Z:-14.83 [[ 9.65866583e-01 2.47499746e-01 7.64566512e-02 1.35886699e+02] [-2.46780149e-01 9.68887746e-01 -1.88704482e-02 -1.38761289e+01] [-7.87483436e-02 -6.41648425e-04 9.96894321e-01 -1.48311216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.36771942099998 meters 0.053873699763467224 Centerline is valid? [True, True] Translation: X:135.95, Y:-13.90, Z:-14.84 [[ 9.68093737e-01 2.39033958e-01 7.52149079e-02 1.35945151e+02] [-2.38310290e-01 9.71011206e-01 -1.85861210e-02 -1.39012195e+01] [-7.74772325e-02 6.86208538e-05 9.96994119e-01 -1.48368935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.42771942099998 meters 0.05419459827196708 Centerline is valid? [True, True] Translation: X:136.00, Y:-13.92, Z:-14.84 [[ 9.69231686e-01 2.34560387e-01 7.46415703e-02 1.36004382e+02] [-2.33832204e-01 9.72101446e-01 -1.84737470e-02 -1.39192550e+01] [-7.68923877e-02 4.51738064e-04 9.97039295e-01 -1.48442936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.48771942099998 meters 0.05480153230343078 Centerline is valid? [True, True] Translation: X:136.06, Y:-13.93, Z:-14.85 [[ 9.70032730e-01 2.31214266e-01 7.46757349e-02 1.36063730e+02] [-2.30473562e-01 9.72902571e-01 -1.85074283e-02 -1.39329622e+01] [-7.69313959e-02 7.42028642e-04 9.97036113e-01 -1.48515183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.54771942099998 meters 0.055240726163428136 Centerline is valid? [True, True] Translation: X:136.12, Y:-13.95, Z:-14.86 [[ 9.71123750e-01 2.26653548e-01 7.44770577e-02 1.36124071e+02] [-2.25901751e-01 9.73974801e-01 -1.84793637e-02 -1.39469056e+01] [-7.67271908e-02 1.12125127e-03 9.97051494e-01 -1.48561178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.60771942099998 meters 0.058302185516692466 Centerline is valid? [True, True] Translation: X:136.18, Y:-13.97, Z:-14.87 [[ 9.73491835e-01 2.17331340e-01 7.12792871e-02 1.36180358e+02] [-2.16615388e-01 9.76096213e-01 -1.77188359e-02 -1.39668086e+01] [-7.34263006e-02 1.80895158e-03 9.97299005e-01 -1.48677388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.667719421 meters 0.06080384923784603 Centerline is valid? [True, True] Translation: X:136.24, Y:-13.98, Z:-14.87 [[ 9.75699025e-01 2.07042066e-01 7.17286275e-02 1.36238811e+02] [-2.06289176e-01 9.78328583e-01 -1.78314196e-02 -1.39837637e+01] [-7.38660205e-02 2.60125924e-03 9.97264782e-01 -1.48711707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.727719421 meters 0.06425326402694176 Centerline is valid? [True, True] Translation: X:136.30, Y:-14.00, Z:-14.87 [[ 9.77515358e-01 1.96987245e-01 7.52313161e-02 1.36297757e+02] [-1.96129044e-01 9.80399704e-01 -1.87034372e-02 -1.39991317e+01] [-7.74410986e-02 3.52785099e-03 9.96990687e-01 -1.48728220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.787719421 meters 0.06630816852196135 Centerline is valid? [True, True] Translation: X:136.36, Y:-14.01, Z:-14.88 [[ 9.78494922e-01 1.92731181e-01 7.35008855e-02 1.36357114e+02] [-1.91900102e-01 9.81244331e-01 -1.82732933e-02 -1.40116718e+01] [-7.56441606e-02 3.77549730e-03 9.97127728e-01 -1.48803009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.84771942099997 meters 0.06697586282895365 Centerline is valid? [True, True] Translation: X:136.42, Y:-14.02, Z:-14.89 [[ 9.79084253e-01 1.89740272e-01 7.34346982e-02 1.36418861e+02] [-1.88902032e-01 9.81826144e-01 -1.82605101e-02 -1.40174348e+01] [-7.55648607e-02 4.00661424e-03 9.97132839e-01 -1.48855457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.90771942099997 meters 0.07173538738507788 Centerline is valid? [True, True] Translation: X:136.48, Y:-14.02, Z:-14.90 [[ 9.79874941e-01 1.86043907e-01 7.23378531e-02 1.36480012e+02] [-1.85220217e-01 9.82532320e-01 -1.79919927e-02 -1.40192335e+01] [-7.44215792e-02 4.23146996e-03 9.97217892e-01 -1.48953320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.96771942099997 meters 0.06759042263818311 Centerline is valid? [True, True] Translation: X:136.55, Y:-14.01, Z:-14.90 [[ 9.79409932e-01 1.88139086e-01 7.32111229e-02 1.36545347e+02] [-1.87301156e-01 9.82133745e-01 -1.82094317e-02 -1.40125331e+01] [-7.53290202e-02 4.12197027e-03 9.97150213e-01 -1.48972982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.02771942099997 meters 0.06432296905454134 Centerline is valid? [True, True] Translation: X:136.61, Y:-14.00, Z:-14.90 [[ 9.77758321e-01 1.96359752e-01 7.36988077e-02 1.36611219e+02] [-1.95533293e-01 9.80525605e-01 -1.83376165e-02 -1.39990407e+01] [-7.58643379e-02 3.51918651e-03 9.97111938e-01 -1.49046445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.08771942099997 meters 0.0631735736862969 Centerline is valid? [True, True] Translation: X:136.67, Y:-13.99, Z:-14.92 [[ 9.76828545e-01 2.02053350e-01 7.05722082e-02 1.36673844e+02] [-2.01310392e-01 9.79370084e-01 -1.75603034e-02 -1.39941943e+01] [-7.26644276e-02 2.94648675e-03 9.97352094e-01 -1.49177109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.14771942099998 meters 0.06446070866579104 Centerline is valid? [True, True] Translation: X:136.74, Y:-14.00, Z:-14.92 [[ 9.77224992e-01 1.99163703e-01 7.32470713e-02 1.36735918e+02] [-1.98355527e-01 9.79960755e-01 -1.82209866e-02 -1.40015918e+01] [-7.54082144e-02 3.27704198e-03 9.97147362e-01 -1.49227248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.20771942099998 meters 0.06797206287117216 Centerline is valid? [True, True] Translation: X:136.79, Y:-14.01, Z:-14.93 [[ 9.78701748e-01 1.91923590e-01 7.28575653e-02 1.36794981e+02] [-1.91101520e-01 9.81402331e-01 -1.81568957e-02 -1.40130479e+01] [-7.49873211e-02 3.84699402e-03 9.97177067e-01 -1.49302824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.26771942099998 meters 0.07051514685647525 Centerline is valid? [True, True] Translation: X:136.86, Y:-14.02, Z:-14.94 [[ 9.79157559e-01 1.88824528e-01 7.48049018e-02 1.36855751e+02] [-1.87949456e-01 9.82001922e-01 -1.86340561e-02 -1.40204690e+01] [-7.69771242e-02 4.18613629e-03 9.97024071e-01 -1.49367610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.32771942099998 meters 0.06841044464654766 Centerline is valid? [True, True] Translation: X:136.92, Y:-14.03, Z:-14.94 [[ 9.79145426e-01 1.88899354e-01 7.47747802e-02 1.36918660e+02] [-1.88023733e-01 9.81987483e-01 -1.86456413e-02 -1.40286054e+01] [-7.69500477e-02 4.19736111e-03 9.97026114e-01 -1.49417867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.38771942099999 meters 0.07372464131138586 Centerline is valid? [True, True] Translation: X:136.98, Y:-14.04, Z:-14.95 [[ 9.79956070e-01 1.84304903e-01 7.56161645e-02 1.36977720e+02] [-1.83392956e-01 9.82858138e-01 -1.88919065e-02 -1.40372537e+01] [-7.78018336e-02 4.64576656e-03 9.96958019e-01 -1.49510267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.447719421 meters 0.0727072721498577 Centerline is valid? [True, True] Translation: X:137.04, Y:-14.04, Z:-14.95 [[ 9.80874041e-01 1.78739521e-01 7.70603571e-02 1.37040107e+02] [-1.77774542e-01 9.83882722e-01 -1.92614234e-02 -1.40355802e+01] [-7.92611315e-02 5.19366048e-03 9.96840358e-01 -1.49547620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.507719421 meters 0.07185736622295515 Centerline is valid? [True, True] Translation: X:137.10, Y:-14.03, Z:-14.96 [[ 9.80996272e-01 1.78624215e-01 7.57608302e-02 1.37104023e+02] [-1.77691200e-01 9.83904073e-01 -1.89370675e-02 -1.40274410e+01] [-7.79240082e-02 5.11515986e-03 9.96946179e-01 -1.49634598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.567719421 meters 0.072178752729809 Centerline is valid? [True, True] Translation: X:137.16, Y:-14.03, Z:-14.97 [[ 9.80648334e-01 1.80786606e-01 7.51335394e-02 1.37163700e+02] [-1.79875213e-01 9.83510121e-01 -1.87816051e-02 -1.40296731e+01] [-7.72900591e-02 4.90348838e-03 9.96996591e-01 -1.49725140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.62771942099997 meters 0.0706530754119144 Centerline is valid? [True, True] Translation: X:137.23, Y:-14.03, Z:-14.97 [[ 9.80159041e-01 1.80902301e-01 8.10099467e-02 1.37225430e+02] [-1.79843136e-01 9.83486921e-01 -2.02465430e-02 -1.40307302e+01] [-8.33348693e-02 5.27574932e-03 9.96507635e-01 -1.49719430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.68771942099997 meters 0.08248968364946369 Centerline is valid? [True, True] Translation: X:137.28, Y:-14.05, Z:-14.98 [[ 9.80668664e-01 1.77632238e-01 8.20716682e-02 1.37280099e+02] [-1.76533997e-01 9.84080875e-01 -2.05080483e-02 -1.40530381e+01] [-8.44080495e-02 5.62316073e-03 9.96415406e-01 -1.49827522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.74771942099997 meters 0.07844658572510961 Centerline is valid? [True, True] Translation: X:137.34, Y:-14.05, Z:-14.99 [[ 9.82086039e-01 1.70897749e-01 7.93786593e-02 1.37342105e+02] [-1.69849068e-01 9.85270544e-01 -1.98305137e-02 -1.40532123e+01] [-8.15984450e-02 5.99287936e-03 9.96647269e-01 -1.49887775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.80771942099997 meters 0.07957554862065244 Centerline is valid? [True, True] Translation: X:137.40, Y:-14.06, Z:-15.00 [[ 9.83162037e-01 1.66308749e-01 7.57219162e-02 1.37403517e+02] [-1.65341107e-01 9.86054991e-01 -1.89175469e-02 -1.40550793e+01] [-7.78121269e-02 6.07906855e-03 9.96949506e-01 -1.49968114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.86771942099998 meters 0.08422471746745096 Centerline is valid? [True, True] Translation: X:137.46, Y:-14.07, Z:-15.01 [[ 9.83073520e-01 1.66221672e-01 7.70507043e-02 1.37460161e+02] [-1.65219282e-01 9.86068951e-01 -1.92513305e-02 -1.40652268e+01] [-7.91772954e-02 6.19521122e-03 9.96841299e-01 -1.50051720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.92771942099998 meters 0.07995405749979227 Centerline is valid? [True, True] Translation: X:137.52, Y:-14.06, Z:-15.01 [[ 9.82437144e-01 1.70003312e-01 7.69164013e-02 1.37523159e+02] [-1.69016802e-01 9.85426013e-01 -1.92065848e-02 -1.40613042e+01] [-7.90606057e-02 5.86909819e-03 9.96852534e-01 -1.50113717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.98771942099998 meters 0.07547520434037928 Centerline is valid? [True, True] Translation: X:137.58, Y:-14.06, Z:-15.02 [[ 9.82182339e-01 1.71664268e-01 7.64802688e-02 1.37584361e+02] [-1.70693818e-01 9.85138996e-01 -1.90991885e-02 -1.40578551e+01] [-7.86223434e-02 5.70417655e-03 9.96888153e-01 -1.50167764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.04771942099998 meters 0.07844002825930489 Centerline is valid? [True, True] Translation: X:137.64, Y:-14.07, Z:-15.03 [[ 9.81946896e-01 1.72856161e-01 7.68182362e-02 1.37640141e+02] [-1.71881221e-01 9.84931003e-01 -1.91772251e-02 -1.40704971e+01] [-7.89755639e-02 5.62740452e-03 9.96860669e-01 -1.50253622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.10771942099998 meters 0.07339213298867159 Centerline is valid? [True, True] Translation: X:137.70, Y:-14.07, Z:-15.03 [[ 9.81098378e-01 1.77519292e-01 7.70251450e-02 1.37703353e+02] [-1.76554248e-01 9.84103289e-01 -1.92175172e-02 -1.40677751e+01] [-7.92121787e-02 5.25515834e-03 9.96843927e-01 -1.50298641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.167719421 meters 0.07178753613332066 Centerline is valid? [True, True] Translation: X:137.76, Y:-14.07, Z:-15.04 [[ 9.80422872e-01 1.80742891e-01 7.81216915e-02 1.37763020e+02] [-1.79760216e-01 9.83517327e-01 -1.94918774e-02 -1.40743193e+01] [-8.03570555e-02 5.06711030e-03 9.96753263e-01 -1.50370514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.227719421 meters 0.06878487753505794 Centerline is valid? [True, True] Translation: X:137.82, Y:-14.08, Z:-15.04 [[ 9.80521428e-01 1.80647324e-01 7.70991204e-02 1.37822460e+02] [-1.79690125e-01 9.83535197e-01 -1.92347644e-02 -1.40787677e+01] [-7.93044073e-02 5.00614802e-03 9.96837875e-01 -1.50409658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.287719421 meters 0.07135218339651252 Centerline is valid? [True, True] Translation: X:137.88, Y:-14.09, Z:-15.05 [[ 9.80782352e-01 1.78609602e-01 7.85148918e-02 1.37878575e+02] [-1.77610909e-01 9.83905964e-01 -1.95810883e-02 -1.40909537e+01] [-8.07486407e-02 5.25968449e-03 9.96720619e-01 -1.50478715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.34771942099997 meters 0.07336206975857379 Centerline is valid? [True, True] Translation: X:137.93, Y:-14.11, Z:-15.05 [[ 9.80513602e-01 1.78814577e-01 8.13536879e-02 1.37934184e+02] [-1.77743735e-01 9.83867843e-01 -2.02788791e-02 -1.41071792e+01] [-8.36674365e-02 5.42360841e-03 9.96478973e-01 -1.50542986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.40771942099997 meters 0.07171963761393446 Centerline is valid? [True, True] Translation: X:137.99, Y:-14.11, Z:-15.06 [[ 9.80499230e-01 1.77978682e-01 8.33357539e-02 1.37993912e+02] [-1.76852535e-01 9.84018281e-01 -2.07654239e-02 -1.41115935e+01] [-8.56997081e-02 5.62234284e-03 9.96305149e-01 -1.50553974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.46771942099997 meters 0.07107925251106094 Centerline is valid? [True, True] Translation: X:138.05, Y:-14.12, Z:-15.06 [[ 9.80745608e-01 1.77090256e-01 8.23231093e-02 1.38051500e+02] [-1.75988870e-01 9.84178551e-01 -2.05060232e-02 -1.41214655e+01] [-8.46520554e-02 5.62324115e-03 9.96394705e-01 -1.50627333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.52771942099997 meters 0.07372424140137095 Centerline is valid? [True, True] Translation: X:138.11, Y:-14.14, Z:-15.07 [[ 9.81631007e-01 1.73387077e-01 7.96083407e-02 1.38109052e+02] [-1.72345936e-01 9.84837049e-01 -1.98208154e-02 -1.41383634e+01] [-8.18379166e-02 5.73655295e-03 9.96629142e-01 -1.50746102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.58771942099997 meters 0.07926002584568122 Centerline is valid? [True, True] Translation: X:138.17, Y:-14.16, Z:-15.08 [[ 9.82446783e-01 1.69095920e-01 7.87711144e-02 1.38165840e+02] [-1.68062938e-01 9.85581157e-01 -1.96120114e-02 -1.41555659e+01] [-8.09516372e-02 6.02925265e-03 9.96699795e-01 -1.50839348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.64771942099998 meters 0.07604857816311758 Centerline is valid? [True, True] Translation: X:138.23, Y:-14.16, Z:-15.09 [[ 9.82387051e-01 1.70707042e-01 7.59920207e-02 1.38225786e+02] [-1.69750403e-01 9.85305401e-01 -1.89226859e-02 -1.41575808e+01] [-7.81055841e-02 5.68972546e-03 9.96928856e-01 -1.50911633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.70771942099998 meters 0.07102919217397291 Centerline is valid? [True, True] Translation: X:138.29, Y:-14.16, Z:-15.10 [[ 9.81079801e-01 1.77566815e-01 7.71521233e-02 1.38287591e+02] [-1.76602389e-01 9.84094932e-01 -1.92031740e-02 -1.41565754e+01] [-7.93348599e-02 5.21459679e-03 9.96834383e-01 -1.50961100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.76771942099998 meters 0.06708608688096833 Centerline is valid? [True, True] Translation: X:138.35, Y:-14.16, Z:-15.10 [[ 9.79474104e-01 1.86905440e-01 7.54773832e-02 1.38349314e+02] [-1.86010265e-01 9.82368241e-01 -1.87835209e-02 -1.41569597e+01] [-7.76573264e-02 4.35840427e-03 9.96970583e-01 -1.51040311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.82771942099998 meters 0.0597291682972234 Centerline is valid? [True, True] Translation: X:138.41, Y:-14.15, Z:-15.11 [[ 9.76510747e-01 2.01145373e-01 7.72483032e-02 1.38412729e+02] [-2.00251879e-01 9.79555832e-01 -1.92238751e-02 -1.41515867e+01] [-7.95358194e-02 3.30320276e-03 9.96826536e-01 -1.51062795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.88771942099999 meters 0.05665260815138796 Centerline is valid? [True, True] Translation: X:138.47, Y:-14.16, Z:-15.11 [[ 9.74206489e-01 2.11517844e-01 7.86251822e-02 1.38472979e+02] [-2.10625875e-01 9.77370939e-01 -1.95649822e-02 -1.41564118e+01] [-8.09843110e-02 2.49983483e-03 9.96712241e-01 -1.51120518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.947719421 meters 0.053814918877609655 Centerline is valid? [True, True] Translation: X:138.53, Y:-14.16, Z:-15.12 [[ 9.71397666e-01 2.23727570e-01 7.95773183e-02 1.38534894e+02] [-2.22854828e-01 9.74650568e-01 -1.97988988e-02 -1.41577030e+01] [-8.19896380e-02 1.49841446e-03 9.96632055e-01 -1.51161813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.007719421 meters 0.05235719600561694 Centerline is valid? [True, True] Translation: X:138.59, Y:-14.17, Z:-15.12 [[ 9.68525249e-01 2.35056209e-01 8.18988492e-02 1.38594324e+02] [-2.34172167e-01 9.71981621e-01 -2.03746323e-02 -1.41666743e+01] [-8.43933600e-02 5.54914851e-04 9.96432362e-01 -1.51200760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.067719421 meters 0.05235227488633702 Centerline is valid? [True, True] Translation: X:138.65, Y:-14.18, Z:-15.12 [[ 9.66755754e-01 2.41919440e-01 8.28148382e-02 1.38651227e+02] [-2.41040562e-01 9.70296338e-01 -2.06025491e-02 -1.41777668e+01] [-8.53390914e-02 -4.41022638e-05 9.96351965e-01 -1.51246183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.12771942099997 meters 0.053452845191081795 Centerline is valid? [True, True] Translation: X:138.71, Y:-14.19, Z:-15.13 [[ 9.64567673e-01 2.50731441e-01 8.21154641e-02 1.38707052e+02] [-2.49899965e-01 9.68056333e-01 -2.04191913e-02 -1.41906656e+01] [-8.46121283e-02 -8.24959808e-04 9.96413623e-01 -1.51308809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.18771942099997 meters 0.054512525993363495 Centerline is valid? [True, True] Translation: X:138.76, Y:-14.21, Z:-15.14 [[ 9.63386668e-01 2.55536518e-01 8.11616602e-02 1.38761136e+02] [-2.54741616e-01 9.66798614e-01 -2.01779377e-02 -1.42146169e+01] [-8.36231806e-02 -1.23609633e-03 9.96496681e-01 -1.51406534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.24771942099997 meters 0.05476939002665132 Centerline is valid? [True, True] Translation: X:138.82, Y:-14.23, Z:-15.15 [[ 9.63236892e-01 2.56481343e-01 7.99500487e-02 1.38817117e+02] [-2.55715326e-01 9.66548277e-01 -1.98519516e-02 -1.42316003e+01] [-8.23672370e-02 -1.32232063e-03 9.96601169e-01 -1.51474847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.30771942099997 meters 0.05604079913765545 Centerline is valid? [True, True] Translation: X:138.87, Y:-14.26, Z:-15.16 [[ 9.62648726e-01 2.59790511e-01 7.62648041e-02 1.38871452e+02] [-2.59106325e-01 9.65663738e-01 -1.89065235e-02 -1.42558629e+01] [-7.85578912e-02 -1.56035238e-03 9.96908332e-01 -1.51553876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.36771942099998 meters 0.05737338094851766 Centerline is valid? [True, True] Translation: X:138.92, Y:-14.28, Z:-15.17 [[ 9.62189697e-01 2.62351620e-01 7.32298809e-02 1.38923375e+02] [-2.61728539e-01 9.64970844e-01 -1.81505190e-02 -1.42848039e+01] [-7.54265181e-02 -1.70210738e-03 9.97149910e-01 -1.51665510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.42771942099998 meters 0.0567431515823466 Centerline is valid? [True, True] Translation: X:138.98, Y:-14.32, Z:-15.17 [[ 9.62417542e-01 2.61224954e-01 7.42562991e-02 1.38976235e+02] [-2.60581078e-01 9.65276561e-01 -1.84027973e-02 -1.43168515e+01] [-7.64851349e-02 -1.63861156e-03 9.97069375e-01 -1.51716847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.48771942099998 meters 0.0560125504670615 Centerline is valid? [True, True] Translation: X:139.03, Y:-14.35, Z:-15.18 [[ 9.63127058e-01 2.58395415e-01 7.49538467e-02 1.39026278e+02] [-2.57732905e-01 9.66038145e-01 -1.85486518e-02 -1.43539337e+01] [-7.72011616e-02 -1.45336426e-03 9.97014478e-01 -1.51777360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.54771942099998 meters 0.054377674138474746 Centerline is valid? [True, True] Translation: X:139.08, Y:-14.39, Z:-15.18 [[ 9.64599954e-01 2.52111133e-01 7.73750903e-02 1.39076787e+02] [-2.51386156e-01 9.67697775e-01 -1.91315826e-02 -1.43936976e+01] [-7.96989876e-02 -9.96702856e-04 9.96818478e-01 -1.51813939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.60771942099998 meters 0.05276252321271014 Centerline is valid? [True, True] Translation: X:139.12, Y:-14.44, Z:-15.19 [[ 9.66979885e-01 2.41864878e-01 8.03198767e-02 1.39124746e+02] [-2.41048669e-01 9.70309927e-01 -1.98540832e-02 -1.44415552e+01] [-8.27371791e-02 -1.62500267e-04 9.96571389e-01 -1.51884218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.667719421 meters 0.05408055302088183 Centerline is valid? [True, True] Translation: X:139.17, Y:-14.49, Z:-15.19 [[ 9.71347995e-01 2.24245073e-01 7.87224272e-02 1.39173066e+02] [-2.23403446e-01 9.74531904e-01 -1.94542855e-02 -1.44916586e+01] [-8.10800445e-02 1.31001961e-03 9.96706732e-01 -1.51926075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.727719421 meters 0.05835462013506666 Centerline is valid? [True, True] Translation: X:139.22, Y:-14.53, Z:-15.20 [[ 9.74817119e-01 2.10263372e-01 7.43027501e-02 1.39224732e+02] [-2.09473590e-01 9.77642006e-01 -1.83554912e-02 -1.45332560e+01] [-7.65009771e-02 2.32878328e-03 9.97066787e-01 -1.52018669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.787719421 meters 0.06235452151681028 Centerline is valid? [True, True] Translation: X:139.28, Y:-14.57, Z:-15.21 [[ 9.76759162e-01 2.01693846e-01 7.25336617e-02 1.39278086e+02] [-2.00917663e-01 9.79444237e-01 -1.79186692e-02 -1.45664421e+01] [-7.46567622e-02 2.92893049e-03 9.97204989e-01 -1.52095495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.84771942099997 meters 0.06072907905248761 Centerline is valid? [True, True] Translation: X:139.34, Y:-14.58, Z:-15.21 [[ 9.75581204e-01 2.06251185e-01 7.55100152e-02 1.39336428e+02] [-2.05423450e-01 9.78495390e-01 -1.86541745e-02 -1.45810656e+01] [-7.77336473e-02 2.68713416e-03 9.96970541e-01 -1.52123363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.90771942099997 meters 0.055719393408941824 Centerline is valid? [True, True] Translation: X:139.40, Y:-14.58, Z:-15.22 [[ 9.72161412e-01 2.21398113e-01 7.67141758e-02 1.39398251e+02] [-2.20590582e-01 9.75182352e-01 -1.89519170e-02 -1.45805813e+01] [-7.90062291e-02 1.50189768e-03 9.96872991e-01 -1.52169545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.96771942099997 meters 0.0529770617573548 Centerline is valid? [True, True] Translation: X:139.46, Y:-14.58, Z:-15.22 [[ 9.68860373e-01 2.35056570e-01 7.78330705e-02 1.39459552e+02] [-2.34269402e-01 9.71981613e-01 -1.92247745e-02 -1.45808070e+01] [-8.01712229e-02 3.92215269e-04 9.96781030e-01 -1.52193505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.02771942099997 meters 0.0549058121747399 Centerline is valid? [True, True] Translation: X:139.52, Y:-14.58, Z:-15.23 [[ 9.64135109e-01 2.54868009e-01 7.40661123e-02 1.39521586e+02] [-2.54213666e-01 9.66975114e-01 -1.82904419e-02 -1.45772788e+01] [-7.62817359e-02 -1.19416075e-03 9.97085588e-01 -1.52296387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.08771942099997 meters 0.057058769301747095 Centerline is valid? [True, True] Translation: X:139.58, Y:-14.59, Z:-15.24 [[ 9.63839081e-01 2.56671459e-01 7.16518599e-02 1.39577140e+02] [-2.56064034e-01 9.66497849e-01 -1.76951390e-02 -1.45894974e+01] [-7.37932056e-02 -1.29219773e-03 9.97272728e-01 -1.52441959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.14771942099998 meters 0.05547461000072302 Centerline is valid? [True, True] Translation: X:139.63, Y:-14.62, Z:-15.25 [[ 9.65470832e-01 2.50955681e-01 6.99093621e-02 1.39630034e+02] [-2.50362400e-01 9.67998219e-01 -1.72660432e-02 -1.46203275e+01] [-7.20051496e-02 -8.32814564e-04 9.97403913e-01 -1.52478536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.20771942099998 meters 0.05424362471253464 Centerline is valid? [True, True] Translation: X:139.68, Y:-14.65, Z:-15.25 [[ 9.67344867e-01 2.42327879e-01 7.43041541e-02 1.39684468e+02] [-2.41634882e-01 9.70194384e-01 -1.83150604e-02 -1.46517141e+01] [-7.65277227e-02 -2.37495846e-04 9.97067426e-01 -1.52490798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.26771942099998 meters 0.05520112184524618 Centerline is valid? [True, True] Translation: X:139.74, Y:-14.68, Z:-15.26 [[ 9.68584650e-01 2.39048584e-01 6.85532675e-02 1.39737126e+02] [-2.38450547e-01 9.71007608e-01 -1.68985951e-02 -1.46775870e+01] [-7.06053295e-02 2.11557037e-05 9.97504329e-01 -1.52618424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.32771942099998 meters 0.055852346712346825 Centerline is valid? [True, True] Translation: X:139.79, Y:-14.70, Z:-15.27 [[ 9.69734290e-01 2.34941911e-01 6.64658214e-02 1.39791500e+02] [-2.34370543e-01 9.72009365e-01 -1.63781181e-02 -1.47004050e+01] [-6.84533072e-02 3.04792003e-04 9.97654275e-01 -1.52708454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.38771942099999 meters 0.056560072580087176 Centerline is valid? [True, True] Translation: X:139.85, Y:-14.72, Z:-15.28 [[ 9.70213486e-01 2.34162011e-01 6.20801485e-02 1.39847084e+02] [-2.33662493e-01 9.72197534e-01 -1.52903596e-02 -1.47215369e+01] [-6.39345886e-02 3.29110839e-04 9.97954037e-01 -1.52796683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.447719421 meters 0.05637771406399443 Centerline is valid? [True, True] Translation: X:139.90, Y:-14.75, Z:-15.28 [[ 9.70760894e-01 2.31332992e-01 6.40962828e-02 1.39901937e+02] [-2.30794380e-01 9.72874486e-01 -1.57857384e-02 -1.47464655e+01] [-6.60094002e-02 5.31115705e-04 9.97818860e-01 -1.52820554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.507719421 meters 0.056466313372941855 Centerline is valid? [True, True] Translation: X:139.96, Y:-14.77, Z:-15.28 [[ 9.71496882e-01 2.27651767e-01 6.60944916e-02 1.39956590e+02] [-2.27070950e-01 9.73742283e-01 -1.62711216e-02 -1.47695235e+01] [-6.80631508e-02 7.99204882e-04 9.97680695e-01 -1.52840140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.567719421 meters 0.05625845761051462 Centerline is valid? [True, True] Translation: X:140.01, Y:-14.78, Z:-15.29 [[ 9.70526478e-01 2.30791963e-01 6.93788596e-02 1.40012738e+02] [-2.30160500e-01 9.73002934e-01 -1.70714526e-02 -1.47843385e+01] [-7.14457880e-02 6.00023781e-04 9.97444304e-01 -1.52907174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.62771942099997 meters 0.05624370256316233 Centerline is valid? [True, True] Translation: X:140.07, Y:-14.79, Z:-15.29 [[ 9.66346018e-01 2.47089717e-01 7.15684710e-02 1.40071579e+02] [-2.46462450e-01 9.68992405e-01 -1.76062468e-02 -1.47853263e+01] [-7.36996274e-02 -6.25214210e-04 9.97280289e-01 -1.52949026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.68771942099997 meters 0.05923568049902663 Centerline is valid? [True, True] Translation: X:140.13, Y:-14.79, Z:-15.30 [[ 9.62962609e-01 2.60370631e-01 7.00724484e-02 1.40132970e+02] [-2.59805106e-01 9.65507392e-01 -1.72274036e-02 -1.47862631e+01] [-7.21409768e-02 -1.61583433e-03 9.97393136e-01 -1.53016590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.74771942099997 meters 0.06055681937585483 Centerline is valid? [True, True] Translation: X:140.19, Y:-14.80, Z:-15.31 [[ 9.61808018e-01 2.65369719e-01 6.71137013e-02 1.40190576e+02] [-2.64863218e-01 9.64144841e-01 -1.64985440e-02 -1.48014367e+01] [-6.90855429e-02 -1.90751904e-03 9.97608916e-01 -1.53095237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.80771942099997 meters 0.06123427825792309 Centerline is valid? [True, True] Translation: X:140.25, Y:-14.82, Z:-15.32 [[ 9.61355337e-01 2.66703662e-01 6.83013365e-02 1.40246287e+02] [-2.66182230e-01 9.63776431e-01 -1.67931759e-02 -1.48177123e+01] [-7.03060199e-02 -2.03639277e-03 9.97523392e-01 -1.53153454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.86771942099998 meters 0.06127465260404968 Centerline is valid? [True, True] Translation: X:140.30, Y:-14.84, Z:-15.32 [[ 9.61317856e-01 2.66360665e-01 7.01425480e-02 1.40301487e+02] [-2.65810760e-01 9.63871193e-01 -1.72326425e-02 -1.48409531e+01] [-7.21984795e-02 -2.07859706e-03 9.97388119e-01 -1.53197089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.92771942099998 meters 0.061303646710575734 Centerline is valid? [True, True] Translation: X:140.35, Y:-14.87, Z:-15.33 [[ 9.61932640e-01 2.64671223e-01 6.80789185e-02 1.40353970e+02] [-2.64149216e-01 9.64336842e-01 -1.67226294e-02 -1.48664490e+01] [-7.00770080e-02 -1.89694990e-03 9.97539781e-01 -1.53287942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.98771942099998 meters 0.0613687915669974 Centerline is valid? [True, True] Translation: X:140.41, Y:-14.89, Z:-15.34 [[ 9.62561291e-01 2.62468521e-01 6.77202858e-02 1.40406514e+02] [-2.61947175e-01 9.64938994e-01 -1.66257262e-02 -1.48945911e+01] [-6.97096743e-02 -1.73585708e-03 9.97565811e-01 -1.53372679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.04771942099998 meters 0.06098889317057169 Centerline is valid? [True, True] Translation: X:140.46, Y:-14.92, Z:-15.34 [[ 9.62407737e-01 2.62708948e-01 6.89590853e-02 1.40461961e+02] [-2.62169412e-01 9.64873462e-01 -1.69233996e-02 -1.49159705e+01] [-7.09827199e-02 -1.79175214e-03 9.97475936e-01 -1.53419520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.10771942099998 meters 0.06017757841255045 Centerline is valid? [True, True] Translation: X:140.52, Y:-14.94, Z:-15.35 [[ 9.62644707e-01 2.61306174e-01 7.09524600e-02 1.40517938e+02] [-2.60731713e-01 9.65254391e-01 -1.74050063e-02 -1.49363024e+01] [-7.30352092e-02 -1.74471927e-03 9.97327837e-01 -1.53463332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.167719421 meters 0.05937473247637863 Centerline is valid? [True, True] Translation: X:140.57, Y:-14.96, Z:-15.36 [[ 9.64289077e-01 2.55609332e-01 6.93573735e-02 1.40570463e+02] [-2.55045925e-01 9.66779300e-01 -1.70106164e-02 -1.49602785e+01] [-7.14013453e-02 -1.28616389e-03 9.97446838e-01 -1.53560727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.227719421 meters 0.0573150137231253 Centerline is valid? [True, True] Translation: X:140.62, Y:-15.00, Z:-15.36 [[ 9.67205177e-01 2.44028059e-01 7.04588727e-02 1.40624920e+02] [-2.43416864e-01 9.69768067e-01 -1.72663489e-02 -1.49961812e+01] [-7.25422384e-02 -4.50775793e-04 9.97365239e-01 -1.53625885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.287719421 meters 0.05847085369343924 Centerline is valid? [True, True] Translation: X:140.68, Y:-15.03, Z:-15.37 [[ 9.71579588e-01 2.26956834e-01 6.72584514e-02 1.40678018e+02] [-2.26358583e-01 9.73904495e-01 -1.64871693e-02 -1.50337927e+01] [-6.92451839e-02 7.94069421e-04 9.97599355e-01 -1.53725553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.34771942099997 meters 0.062120762706452594 Centerline is valid? [True, True] Translation: X:140.73, Y:-15.07, Z:-15.38 [[ 9.75002828e-01 2.11486063e-01 6.81405236e-02 1.40732241e+02] [-2.10833856e-01 9.77379121e-01 -1.67074759e-02 -1.50680159e+01] [-7.01325233e-02 1.92350692e-03 9.97535829e-01 -1.53775155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.40771942099997 meters 0.06464976395945861 Centerline is valid? [True, True] Translation: X:140.79, Y:-15.09, Z:-15.38 [[ 9.76343153e-01 2.04395450e-01 7.05446463e-02 1.40789986e+02] [-2.03677889e-01 9.78885160e-01 -1.72962917e-02 -1.50942462e+01] [-7.25903907e-02 2.51873138e-03 9.97358657e-01 -1.53816308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.46771942099997 meters 0.06786853563815498 Centerline is valid? [True, True] Translation: X:140.85, Y:-15.12, Z:-15.38 [[ 9.77924037e-01 1.94992118e-01 7.51175872e-02 1.40847438e+02] [-1.94149893e-01 9.80798790e-01 -1.84269280e-02 -1.51150768e+01] [-7.72683444e-02 3.43606426e-03 9.97004411e-01 -1.53835498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.52771942099997 meters 0.0761437118184503 Centerline is valid? [True, True] Translation: X:140.90, Y:-15.14, Z:-15.39 [[ 9.80453320e-01 1.80832810e-01 7.75292339e-02 1.40902234e+02] [-1.79891302e-01 9.83502619e-01 -1.90188729e-02 -1.51394296e+01] [-7.96894408e-02 4.70028224e-03 9.96808658e-01 -1.53881551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.58771942099997 meters 0.07466537704234577 Centerline is valid? [True, True] Translation: X:140.96, Y:-15.15, Z:-15.39 [[ 9.81553129e-01 1.75196229e-01 7.65489162e-02 1.40963731e+02] [-1.74260755e-01 9.84520325e-01 -1.87861349e-02 -1.51453195e+01] [-7.86552238e-02 5.10011752e-03 9.96888833e-01 -1.53914852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.64771942099998 meters 0.08430737861186861 Centerline is valid? [True, True] Translation: X:141.02, Y:-15.16, Z:-15.41 [[ 9.82206843e-01 1.72033697e-01 7.53267878e-02 1.41020961e+02] [-1.71118775e-01 9.85076989e-01 -1.84848567e-02 -1.51571717e+01] [-7.73827036e-02 5.26612509e-03 9.96987555e-01 -1.54050974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.70771942099998 meters 0.07773377223809345 Centerline is valid? [True, True] Translation: X:141.09, Y:-15.15, Z:-15.41 [[ 9.81938391e-01 1.73770904e-01 7.48376219e-02 1.41088345e+02] [-1.72872451e-01 9.84772894e-01 -1.83701803e-02 -1.51451111e+01] [-7.68902643e-02 5.10102214e-03 9.97026513e-01 -1.54078510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.76771942099998 meters 0.07424488441362873 Centerline is valid? [True, True] Translation: X:141.15, Y:-15.13, Z:-15.41 [[ 9.80897191e-01 1.78534849e-01 7.72399400e-02 1.41153163e+02] [-1.77591349e-01 9.83921425e-01 -1.89721552e-02 -1.51330771e+01] [-7.93852226e-02 4.89258867e-03 9.96832006e-01 -1.54118689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.82771942099998 meters 0.06980214332065543 Centerline is valid? [True, True] Translation: X:141.22, Y:-15.11, Z:-15.42 [[ 9.79481128e-01 1.85478494e-01 7.88317761e-02 1.41219773e+02] [-1.84517954e-01 9.82638383e-01 -1.93631786e-02 -1.51135329e+01] [-8.10545822e-02 4.41999001e-03 9.96699864e-01 -1.54182647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.88771942099999 meters 0.06657938911191746 Centerline is valid? [True, True] Translation: X:141.28, Y:-15.11, Z:-15.42 [[ 9.78631725e-01 1.89843243e-01 7.89904376e-02 1.41282872e+02] [-1.88893025e-01 9.81805994e-01 -1.94014143e-02 -1.51112523e+01] [-8.12365125e-02 4.06609682e-03 9.96686558e-01 -1.54238663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.947719421 meters 0.06287061203979782 Centerline is valid? [True, True] Translation: X:141.35, Y:-15.10, Z:-15.43 [[ 9.76209256e-01 2.02099152e-01 7.85583920e-02 1.41346274e+02] [-2.01198509e-01 9.79360368e-01 -1.92984252e-02 -1.50988310e+01] [-8.08371711e-02 3.03346996e-03 9.96722705e-01 -1.54340595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.007719421 meters 0.05617122149128917 Centerline is valid? [True, True] Translation: X:141.41, Y:-15.08, Z:-15.44 [[ 9.72314508e-01 2.20355752e-01 7.77678651e-02 1.41413668e+02] [-2.19531374e-01 9.75418418e-01 -1.91019652e-02 -1.50764495e+01] [-8.00654359e-02 1.50063156e-03 9.96788480e-01 -1.54391148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.067719421 meters 0.05472873551762215 Centerline is valid? [True, True] Translation: X:141.48, Y:-15.07, Z:-15.45 [[ 9.69414313e-01 2.31873792e-01 8.04390142e-02 1.41476560e+02] [-2.31031212e-01 9.72745712e-01 -1.97574959e-02 -1.50660459e+01] [-8.28279516e-02 5.69276369e-04 9.96563699e-01 -1.54482013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.12771942099997 meters 0.0541774168518183 Centerline is valid? [True, True] Translation: X:141.54, Y:-15.06, Z:-15.45 [[ 9.67608199e-01 2.38973884e-01 8.13993552e-02 1.41537998e+02] [-2.38135853e-01 9.71025994e-01 -1.99958530e-02 -1.50627435e+01] [-8.38193765e-02 -3.59535166e-05 9.96480964e-01 -1.54536823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.18771942099997 meters 0.054544380089479 Centerline is valid? [True, True] Translation: X:141.60, Y:-15.06, Z:-15.46 [[ 9.66029066e-01 2.45646920e-01 8.02834606e-02 1.41597775e+02] [-2.44856800e-01 9.69359166e-01 -1.96965559e-02 -1.50649619e+01] [-8.26619067e-02 -6.30505764e-04 9.96577449e-01 -1.54619654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.24771942099997 meters 0.056487824400815394 Centerline is valid? [True, True] Translation: X:141.66, Y:-15.07, Z:-15.47 [[ 9.63266020e-01 2.56519551e-01 7.94751246e-02 1.41657945e+02] [-2.55784777e-01 9.66537754e-01 -1.94657962e-02 -1.50675530e+01] [-8.18090657e-02 -1.57778701e-03 9.96646772e-01 -1.54699868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.30771942099997 meters 0.058542332234257005 Centerline is valid? [True, True] Translation: X:141.72, Y:-15.08, Z:-15.47 [[ 9.60675062e-01 2.65569191e-01 8.10951893e-02 1.41716956e+02] [-2.64836462e-01 9.64088819e-01 -1.98594206e-02 -1.50754940e+01] [-8.34570156e-02 -2.39851295e-03 9.96508492e-01 -1.54735653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.36771942099998 meters 0.05846265696869716 Centerline is valid? [True, True] Translation: X:141.77, Y:-15.10, Z:-15.48 [[ 9.60059260e-01 2.67245889e-01 8.28604332e-02 1.41771899e+02] [-2.66487101e-01 9.63624862e-01 -2.02916334e-02 -1.50985075e+01] [-8.52692291e-02 -2.60006612e-03 9.96354554e-01 -1.54777340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.42771942099998 meters 0.059484320475429855 Centerline is valid? [True, True] Translation: X:141.82, Y:-15.12, Z:-15.49 [[ 9.60377118e-01 2.66580887e-01 8.13044979e-02 1.41824612e+02] [-2.65850714e-01 9.63809244e-01 -1.98781169e-02 -1.51220653e+01] [-8.36611526e-02 -2.52437024e-03 9.96491063e-01 -1.54875589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.48771942099998 meters 0.061110299721048894 Centerline is valid? [True, True] Translation: X:141.88, Y:-15.14, Z:-15.50 [[ 9.60308640e-01 2.68547902e-01 7.54277093e-02 1.41880430e+02] [-2.67926535e-01 9.63263058e-01 -1.84296554e-02 -1.51445628e+01] [-7.76059713e-02 -2.51092746e-03 9.96980947e-01 -1.54995058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.54771942099998 meters 0.06220868502280423 Centerline is valid? [True, True] Translation: X:141.94, Y:-15.17, Z:-15.50 [[ 9.59547094e-01 2.71124228e-01 7.59014359e-02 1.41935236e+02] [-2.70502309e-01 9.62540501e-01 -1.85549351e-02 -1.51688927e+01] [-7.80888985e-02 -2.72717959e-03 9.96942670e-01 -1.55035404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.60771942099998 meters 0.06404357916493303 Centerline is valid? [True, True] Translation: X:141.99, Y:-15.19, Z:-15.51 [[ 9.57983360e-01 2.76663109e-01 7.56664135e-02 1.41991980e+02] [-2.76064875e-01 9.60961642e-01 -1.84636640e-02 -1.51898123e+01] [-7.78207357e-02 -3.20095608e-03 9.96962229e-01 -1.55084169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.667719421 meters 0.06299345061841102 Centerline is valid? [True, True] Translation: X:142.04, Y:-15.22, Z:-15.52 [[ 9.58989413e-01 2.73422518e-01 7.46955918e-02 1.42044959e+02] [-2.72829207e-01 9.61889680e-01 -1.82337027e-02 -1.52207520e+01] [-7.68344238e-02 -2.89321123e-03 9.97039669e-01 -1.55164121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.727719421 meters 0.059692816845594625 Centerline is valid? [True, True] Translation: X:142.10, Y:-15.26, Z:-15.52 [[ 9.62114234e-01 2.61642584e-01 7.66769827e-02 1.42095944e+02] [-2.60982495e-01 9.65162690e-01 -1.86847114e-02 -1.52602117e+01] [-7.88944791e-02 -2.03452344e-03 9.96880897e-01 -1.55236777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.787719421 meters 0.05574884140020101 Centerline is valid? [True, True] Translation: X:142.15, Y:-15.31, Z:-15.53 [[ 9.66078479e-01 2.46686458e-01 7.64078792e-02 1.42145492e+02] [-2.45984318e-01 9.69095008e-01 -1.86166601e-02 -1.53082260e+01] [-7.86389722e-02 -8.09985356e-04 9.96902832e-01 -1.55285539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.84771942099997 meters 0.05485830989804616 Centerline is valid? [True, True] Translation: X:142.20, Y:-15.36, Z:-15.53 [[ 9.69694334e-01 2.32474312e-01 7.51571157e-02 1.42197928e+02] [-2.31753360e-01 9.72602482e-01 -1.82973108e-02 -1.53552115e+01] [-7.73516521e-02 3.24884548e-04 9.97003820e-01 -1.55327163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.90771942099997 meters 0.05561052356753715 Centerline is valid? [True, True] Translation: X:142.25, Y:-15.39, Z:-15.54 [[ 9.71528709e-01 2.24964912e-01 7.43152437e-02 1.42252973e+02] [-2.24235787e-01 9.74366410e-01 -1.81221096e-02 -1.53882790e+01] [-7.64871160e-02 9.42012567e-04 9.97070125e-01 -1.55393374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.96771942099997 meters 0.054910591660667675 Centerline is valid? [True, True] Translation: X:142.31, Y:-15.41, Z:-15.54 [[ 9.71154142e-01 2.25165329e-01 7.84869852e-02 1.42310896e+02] [-2.24351079e-01 9.74320062e-01 -1.91575346e-02 -1.54100607e+01] [-8.07850568e-02 9.96279296e-04 9.96731048e-01 -1.55414339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.02771942099997 meters 0.054802076732548034 Centerline is valid? [True, True] Translation: X:142.37, Y:-15.42, Z:-15.55 [[ 9.70069070e-01 2.30899642e-01 7.51754916e-02 1.42370414e+02] [-2.30170249e-01 9.72977447e-01 -1.83451396e-02 -1.54212242e+01] [-7.73799440e-02 4.92890937e-04 9.97001555e-01 -1.55527906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.08771942099997 meters 0.05473663492580668 Centerline is valid? [True, True] Translation: X:142.43, Y:-15.42, Z:-15.56 [[ 9.66132943e-01 2.46446854e-01 7.64923788e-02 1.42431572e+02] [-2.45737455e-01 9.69156032e-01 -1.86999540e-02 -1.54211706e+01] [-7.87415952e-02 -7.30400923e-04 9.96894793e-01 -1.55585223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.14771942099998 meters 0.05674123944291804 Centerline is valid? [True, True] Translation: X:142.49, Y:-15.42, Z:-15.57 [[ 9.63546814e-01 2.56425354e-01 7.63123540e-02 1.42491705e+02] [-2.55750676e-01 9.66562804e-01 -1.86530813e-02 -1.54224140e+01] [-7.85438058e-02 -1.54381904e-03 9.96909468e-01 -1.55654143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.20771942099998 meters 0.058452737934106096 Centerline is valid? [True, True] Translation: X:142.55, Y:-15.44, Z:-15.57 [[ 9.62639732e-01 2.60188391e-01 7.50116448e-02 1.42548078e+02] [-2.59548288e-01 9.65556149e-01 -1.83305699e-02 -1.54363585e+01] [-7.71973564e-02 -1.82340915e-03 9.97014164e-01 -1.55745678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.26771942099998 meters 0.05969499806921627 Centerline is valid? [True, True] Translation: X:142.60, Y:-15.45, Z:-15.58 [[ 9.61689939e-01 2.63753278e-01 7.47440230e-02 1.42604808e+02] [-2.63129004e-01 9.64587872e-01 -1.82582793e-02 -1.54510708e+01] [-7.69128591e-02 -2.10851683e-03 9.97035589e-01 -1.55825610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.32771942099998 meters 0.06159273170395775 Centerline is valid? [True, True] Translation: X:142.66, Y:-15.46, Z:-15.58 [[ 9.59346996e-01 2.71819265e-01 7.59449036e-02 1.42664314e+02] [-2.71200447e-01 9.62344229e-01 -1.85445879e-02 -1.54634393e+01] [-7.81259160e-02 -2.80559712e-03 9.96939552e-01 -1.55846887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.38771942099999 meters 0.06355025672251732 Centerline is valid? [True, True] Translation: X:142.72, Y:-15.49, Z:-15.59 [[ 9.57024647e-01 2.80142147e-01 7.49946795e-02 1.42720552e+02] [-2.79564083e-01 9.59952367e-01 -1.83132920e-02 -1.54855232e+01] [-7.71216451e-02 -3.43954697e-03 9.97015758e-01 -1.55894754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.447719421 meters 0.06644456072975992 Centerline is valid? [True, True] Translation: X:142.78, Y:-15.50, Z:-15.60 [[ 9.55731667e-01 2.84091320e-01 7.66100706e-02 1.42775833e+02] [-2.83500740e-01 9.58789537e-01 -1.87070759e-02 -1.55047567e+01] [-7.87674520e-02 -3.84006683e-03 9.96885622e-01 -1.55991601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.507719421 meters 0.06590572006495365 Centerline is valid? [True, True] Translation: X:142.83, Y:-15.54, Z:-15.61 [[ 9.56374482e-01 2.83127863e-01 7.20170986e-02 1.42829202e+02] [-2.82603806e-01 9.59075637e-01 -1.75786933e-02 -1.55370667e+01] [-7.40468626e-02 -3.54049251e-03 9.97248478e-01 -1.56120252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.567719421 meters 0.0639686777499938 Centerline is valid? [True, True] Translation: X:142.88, Y:-15.57, Z:-15.62 [[ 9.57633189e-01 2.78910273e-01 7.17477163e-02 1.42883045e+02] [-2.78378490e-01 9.60311821e-01 -1.75106706e-02 -1.55749003e+01] [-7.37840860e-02 -3.20422163e-03 9.97269092e-01 -1.56192971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.62771942099997 meters 0.0629179640152927 Centerline is valid? [True, True] Translation: X:142.94, Y:-15.60, Z:-15.62 [[ 9.58048954e-01 2.76714088e-01 7.46425799e-02 1.42938890e+02] [-2.76131320e-01 9.60947127e-01 -1.82239961e-02 -1.56014203e+01] [-7.67704092e-02 -3.15167363e-03 9.97043816e-01 -1.56240234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.68771942099997 meters 0.0621152820637105 Centerline is valid? [True, True] Translation: X:143.00, Y:-15.63, Z:-15.63 [[ 9.58112844e-01 2.76222774e-01 7.56356907e-02 1.42995216e+02] [-2.75623390e-01 9.61088440e-01 -1.84596021e-02 -1.56313521e+01] [-7.77915505e-02 -3.16058361e-03 9.96964636e-01 -1.56298383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.74771942099997 meters 0.06616490932586376 Centerline is valid? [True, True] Translation: X:143.05, Y:-15.66, Z:-15.63 [[ 9.54910803e-01 2.86683877e-01 7.71862230e-02 1.43051102e+02] [-2.86090971e-01 9.58016624e-01 -1.88707395e-02 -1.56583586e+01] [-7.93556216e-02 -4.06240843e-03 9.96838092e-01 -1.56335479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.80771942099997 meters 0.07216756004170699 Centerline is valid? [True, True] Translation: X:143.11, Y:-15.68, Z:-15.64 [[ 9.51784496e-01 2.97257224e-01 7.57919218e-02 1.43107572e+02] [-2.96718407e-01 9.54785129e-01 -1.85349215e-02 -1.56783606e+01] [-7.78746392e-02 -4.84760742e-03 9.96951374e-01 -1.56420418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.86771942099998 meters 0.07414483012203209 Centerline is valid? [True, True] Translation: X:143.16, Y:-15.70, Z:-15.65 [[ 9.50940756e-01 3.00040109e-01 7.54162512e-02 1.43164238e+02] [-2.99515328e-01 9.53913219e-01 -1.84428880e-02 -1.56998417e+01] [-7.74741650e-02 -5.05022927e-03 9.96981569e-01 -1.56505616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.92771942099998 meters 0.07336458121747573 Centerline is valid? [True, True] Translation: X:143.22, Y:-15.75, Z:-15.65 [[ 9.50482427e-01 3.01701696e-01 7.45603321e-02 1.43217120e+02] [-3.01193874e-01 9.53388589e-01 -1.82331489e-02 -1.57452438e+01] [-7.65859418e-02 -5.12682773e-03 9.97049803e-01 -1.56545584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.98771942099998 meters 0.07603909459963783 Centerline is valid? [True, True] Translation: X:143.27, Y:-15.77, Z:-15.66 [[ 9.49807112e-01 3.03829654e-01 7.45251073e-02 1.43271702e+02] [-3.03328349e-01 9.52711686e-01 -1.82306176e-02 -1.57715095e+01] [-7.65399428e-02 -5.29000754e-03 9.97052483e-01 -1.56638134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.04771942099998 meters 0.07689042719427013 Centerline is valid? [True, True] Translation: X:143.33, Y:-15.80, Z:-15.67 [[ 9.49166682e-01 3.06635452e-01 7.11147624e-02 1.43326145e+02] [-3.06186041e-01 9.51812540e-01 -1.74067900e-02 -1.58030705e+01] [-7.30254615e-02 -5.25240250e-03 9.97316246e-01 -1.56707626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.10771942099998 meters 0.07849236001347831 Centerline is valid? [True, True] Translation: X:143.38, Y:-15.83, Z:-15.68 [[ 9.48909435e-01 3.07228009e-01 7.19849640e-02 1.43382085e+02] [-3.06769875e-01 9.51620774e-01 -1.76109910e-02 -1.58332304e+01] [-7.39129768e-02 -5.37158293e-03 9.97250228e-01 -1.56775772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.167719421 meters 0.07403869952174827 Centerline is valid? [True, True] Translation: X:143.44, Y:-15.87, Z:-15.68 [[ 9.51090525e-01 2.99682140e-01 7.49494970e-02 1.43435229e+02] [-2.99159456e-01 9.54026268e-01 -1.83711709e-02 -1.58703498e+01] [-7.70093007e-02 -4.94920415e-03 9.97018091e-01 -1.56839907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.227719421 meters 0.06507536655129448 Centerline is valid? [True, True] Translation: X:143.49, Y:-15.92, Z:-15.68 [[ 9.54240434e-01 2.88353233e-01 7.92313495e-02 1.43486012e+02] [-2.87730070e-01 9.57514608e-01 -1.94211763e-02 -1.59227118e+01] [-8.14653336e-02 -4.26477000e-03 9.96667051e-01 -1.56822948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.287719421 meters 0.06051402198153975 Centerline is valid? [True, True] Translation: X:143.54, Y:-15.96, Z:-15.69 [[ 9.57520568e-01 2.77202856e-01 7.94540023e-02 1.43539181e+02] [-2.76537616e-01 9.60805675e-01 -1.94782200e-02 -1.59613898e+01] [-8.17392746e-02 -3.32122412e-03 9.96648213e-01 -1.56893537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.34771942099997 meters 0.057146404072292566 Centerline is valid? [True, True] Translation: X:143.59, Y:-16.00, Z:-15.70 [[ 9.61017906e-01 2.65309189e-01 7.78178527e-02 1.43591084e+02] [-2.64631789e-01 9.64160746e-01 -1.90806761e-02 -1.59977603e+01] [-8.00911976e-02 -2.25620614e-03 9.96784987e-01 -1.56983459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.40771942099997 meters 0.05434305335766238 Centerline is valid? [True, True] Translation: X:143.65, Y:-16.03, Z:-15.71 [[ 9.64518707e-01 2.52622026e-01 7.67188042e-02 1.43645440e+02] [-2.51923511e-01 9.67564318e-01 -1.88104955e-02 -1.60313721e+01] [-7.89823230e-02 -1.18419573e-03 9.96875313e-01 -1.57064508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.46771942099997 meters 0.053535578262743855 Centerline is valid? [True, True] Translation: X:143.70, Y:-16.06, Z:-15.71 [[ 9.66808609e-01 2.43575585e-01 7.71495212e-02 1.43702313e+02] [-2.42840120e-01 9.69881816e-01 -1.89192617e-02 -1.60563370e+01] [-7.94341880e-02 -4.43693927e-04 9.96840014e-01 -1.57134127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.52771942099997 meters 0.05404186819989792 Centerline is valid? [True, True] Translation: X:143.76, Y:-16.08, Z:-15.72 [[ 9.69254045e-01 2.34154817e-01 7.56182431e-02 1.43758421e+02] [-2.33419878e-01 9.72199269e-01 -1.85402557e-02 -1.60829573e+01] [-7.78572909e-02 3.19416769e-04 9.96964463e-01 -1.57198258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.58771942099997 meters 0.05425132176202634 Centerline is valid? [True, True] Translation: X:143.82, Y:-16.09, Z:-15.73 [[ 9.69810773e-01 2.31533417e-01 7.65463328e-02 1.43818296e+02] [-2.30770469e-01 9.72826792e-01 -1.87889430e-02 -1.60949479e+01] [-7.88165915e-02 5.57086210e-04 9.96888978e-01 -1.57271949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.64771942099998 meters 0.052890537746813834 Centerline is valid? [True, True] Translation: X:143.88, Y:-16.09, Z:-15.73 [[ 9.67922864e-01 2.38486391e-01 7.90542244e-02 1.43883605e+02] [-2.37693534e-01 9.71145839e-01 -1.94304608e-02 -1.60942775e+01] [-8.14070816e-02 1.65093315e-05 9.96680935e-01 -1.57258651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.70771942099998 meters 0.053726751039525865 Centerline is valid? [True, True] Translation: X:143.95, Y:-16.09, Z:-15.73 [[ 9.64721961e-01 2.50921259e-01 7.96872595e-02 1.43947706e+02] [-2.50157185e-01 9.68006951e-01 -1.95940024e-02 -1.60869610e+01] [-8.20543728e-02 -1.03157606e-03 9.96627320e-01 -1.57345511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.76771942099998 meters 0.05575972770082476 Centerline is valid? [True, True] Translation: X:144.01, Y:-16.08, Z:-15.74 [[ 9.62167039e-01 2.60806522e-01 7.88323944e-02 1.44010631e+02] [-2.60090514e-01 9.65389341e-01 -1.93995989e-02 -1.60839312e+01] [-8.11634952e-02 -1.83790335e-03 9.96699107e-01 -1.57413933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.82771942099998 meters 0.057539585610192595 Centerline is valid? [True, True] Translation: X:144.07, Y:-16.08, Z:-15.75 [[ 9.60657334e-01 2.66019477e-01 7.98193256e-02 1.44072818e+02] [-2.65303160e-01 9.63964899e-01 -1.96445059e-02 -1.60840929e+01] [-8.21688493e-02 -2.30468064e-03 9.96615758e-01 -1.57487477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.88771942099999 meters 0.05834614755201489 Centerline is valid? [True, True] Translation: X:144.13, Y:-16.09, Z:-15.76 [[ 9.59884988e-01 2.69648320e-01 7.68803766e-02 1.44132949e+02] [-2.68994353e-01 9.62955611e-01 -1.89348939e-02 -1.60916908e+01] [-7.91381523e-02 -2.50506670e-03 9.96860511e-01 -1.57567649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.947719421 meters 0.0581721252955452 Centerline is valid? [True, True] Translation: X:144.19, Y:-16.11, Z:-15.76 [[ 9.59851768e-01 2.70013719e-01 7.60077345e-02 1.44192736e+02] [-2.69376194e-01 9.62853197e-01 -1.87133168e-02 -1.61060353e+01] [-7.82371423e-02 -2.51266403e-03 9.96931611e-01 -1.57636495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.007719421 meters 0.060108767108654905 Centerline is valid? [True, True] Translation: X:144.25, Y:-16.11, Z:-15.77 [[ 9.59212192e-01 2.72785247e-01 7.41631961e-02 1.44253558e+02] [-2.72184806e-01 9.62071301e-01 -1.82823010e-02 -1.61121036e+01] [-7.63374246e-02 -2.64948906e-03 9.97078521e-01 -1.57744815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.06771942099996 meters 0.06274663017181657 Centerline is valid? [True, True] Translation: X:144.31, Y:-16.12, Z:-15.78 [[ 9.57757884e-01 2.78231667e-01 7.27115870e-02 1.44314564e+02] [-2.77668064e-01 9.60509326e-01 -1.79522147e-02 -1.61156210e+01] [-7.48350321e-02 -2.99581039e-03 9.97191428e-01 -1.57840035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.12771942099997 meters 0.06390735002373402 Centerline is valid? [True, True] Translation: X:144.37, Y:-16.13, Z:-15.78 [[ 9.55932264e-01 2.83883386e-01 7.48580667e-02 1.44374000e+02] [-2.83303024e-01 9.58852288e-01 -1.84847656e-02 -1.61291538e+01] [-7.70253464e-02 -3.53733280e-03 9.97022860e-01 -1.57843896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.18771942099997 meters 0.0636225148546976 Centerline is valid? [True, True] Translation: X:144.43, Y:-16.14, Z:-15.79 [[ 9.55130877e-01 2.85752293e-01 7.79142822e-02 1.44434440e+02] [-2.85129896e-01 9.58295815e-01 -1.92372765e-02 -1.61433218e+01] [-8.01620265e-02 -3.84157448e-03 9.96774444e-01 -1.57889951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.24771942099997 meters 0.06620885805463708 Centerline is valid? [True, True] Translation: X:144.49, Y:-16.15, Z:-15.80 [[ 9.55270138e-01 2.85928186e-01 7.55250693e-02 1.44493028e+02] [-2.85341813e-01 9.58243863e-01 -1.86748112e-02 -1.61549241e+01] [-7.77110891e-02 -3.71097076e-03 9.96969014e-01 -1.58008729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.30771942099997 meters 0.06429439201426995 Centerline is valid? [True, True] Translation: X:144.55, Y:-16.18, Z:-15.81 [[ 9.56262461e-01 2.84001853e-01 7.00360828e-02 1.44549831e+02] [-2.83492203e-01 9.58818085e-01 -1.73219525e-02 -1.61824500e+01] [-7.20713295e-02 -3.29035049e-03 9.97394053e-01 -1.58087109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.36771942099998 meters 0.06413568178170032 Centerline is valid? [True, True] Translation: X:144.61, Y:-16.20, Z:-15.81 [[ 9.56321163e-01 2.82593657e-01 7.47707059e-02 1.44606713e+02] [-2.82005734e-01 9.59233802e-01 -1.85277986e-02 -1.61989539e+01] [-7.69584268e-02 -3.36724189e-03 9.97028617e-01 -1.58143239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.42771942099998 meters 0.06333501377745826 Centerline is valid? [True, True] Translation: X:144.66, Y:-16.22, Z:-15.81 [[ 9.56015052e-01 2.81915417e-01 8.09871440e-02 1.44664654e+02] [-2.81223403e-01 9.59432535e-01 -2.00651197e-02 -1.62203932e+01] [-8.33583674e-02 -3.59292371e-03 9.96513158e-01 -1.58144099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.48771942099998 meters 0.06381632940528462 Centerline is valid? [True, True] Translation: X:144.72, Y:-16.24, Z:-15.83 [[ 9.56653309e-01 2.81216581e-01 7.57078625e-02 1.44721669e+02] [-2.80610145e-01 9.59638635e-01 -1.87519781e-02 -1.62417232e+01] [-7.79255570e-02 -3.30525231e-03 9.96953701e-01 -1.58258210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.54771942099998 meters 0.06007260052167924 Centerline is valid? [True, True] Translation: X:144.78, Y:-16.27, Z:-15.83 [[ 9.58427638e-01 2.75281368e-01 7.50774971e-02 1.44776878e+02] [-2.74664639e-01 9.61359708e-01 -1.86238763e-02 -1.62695301e+01] [-7.73032868e-02 -2.77149589e-03 9.97003772e-01 -1.58303957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.60771942099998 meters 0.056714346870691906 Centerline is valid? [True, True] Translation: X:144.83, Y:-16.30, Z:-15.83 [[ 9.61037782e-01 2.65178713e-01 7.80168689e-02 1.44831872e+02] [-2.64479469e-01 9.64197130e-01 -1.93521194e-02 -1.62985383e+01] [-8.03554112e-02 -2.03574216e-03 9.96764197e-01 -1.58334189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.667719421 meters 0.05461469530818465 Centerline is valid? [True, True] Translation: X:144.89, Y:-16.32, Z:-15.84 [[ 9.62548011e-01 2.59142872e-01 7.96636535e-02 1.44889550e+02] [-2.58392891e-01 9.65837736e-01 -1.97631169e-02 -1.63230024e+01] [-8.20636337e-02 -1.56157282e-03 9.96625868e-01 -1.58374077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.727719421 meters 0.05363253359061316 Centerline is valid? [True, True] Translation: X:144.95, Y:-16.34, Z:-15.84 [[ 9.63865608e-01 2.53311989e-01 8.24386191e-02 1.44948118e+02] [-2.52486962e-01 9.67384016e-01 -2.04572772e-02 -1.63419243e+01] [-8.49318760e-02 -1.09661061e-03 9.96386157e-01 -1.58425419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.787719421 meters 0.05320633914282886 Centerline is valid? [True, True] Translation: X:145.01, Y:-16.36, Z:-15.85 [[ 9.65708040e-01 2.47695660e-01 7.78128598e-02 1.45006948e+02] [-2.46942697e-01 9.68837724e-01 -1.93072432e-02 -1.63630026e+01] [-8.01703543e-02 -5.70157469e-04 9.96781014e-01 -1.58484719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.84771942099997 meters 0.05349195221322056 Centerline is valid? [True, True] Translation: X:145.07, Y:-16.37, Z:-15.86 [[ 9.65839240e-01 2.47100348e-01 7.80767622e-02 1.45068152e+02] [-2.46338267e-01 9.68989768e-01 -1.93981477e-02 -1.63706443e+01] [-8.04488727e-02 -4.97802099e-04 9.96758612e-01 -1.58585078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.90771942099997 meters 0.05320003969536956 Centerline is valid? [True, True] Translation: X:145.13, Y:-16.38, Z:-15.86 [[ 9.64937092e-01 2.49841411e-01 8.04715897e-02 1.45129921e+02] [-2.49039086e-01 9.68286500e-01 -2.00196656e-02 -1.63792496e+01] [-8.29212954e-02 -7.22853193e-04 9.96555837e-01 -1.58599761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.96771942099997 meters 0.053532647921976144 Centerline is valid? [True, True] Translation: X:145.19, Y:-16.39, Z:-15.87 [[ 9.65069966e-01 2.50077921e-01 7.81088572e-02 1.45190079e+02] [-2.49320580e-01 9.68225466e-01 -1.94601150e-02 -1.63850470e+01] [-8.04935297e-02 -6.93773070e-04 9.96754890e-01 -1.58711668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.02771942099997 meters 0.054307669678009325 Centerline is valid? [True, True] Translation: X:145.25, Y:-16.39, Z:-15.88 [[ 9.64534583e-01 2.52981119e-01 7.53232459e-02 1.45251036e+02] [-2.52284609e-01 9.67470808e-01 -1.87806244e-02 -1.63879396e+01] [-7.76241849e-02 -8.88333883e-04 9.96982295e-01 -1.58810329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.08771942099997 meters 0.055103825136359946 Centerline is valid? [True, True] Translation: X:145.31, Y:-16.39, Z:-15.89 [[ 9.64071698e-01 2.55482525e-01 7.27628994e-02 1.45312411e+02] [-2.54839499e-01 9.66813104e-01 -1.81452949e-02 -1.63893074e+01] [-7.49839304e-02 -1.04949555e-03 9.97184190e-01 -1.58908488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.14771942099998 meters 0.05482320987839698 Centerline is valid? [True, True] Translation: X:145.37, Y:-16.40, Z:-15.90 [[ 9.65149108e-01 2.51328400e-01 7.29467967e-02 1.45373352e+02] [-2.50670619e-01 9.67901595e-01 -1.81863358e-02 -1.63981122e+01] [-7.51760636e-02 -7.33092896e-04 9.97170007e-01 -1.58992525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.20771942099998 meters 0.05482393304213923 Centerline is valid? [True, True] Translation: X:145.43, Y:-16.42, Z:-15.91 [[ 9.68116836e-01 2.39807008e-01 7.24043512e-02 1.45431167e+02] [-2.39124813e-01 9.70820562e-01 -1.80764918e-02 -1.64179238e+01] [-7.46265023e-02 1.86479046e-04 9.97211537e-01 -1.59060199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.26771942099998 meters 0.05649207373901393 Centerline is valid? [True, True] Translation: X:145.49, Y:-16.44, Z:-15.91 [[ 9.70390332e-01 2.30545565e-01 7.20509949e-02 1.45489514e+02] [-2.29843376e-01 9.73061106e-01 -1.80029825e-02 -1.64392162e+01] [-7.42605285e-02 9.09476222e-04 9.97238460e-01 -1.59136700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.32771942099998 meters 0.06062757338171029 Centerline is valid? [True, True] Translation: X:145.55, Y:-16.46, Z:-15.92 [[ 9.73592041e-01 2.16191644e-01 7.33465061e-02 1.45547024e+02] [-2.15422574e-01 9.76348797e-01 -1.83341827e-02 -1.64630600e+01] [-7.55754701e-02 2.04952123e-03 9.97137978e-01 -1.59153252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.38771942099999 meters 0.0654146173703848 Centerline is valid? [True, True] Translation: X:145.60, Y:-16.48, Z:-15.93 [[ 9.75431891e-01 2.08699174e-01 7.05498482e-02 1.45603833e+02] [-2.07968056e-01 9.77976610e-01 -1.76362806e-02 -1.64785668e+01] [-7.26767785e-02 2.53087575e-03 9.97352335e-01 -1.59251965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.447719421 meters 0.06257309897329166 Centerline is valid? [True, True] Translation: X:145.67, Y:-16.48, Z:-15.93 [[ 9.74892779e-01 2.10407341e-01 7.28890950e-02 1.45667816e+02] [-2.09631111e-01 9.77610633e-01 -1.82276537e-02 -1.64780658e+01] [-7.50923865e-02 2.49018601e-03 9.97173472e-01 -1.59261708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.507719421 meters 0.06014047401630783 Centerline is valid? [True, True] Translation: X:145.73, Y:-16.47, Z:-15.94 [[ 9.73432462e-01 2.17741948e-01 7.08356216e-02 1.45732252e+02] [-2.17027783e-01 9.76004571e-01 -1.77205719e-02 -1.64714473e+01] [-7.29944023e-02 1.87648202e-03 9.97330585e-01 -1.59363743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.56771942099996 meters 0.056497334410972724 Centerline is valid? [True, True] Translation: X:145.80, Y:-16.46, Z:-15.95 [[ 9.70617110e-01 2.30615014e-01 6.86960041e-02 1.45798158e+02] [-2.29974928e-01 9.73044667e-01 -1.71932751e-02 -1.64570885e+01] [-7.08093078e-02 8.89728372e-04 9.97489474e-01 -1.59453905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.62771942099997 meters 0.05416982844803587 Centerline is valid? [True, True] Translation: X:145.87, Y:-16.44, Z:-15.95 [[ 9.67191915e-01 2.44482378e-01 6.90519072e-02 1.45866328e+02] [-2.43870759e-01 9.69653728e-01 -1.72829778e-02 -1.64424591e+01] [-7.11818228e-02 -1.23784618e-04 9.97463349e-01 -1.59496825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.68771942099997 meters 0.05584256415539088 Centerline is valid? [True, True] Translation: X:145.93, Y:-16.43, Z:-15.96 [[ 9.64088953e-01 2.56642879e-01 6.83148804e-02 1.45930930e+02] [-2.56074223e-01 9.66505782e-01 -1.71045675e-02 -1.64302878e+01] [-7.04164923e-02 -1.00335534e-03 9.97517173e-01 -1.59629945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.74771942099997 meters 0.05743010098617234 Centerline is valid? [True, True] Translation: X:145.99, Y:-16.43, Z:-15.97 [[ 9.62405191e-01 2.62577686e-01 6.94924896e-02 1.45993400e+02] [-2.62004144e-01 9.64909758e-01 -1.74065325e-02 -1.64304089e+01] [-7.16245484e-02 -1.45518299e-03 9.97430602e-01 -1.59704874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.80771942099997 meters 0.05669799457291522 Centerline is valid? [True, True] Translation: X:146.05, Y:-16.44, Z:-15.97 [[ 9.62230119e-01 2.62748736e-01 7.12481543e-02 1.46054577e+02] [-2.62144470e-01 9.64863155e-01 -1.78709198e-02 -1.64433523e+01] [-7.34402805e-02 -1.48137238e-03 9.97298516e-01 -1.59747578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.86771942099998 meters 0.056004517445742426 Centerline is valid? [True, True] Translation: X:146.11, Y:-16.46, Z:-15.98 [[ 9.62750159e-01 2.60744855e-01 7.15838751e-02 1.46114274e+02] [-2.60128791e-01 9.65406835e-01 -1.79625764e-02 -1.64619952e+01] [-7.37912117e-02 -1.32755360e-03 9.97272829e-01 -1.59799679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.92771942099998 meters 0.05314332110457956 Centerline is valid? [True, True] Translation: X:146.17, Y:-16.49, Z:-15.98 [[ 9.66968540e-01 2.44162964e-01 7.31866788e-02 1.46169354e+02] [-2.43470539e-01 9.69734213e-01 -1.83753117e-02 -1.64945355e+01] [-7.54581970e-02 -5.04518234e-05 9.97148965e-01 -1.59800467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.98771942099998 meters 0.05737946886162385 Centerline is valid? [True, True] Translation: X:146.22, Y:-16.53, Z:-16.00 [[ 9.71208339e-01 2.27533047e-01 7.05908901e-02 1.46220776e+02] [-2.26844717e-01 9.73769617e-01 -1.77259003e-02 -1.65315533e+01] [-7.27724922e-02 1.20237167e-03 9.97347842e-01 -1.59953076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.04771942099998 meters 0.058195123909931326 Centerline is valid? [True, True] Translation: X:146.28, Y:-16.55, Z:-15.99 [[ 9.73725349e-01 2.16389936e-01 7.09530904e-02 1.46279311e+02] [-2.15665026e-01 9.76304877e-01 -1.78152566e-02 -1.65531796e+01] [-7.31268904e-02 2.04506681e-03 9.97320548e-01 -1.59925286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.10771942099998 meters 0.06053428436833992 Centerline is valid? [True, True] Translation: X:146.34, Y:-16.57, Z:-16.00 [[ 9.74673655e-01 2.12045026e-01 7.10504987e-02 1.46337669e+02] [-2.11306979e-01 9.77257025e-01 -1.78344500e-02 -1.65689297e+01] [-7.32163054e-02 2.36930234e-03 9.97313270e-01 -1.60021126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.167719421 meters 0.058300725844810344 Centerline is valid? [True, True] Translation: X:146.40, Y:-16.57, Z:-16.01 [[ 9.73763297e-01 2.16302911e-01 7.06971855e-02 1.46400476e+02] [-2.15581240e-01 9.76324114e-01 -1.77750871e-02 -1.65724921e+01] [-7.28681701e-02 2.06774046e-03 9.97339438e-01 -1.60060972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.227719421 meters 0.05466986647807723 Centerline is valid? [True, True] Translation: X:146.47, Y:-16.56, Z:-16.01 [[ 9.70828516e-01 2.29661018e-01 6.89043501e-02 1.46465398e+02] [-2.29008555e-01 9.73270119e-01 -1.73308466e-02 -1.65638535e+01] [-7.10427649e-02 1.04559440e-03 9.97472723e-01 -1.60127223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.287719421 meters 0.0531356450104397 Centerline is valid? [True, True] Translation: X:146.53, Y:-16.55, Z:-16.02 [[ 9.67464337e-01 2.42823933e-01 7.10583815e-02 1.46530177e+02] [-2.42165179e-01 9.70070374e-01 -1.78744441e-02 -1.65516825e+01] [-7.32719735e-02 8.50215461e-05 9.97311993e-01 -1.60207123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.34771942099997 meters 0.053240406769640196 Centerline is valid? [True, True] Translation: X:146.60, Y:-16.55, Z:-16.02 [[ 9.64841966e-01 2.52838835e-01 7.17809376e-02 1.46595773e+02] [-2.52194946e-01 9.67508163e-01 -1.80461561e-02 -1.65506160e+01] [-7.40114122e-02 -6.91100955e-04 9.97257155e-01 -1.60243898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.40771942099997 meters 0.05403988875643909 Centerline is valid? [True, True] Translation: X:146.66, Y:-16.55, Z:-16.03 [[ 9.62983667e-01 2.60036978e-01 7.10156818e-02 1.46659496e+02] [-2.59423585e-01 9.65597919e-01 -1.78902744e-02 -1.65512827e+01] [-7.32247274e-02 -1.19510073e-03 9.97314750e-01 -1.60313368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.46771942099997 meters 0.055146340938882404 Centerline is valid? [True, True] Translation: X:146.72, Y:-16.56, Z:-16.04 [[ 9.61789274e-01 2.64284267e-01 7.15207514e-02 1.46720071e+02] [-2.63673810e-01 9.64443616e-01 -1.80175982e-02 -1.65595235e+01] [-7.37394998e-02 -1.52901634e-03 9.97276365e-01 -1.60400271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.52771942099997 meters 0.05688641184896609 Centerline is valid? [True, True] Translation: X:146.78, Y:-16.57, Z:-16.05 [[ 9.61215078e-01 2.67090288e-01 6.87630127e-02 1.46778780e+02] [-2.66530983e-01 9.63670103e-01 -1.73541725e-02 -1.65668578e+01] [-7.08999904e-02 -1.64638109e-03 9.97482070e-01 -1.60524065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.58771942099997 meters 0.05846434694841434 Centerline is valid? [True, True] Translation: X:146.84, Y:-16.58, Z:-16.06 [[ 9.60047568e-01 2.71634007e-01 6.72579670e-02 1.46838437e+02] [-2.71110114e-01 9.62398673e-01 -1.69734868e-02 -1.65766356e+01] [-6.93395544e-02 -1.93896045e-03 9.97591232e-01 -1.60600842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.64771942099998 meters 0.06021157448949778 Centerline is valid? [True, True] Translation: X:146.90, Y:-16.59, Z:-16.06 [[ 9.58218091e-01 2.77304341e-01 7.01455082e-02 1.46898593e+02] [-2.76750190e-01 9.60778986e-01 -1.76938525e-02 -1.65918299e+01] [-7.23009123e-02 -2.45821322e-03 9.97379835e-01 -1.60631839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.70771942099998 meters 0.06253544037482708 Centerline is valid? [True, True] Translation: X:146.96, Y:-16.60, Z:-16.07 [[ 9.56585370e-01 2.82910379e-01 7.00438993e-02 1.46957793e+02] [-2.82370562e-01 9.59142121e-01 -1.76990790e-02 -1.66032547e+01] [-7.21893073e-02 -2.84765511e-03 9.97386883e-01 -1.60718315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.76771942099998 meters 0.06650562056948997 Centerline is valid? [True, True] Translation: X:147.01, Y:-16.62, Z:-16.08 [[ 9.54959951e-01 2.88217518e-01 7.05843724e-02 1.47013586e+02] [-2.87683309e-01 9.57559389e-01 -1.78417963e-02 -1.66232289e+01] [-7.27310468e-02 -3.26774490e-03 9.97346237e-01 -1.60803761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.82771942099998 meters 0.06632212600340287 Centerline is valid? [True, True] Translation: X:147.07, Y:-16.65, Z:-16.09 [[ 9.53974284e-01 2.91687880e-01 6.96508925e-02 1.47070945e+02] [-2.91177035e-01 9.56507200e-01 -1.76042775e-02 -1.66458655e+01] [-7.17565346e-02 -3.48671234e-03 9.97416083e-01 -1.60852984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.88771942099999 meters 0.07301732035696851 Centerline is valid? [True, True] Translation: X:147.13, Y:-16.67, Z:-16.10 [[ 9.51602931e-01 2.99438738e-01 6.91975719e-02 1.47127559e+02] [-2.98954580e-01 9.54106977e-01 -1.74938792e-02 -1.66652950e+01] [-7.12602312e-02 -4.03970432e-03 9.97449578e-01 -1.60959920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.947719421 meters 0.07219592659958946 Centerline is valid? [True, True] Translation: X:147.18, Y:-16.70, Z:-16.10 [[ 9.51332685e-01 2.99285942e-01 7.34441790e-02 1.47183700e+02] [-2.98740087e-01 9.54153881e-01 -1.85669443e-02 -1.66972546e+01] [-7.56338739e-02 -4.27737949e-03 9.97126482e-01 -1.60970217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.007719421 meters 0.07230247227991263 Centerline is valid? [True, True] Translation: X:147.24, Y:-16.73, Z:-16.10 [[ 9.51229008e-01 2.99266487e-01 7.48528207e-02 1.47240608e+02] [-2.98699271e-01 9.54159625e-01 -1.89249698e-02 -1.67268821e+01] [-7.70851486e-02 -4.35650276e-03 9.97014995e-01 -1.61017922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.06771942099996 meters 0.07345586077023677 Centerline is valid? [True, True] Translation: X:147.30, Y:-16.76, Z:-16.11 [[ 9.51177460e-01 2.99792675e-01 7.33879467e-02 1.47296088e+02] [-2.99248076e-01 9.53994683e-01 -1.85669950e-02 -1.67561758e+01] [-7.55779601e-02 -4.30069467e-03 9.97130621e-01 -1.61110360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.12771942099997 meters 0.07960592136006144 Centerline is valid? [True, True] Translation: X:147.35, Y:-16.78, Z:-16.12 [[ 9.49530856e-01 3.05743155e-01 7.00876356e-02 1.47350816e+02] [-3.05261609e-01 9.52103178e-01 -1.77451145e-02 -1.67800448e+01] [-7.21561079e-02 -4.54553066e-03 9.97382993e-01 -1.61233345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.18771942099997 meters 0.08167776432842348 Centerline is valid? [True, True] Translation: X:147.41, Y:-16.81, Z:-16.13 [[ 9.48657092e-01 3.08270347e-01 7.08457091e-02 1.47406795e+02] [-3.07784961e-01 9.51286761e-01 -1.79419999e-02 -1.68065402e+01] [-7.29255717e-02 -4.78443837e-03 9.97325910e-01 -1.61284721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.24771942099997 meters 0.07656424899696247 Centerline is valid? [True, True] Translation: X:147.46, Y:-16.84, Z:-16.13 [[ 9.48408083e-01 3.09465241e-01 6.89447154e-02 1.47460644e+02] [-3.09008611e-01 9.50898924e-01 -1.74618231e-02 -1.68406794e+01] [-7.09632830e-02 -4.74357657e-03 9.97467649e-01 -1.61329054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.30771942099997 meters 0.07557837912537128 Centerline is valid? [True, True] Translation: X:147.51, Y:-16.87, Z:-16.14 [[ 9.49579168e-01 3.05818402e-01 6.90978140e-02 1.47514626e+02] [-3.05350021e-01 9.52079325e-01 -1.75021204e-02 -1.68715237e+01] [-7.11390706e-02 -4.47937008e-03 9.97456349e-01 -1.61419129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.36771942099998 meters 0.0690244184672282 Centerline is valid? [True, True] Translation: X:147.57, Y:-16.91, Z:-16.15 [[ 9.53375702e-01 2.93848057e-01 6.87611029e-02 1.47566046e+02] [-2.93353015e-01 9.55845495e-01 -1.74183423e-02 -1.69122706e+01] [-7.08433365e-02 -3.56505254e-03 9.97481084e-01 -1.61490558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.42771942099998 meters 0.06086016476838743 Centerline is valid? [True, True] Translation: X:147.62, Y:-16.96, Z:-16.15 [[ 9.58322616e-01 2.76283612e-01 7.26988902e-02 1.47616653e+02] [-2.75679382e-01 9.61073175e-01 -1.84181823e-02 -1.69562402e+01] [-7.49575952e-02 -2.39102449e-03 9.97183856e-01 -1.61509135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.48771942099998 meters 0.05508036495713533 Centerline is valid? [True, True] Translation: X:147.67, Y:-17.00, Z:-16.15 [[ 9.63280413e-01 2.57518095e-01 7.59952468e-02 1.47666984e+02] [-2.56799214e-01 9.66272990e-01 -1.92528713e-02 -1.70017032e+01] [-7.83901171e-02 -9.69605756e-04 9.96922289e-01 -1.61531191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.54771942099998 meters 0.05350549890642222 Centerline is valid? [True, True] Translation: X:147.72, Y:-17.03, Z:-16.15 [[ 9.65220821e-01 2.49427824e-01 7.83232232e-02 1.47723389e+02] [-2.48637598e-01 9.68393338e-01 -1.98415769e-02 -1.70299703e+01] [-8.07967289e-02 -3.22594924e-04 9.96730548e-01 -1.61521926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.60771942099998 meters 0.05383378898755131 Centerline is valid? [True, True] Translation: X:147.78, Y:-17.05, Z:-16.16 [[ 9.64905375e-01 2.50982225e-01 7.72369139e-02 1.47782076e+02] [-2.50219026e-01 9.67991591e-01 -1.95631879e-02 -1.70458061e+01] [-7.96746956e-02 -4.49520202e-04 9.96820817e-01 -1.61598885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.667719421 meters 0.05409161728262426 Centerline is valid? [True, True] Translation: X:147.84, Y:-17.06, Z:-16.17 [[ 9.64447091e-01 2.53404722e-01 7.50190418e-02 1.47842889e+02] [-2.52690570e-01 9.67360157e-01 -1.90211172e-02 -1.70555686e+01] [-7.73904729e-02 -6.11743308e-04 9.97000672e-01 -1.61702842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.727719421 meters 0.05449099441537848 Centerline is valid? [True, True] Translation: X:147.90, Y:-17.07, Z:-16.18 [[ 9.63721151e-01 2.56201173e-01 7.48498651e-02 1.47902364e+02] [-2.55496440e-01 9.66623147e-01 -1.90068639e-02 -1.70661790e+01] [-7.72211930e-02 -8.06557319e-04 9.97013659e-01 -1.61788199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.787719421 meters 0.05608015822898351 Centerline is valid? [True, True] Translation: X:147.96, Y:-17.07, Z:-16.18 [[ 9.61497979e-01 2.64930507e-01 7.30305653e-02 1.47963066e+02] [-2.64283462e-01 9.64266412e-01 -1.85617501e-02 -1.70725799e+01] [-7.53384950e-02 -1.45368540e-03 9.97156958e-01 -1.61839871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.84771942099997 meters 0.06067592743997739 Centerline is valid? [True, True] Translation: X:148.03, Y:-17.07, Z:-16.19 [[ 9.57253779e-01 2.79842895e-01 7.31652651e-02 1.48026430e+02] [-2.79236573e-01 9.60042213e-01 -1.85980074e-02 -1.70653667e+01] [-7.54462633e-02 -2.62740505e-03 9.97146408e-01 -1.61944210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.90771942099997 meters 0.06489962651609425 Centerline is valid? [True, True] Translation: X:148.09, Y:-17.06, Z:-16.20 [[ 9.53122067e-01 2.92904034e-01 7.59312365e-02 1.48088949e+02] [-2.92292028e-01 9.56134305e-01 -1.93018564e-02 -1.70647802e+01] [-7.82540517e-02 -3.79706979e-03 9.96926219e-01 -1.61980640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.96771942099997 meters 0.06575660769239122 Centerline is valid? [True, True] Translation: X:148.15, Y:-17.08, Z:-16.20 [[ 9.52344576e-01 2.95505692e-01 7.56055162e-02 1.48148703e+02] [-2.94907298e-01 9.55332621e-01 -1.92163430e-02 -1.70796374e+01] [-7.79069547e-02 -3.99603854e-03 9.96952626e-01 -1.62021048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.02771942099997 meters 0.0656741374465445 Centerline is valid? [True, True] Translation: X:148.21, Y:-17.09, Z:-16.21 [[ 9.52635287e-01 2.94984178e-01 7.39617751e-02 1.48209090e+02] [-2.94409662e-01 9.55494329e-01 -1.88026255e-02 -1.70944819e+01] [-7.62165336e-02 -3.86301668e-03 9.97083806e-01 -1.62127643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.08771942099997 meters 0.06616369605677097 Centerline is valid? [True, True] Translation: X:148.27, Y:-17.11, Z:-16.22 [[ 9.53217375e-01 2.92400917e-01 7.66703285e-02 1.48267128e+02] [-2.91772103e-01 9.56288457e-01 -1.95301525e-02 -1.71087823e+01] [-7.90295847e-02 -3.75378226e-03 9.96865203e-01 -1.62205157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.14771942099998 meters 0.063994632158569 Centerline is valid? [True, True] Translation: X:148.32, Y:-17.14, Z:-16.23 [[ 9.54293926e-01 2.89402821e-01 7.46264739e-02 1.48323431e+02] [-2.88798673e-01 9.57201290e-01 -1.90004215e-02 -1.71385110e+01] [-7.69313327e-02 -3.42003987e-03 9.97030528e-01 -1.62262898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.20771942099998 meters 0.06395817979442339 Centerline is valid? [True, True] Translation: X:148.38, Y:-17.16, Z:-16.24 [[ 9.54783387e-01 2.87919976e-01 7.40997371e-02 1.48380189e+02] [-2.87318109e-01 9.57648941e-01 -1.88894416e-02 -1.71595458e+01] [-7.64001823e-02 -3.25487134e-03 9.97071922e-01 -1.62353502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.26771942099998 meters 0.06344822926743819 Centerline is valid? [True, True] Translation: X:148.44, Y:-17.18, Z:-16.24 [[ 9.54264204e-01 2.88796476e-01 7.73073341e-02 1.48437956e+02] [-2.88142410e-01 9.57384303e-01 -1.97293802e-02 -1.71841809e+01] [-7.97106036e-02 -3.44848027e-03 9.96812082e-01 -1.62392474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.32771942099998 meters 0.062394280580953115 Centerline is valid? [True, True] Translation: X:148.50, Y:-17.21, Z:-16.24 [[ 9.53412188e-01 2.91229683e-01 7.86795529e-02 1.48495923e+02] [-2.90558458e-01 9.56646030e-01 -2.01036319e-02 -1.72093173e+01] [-8.11232563e-02 -3.69396185e-03 9.96697232e-01 -1.62397041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.38771942099999 meters 0.06444620121051205 Centerline is valid? [True, True] Translation: X:148.55, Y:-17.23, Z:-16.25 [[ 9.51234245e-01 2.99036531e-01 7.57004938e-02 1.48553788e+02] [-2.98437295e-01 9.54232585e-01 -1.93740787e-02 -1.72256415e+01] [-7.80294352e-02 -4.16256348e-03 9.96942366e-01 -1.62495882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.447719421 meters 0.070266955563062 Centerline is valid? [True, True] Translation: X:148.61, Y:-17.23, Z:-16.26 [[ 9.49109423e-01 3.05694199e-01 7.57783572e-02 1.48612647e+02] [-3.05114877e-01 9.52118073e-01 -1.93929646e-02 -1.72334907e+01] [-7.80782603e-02 -4.71505868e-03 9.96936083e-01 -1.62579045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.507719421 meters 0.07176097542976467 Centerline is valid? [True, True] Translation: X:148.67, Y:-17.25, Z:-16.26 [[ 9.48047615e-01 3.08301795e-01 7.84584208e-02 1.48672093e+02] [-3.07689373e-01 9.51274918e-01 -2.00818242e-02 -1.72507042e+01] [-8.08267903e-02 -5.10229679e-03 9.96715103e-01 -1.62635204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.56771942099996 meters 0.06898270911536375 Centerline is valid? [True, True] Translation: X:148.73, Y:-17.28, Z:-16.27 [[ 9.48329099e-01 3.07206131e-01 7.93493058e-02 1.48728841e+02] [-3.06573550e-01 9.51629657e-01 -2.03385032e-02 -1.72752934e+01] [-8.17592655e-02 -5.03880399e-03 9.96639370e-01 -1.62675838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.62771942099997 meters 0.06735688014785293 Centerline is valid? [True, True] Translation: X:148.79, Y:-17.30, Z:-16.28 [[ 9.48472152e-01 3.07382696e-01 7.69184951e-02 1.48785005e+02] [-3.06789201e-01 9.51573354e-01 -1.97113734e-02 -1.73049106e+01] [-7.92525255e-02 -4.90207488e-03 9.96842519e-01 -1.62752005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.68771942099997 meters 0.07204160073700695 Centerline is valid? [True, True] Translation: X:148.84, Y:-17.32, Z:-16.28 [[ 9.47432577e-01 3.09791897e-01 8.00030854e-02 1.48843871e+02] [-3.09156186e-01 9.50789700e-01 -2.05279919e-02 -1.73204173e+01] [-8.24255151e-02 -5.28456048e-03 9.96583217e-01 -1.62807269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.74771942099997 meters 0.06952301865393613 Centerline is valid? [True, True] Translation: X:148.90, Y:-17.35, Z:-16.29 [[ 9.47887043e-01 3.07725031e-01 8.25557967e-02 1.48899550e+02] [-3.07037807e-01 9.51460896e-01 -2.12120116e-02 -1.73491894e+01] [-8.50760792e-02 -5.24115982e-03 9.96360673e-01 -1.62860495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.80771942099997 meters 0.06813670537705153 Centerline is valid? [True, True] Translation: X:148.95, Y:-17.38, Z:-16.29 [[ 9.49551743e-01 3.02428170e-01 8.29981324e-02 1.48954713e+02] [-3.01713141e-01 9.53160148e-01 -2.13286850e-02 -1.73756305e+01] [-8.55609074e-02 -4.78893718e-03 9.96321433e-01 -1.62947776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.86771942099998 meters 0.06471270747447773 Centerline is valid? [True, True] Translation: X:149.01, Y:-17.41, Z:-16.30 [[ 9.50257879e-01 3.00732872e-01 8.10537049e-02 1.49010697e+02] [-3.00045199e-01 9.53697651e-01 -2.08247084e-02 -1.74059896e+01] [-8.35634023e-02 -4.53093178e-03 9.96492162e-01 -1.63012910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.92771942099998 meters 0.06556316156405416 Centerline is valid? [True, True] Translation: X:149.07, Y:-17.43, Z:-16.31 [[ 9.50354640e-01 3.00694349e-01 8.00560244e-02 1.49068922e+02] [-3.00021449e-01 9.53710183e-01 -2.05916618e-02 -1.74261794e+01] [-8.25420421e-02 -4.44914316e-03 9.96577652e-01 -1.63095426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.98771942099998 meters 0.06782491709685903 Centerline is valid? [True, True] Translation: X:149.13, Y:-17.44, Z:-16.32 [[ 9.49559607e-01 3.03213834e-01 7.99870243e-02 1.49127632e+02] [-3.02548786e-01 9.52911252e-01 -2.06004399e-02 -1.74413637e+01] [-8.24668739e-02 -4.63863145e-03 9.96583011e-01 -1.63175369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.04771942099998 meters 0.06819225922507648 Centerline is valid? [True, True] Translation: X:149.19, Y:-17.46, Z:-16.33 [[ 9.49574141e-01 3.03510569e-01 7.86783711e-02 1.49185528e+02] [-3.02866493e-01 9.52817120e-01 -2.02835439e-02 -1.74641573e+01] [-8.11223689e-02 -4.56831361e-03 9.96693680e-01 -1.63252321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.10771942099998 meters 0.06658670643392059 Centerline is valid? [True, True] Translation: X:149.24, Y:-17.49, Z:-16.33 [[ 9.50769135e-01 2.99440898e-01 7.98323337e-02 1.49241770e+02] [-2.98761046e-01 9.54105363e-01 -2.06105092e-02 -1.74902034e+01] [-8.23400871e-02 -4.25495548e-03 9.96595206e-01 -1.63316440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.167719421 meters 0.06096183056713859 Centerline is valid? [True, True] Translation: X:149.30, Y:-17.52, Z:-16.33 [[ 9.53407666e-01 2.90473330e-01 8.14804636e-02 1.49295896e+02] [-2.89732155e-01 9.56876507e-01 -2.10387612e-02 -1.75248285e+01] [-8.40779404e-02 -3.54899408e-03 9.96452861e-01 -1.63339407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.227719421 meters 0.05699750836225354 Centerline is valid? [True, True] Translation: X:149.35, Y:-17.56, Z:-16.34 [[ 9.56513178e-01 2.79384827e-01 8.38251714e-02 1.49350103e+02] [-2.78557624e-01 9.60175566e-01 -2.16455967e-02 -1.75584285e+01] [-8.65343327e-02 -2.64584214e-03 9.96245356e-01 -1.63369792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.287719421 meters 0.05531140828623303 Centerline is valid? [True, True] Translation: X:149.41, Y:-17.58, Z:-16.35 [[ 9.58864756e-01 2.70977108e-01 8.45564077e-02 1.49405922e+02] [-2.70102215e-01 9.62583922e-01 -2.18400044e-02 -1.75805489e+01] [-8.73107798e-02 -1.89726247e-03 9.96179315e-01 -1.63453068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.34771942099997 meters 0.056503959813309544 Centerline is valid? [True, True] Translation: X:149.47, Y:-17.59, Z:-16.35 [[ 9.58010997e-01 2.74845685e-01 8.16993188e-02 1.49465483e+02] [-2.74042961e-01 9.61485897e-01 -2.11027389e-02 -1.75914988e+01] [-8.43527395e-02 -2.17246730e-03 9.96433588e-01 -1.63534568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.40771942099997 meters 0.06070991070939152 Centerline is valid? [True, True] Translation: X:149.53, Y:-17.59, Z:-16.36 [[ 9.54512437e-01 2.86171307e-01 8.37376243e-02 1.49527181e+02] [-2.85370845e-01 9.58172972e-01 -2.16341337e-02 -1.75934158e+01] [-8.64261967e-02 -3.24622693e-03 9.96252967e-01 -1.63581229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.46771942099997 meters 0.06449300757737672 Centerline is valid? [True, True] Translation: X:149.59, Y:-17.60, Z:-16.37 [[ 9.50545759e-01 2.99558000e-01 8.20229494e-02 1.49589142e+02] [-2.98838958e-01 9.54068115e-01 -2.11969023e-02 -1.75970342e+01] [-8.46051824e-02 -4.36302713e-03 9.96405002e-01 -1.63661756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.52771942099997 meters 0.06767708738742818 Centerline is valid? [True, True] Translation: X:149.65, Y:-17.61, Z:-16.38 [[ 9.49647938e-01 3.02810938e-01 8.04632130e-02 1.49648106e+02] [-3.02130454e-01 9.53039730e-01 -2.07957443e-02 -1.76083765e+01] [-8.29818176e-02 -4.56175130e-03 9.96540621e-01 -1.63756936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.58771942099997 meters 0.06572851968146198 Centerline is valid? [True, True] Translation: X:149.71, Y:-17.63, Z:-16.38 [[ 9.49905133e-01 3.02051555e-01 8.02813569e-02 1.49705982e+02] [-3.01371424e-01 9.53281041e-01 -2.07490053e-02 -1.76317508e+01] [-8.27979649e-02 -4.48492018e-03 9.96556262e-01 -1.63799111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.64771942099998 meters 0.06540091867073403 Centerline is valid? [True, True] Translation: X:149.77, Y:-17.65, Z:-16.39 [[ 9.49990257e-01 3.01535757e-01 8.12077446e-02 1.49765913e+02] [-3.00835915e-01 9.53444398e-01 -2.10126553e-02 -1.76478869e+01] [-8.37631361e-02 -4.46838834e-03 9.96475675e-01 -1.63867438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.70771942099998 meters 0.06526609323968198 Centerline is valid? [True, True] Translation: X:149.82, Y:-17.67, Z:-16.39 [[ 9.50698924e-01 2.99236821e-01 8.14179367e-02 1.49822756e+02] [-2.98522449e-01 9.54169417e-01 -2.10967221e-02 -1.76685203e+01] [-8.39994212e-02 -4.24845085e-03 9.96456747e-01 -1.63935009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.76771942099998 meters 0.06444681338010844 Centerline is valid? [True, True] Translation: X:149.88, Y:-17.69, Z:-16.40 [[ 9.50417112e-01 3.00432393e-01 8.02975151e-02 1.49880685e+02] [-2.99742050e-01 9.53793435e-01 -2.08035106e-02 -1.76900554e+01] [-8.28372913e-02 -4.29652937e-03 9.96553823e-01 -1.64002566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.82771942099998 meters 0.06642109920139379 Centerline is valid? [True, True] Translation: X:149.94, Y:-17.70, Z:-16.41 [[ 9.49279396e-01 3.03888858e-01 8.07476981e-02 1.49940260e+02] [-3.03200690e-01 9.52696407e-01 -2.09498928e-02 -1.77016691e+01] [-8.32944809e-02 -4.59545621e-03 9.96514381e-01 -1.64075959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.88771942099999 meters 0.06861417389761987 Centerline is valid? [True, True] Translation: X:150.00, Y:-17.72, Z:-16.41 [[ 9.48396919e-01 3.06434321e-01 8.14941148e-02 1.50000695e+02] [-3.05742305e-01 9.51879401e-01 -2.11482437e-02 -1.77151002e+01] [-8.40531169e-02 -4.85926936e-03 9.96449427e-01 -1.64137994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.947719421 meters 0.06639363881800123 Centerline is valid? [True, True] Translation: X:150.06, Y:-17.74, Z:-16.42 [[ 9.48432022e-01 3.06055293e-01 8.25036739e-02 1.50058787e+02] [-3.05344523e-01 9.52001204e-01 -2.14109796e-02 -1.77385876e+01] [-8.50965405e-02 -4.88518626e-03 9.96360735e-01 -1.64170275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.007719421 meters 0.06743330910790475 Centerline is valid? [True, True] Translation: X:150.12, Y:-17.76, Z:-16.43 [[ 9.49410257e-01 3.03955555e-01 7.89378528e-02 1.50116196e+02] [-3.03295622e-01 9.52675736e-01 -2.05111646e-02 -1.77556644e+01] [-8.14366595e-02 -4.46799511e-03 9.96668504e-01 -1.64299523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.06771942099996 meters 0.0650685098568409 Centerline is valid? [True, True] Translation: X:150.17, Y:-17.78, Z:-16.44 [[ 9.50101400e-01 3.02081874e-01 7.78066309e-02 1.50173879e+02] [-3.01433308e-01 9.53272593e-01 -2.02317473e-02 -1.77818229e+01] [-8.02825730e-02 -4.23129871e-03 9.96763164e-01 -1.64355643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.12771942099997 meters 0.06656622977610245 Centerline is valid? [True, True] Translation: X:150.23, Y:-17.80, Z:-16.44 [[ 9.49942104e-01 3.02280408e-01 7.89718587e-02 1.50232331e+02] [-3.01612578e-01 9.53209314e-01 -2.05391288e-02 -1.77980241e+01] [-8.14852875e-02 -4.30792268e-03 9.96665235e-01 -1.64424637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.18771942099997 meters 0.06782170613586345 Centerline is valid? [True, True] Translation: X:150.29, Y:-17.81, Z:-16.45 [[ 9.48843279e-01 3.04962680e-01 8.18180668e-02 1.50292314e+02] [-3.04253775e-01 9.52352799e-01 -2.13022854e-02 -1.78144855e+01] [-8.44160669e-02 -4.68092534e-03 9.96419599e-01 -1.64466106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.24771942099997 meters 0.0670728929175334 Centerline is valid? [True, True] Translation: X:150.35, Y:-17.83, Z:-16.45 [[ 9.47944671e-01 3.07706038e-01 8.19627659e-02 1.50350083e+02] [-3.07002768e-01 9.51468800e-01 -2.13640546e-02 -1.78345200e+01] [-8.45588631e-02 -4.91085430e-03 9.96406384e-01 -1.64516570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.30771942099997 meters 0.06733844274579108 Centerline is valid? [True, True] Translation: X:150.41, Y:-17.86, Z:-16.46 [[ 9.47749276e-01 3.08042952e-01 8.29508795e-02 1.50408260e+02] [-3.07322112e-01 9.51359411e-01 -2.16423569e-02 -1.78553930e+01] [-8.55828754e-02 -4.98111138e-03 9.96318604e-01 -1.64578151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.36771942099998 meters 0.0663587026759995 Centerline is valid? [True, True] Translation: X:150.46, Y:-17.88, Z:-16.47 [[ 9.49312456e-01 3.03460881e-01 8.19594700e-02 1.50463830e+02] [-3.02737626e-01 9.52833347e-01 -2.14136132e-02 -1.78780119e+01] [-8.45919100e-02 -4.48400564e-03 9.96405591e-01 -1.64680130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.42771942099998 meters 0.06302566753056235 Centerline is valid? [True, True] Translation: X:150.52, Y:-17.91, Z:-16.47 [[ 9.51695166e-01 2.96202016e-01 8.08744471e-02 1.50518585e+02] [-2.95471842e-01 9.55117799e-01 -2.11277240e-02 -1.79091668e+01] [-8.35026983e-02 -3.78896906e-03 9.96500348e-01 -1.64744388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.48771942099998 meters 0.061299532581411166 Centerline is valid? [True, True] Translation: X:150.58, Y:-17.93, Z:-16.48 [[ 9.52769547e-01 2.93045567e-01 7.97150282e-02 1.50575064e+02] [-2.92323544e-01 9.56092279e-01 -2.08446679e-02 -1.79348969e+01] [-8.23233605e-02 -3.44241474e-03 9.96599726e-01 -1.64827332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.54771942099998 meters 0.06143613823258785 Centerline is valid? [True, True] Translation: X:150.63, Y:-17.96, Z:-16.49 [[ 9.52671118e-01 2.93475815e-01 7.93075424e-02 1.50632923e+02] [-2.92762667e-01 9.55960230e-01 -2.07378730e-02 -1.79558997e+01] [-8.19009206e-02 -3.46191500e-03 9.96634464e-01 -1.64886565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.60771942099998 meters 0.0637728908891738 Centerline is valid? [True, True] Translation: X:150.69, Y:-17.97, Z:-16.50 [[ 9.51228531e-01 2.98490106e-01 7.78969775e-02 1.50690990e+02] [-2.97817045e-01 9.54405155e-01 -2.03913708e-02 -1.79726662e+01] [-8.04318993e-02 -3.80219395e-03 9.96752854e-01 -1.64976660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.667719421 meters 0.0660520222408265 Centerline is valid? [True, True] Translation: X:150.75, Y:-17.98, Z:-16.50 [[ 9.48861373e-01 3.04779460e-01 8.22895869e-02 1.50751610e+02] [-3.04049882e-01 9.52412039e-01 -2.15633330e-02 -1.79845389e+01] [-8.49456542e-02 -4.55952543e-03 9.96375154e-01 -1.65013320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.727719421 meters 0.07090174850879175 Centerline is valid? [True, True] Translation: X:150.81, Y:-18.00, Z:-16.50 [[ 9.46326846e-01 3.12192529e-01 8.36739193e-02 1.50811110e+02] [-3.11466534e-01 9.50004025e-01 -2.19305691e-02 -1.79951342e+01] [-8.63371200e-02 -5.30813934e-03 9.96251838e-01 -1.65039756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.78771942099996 meters 0.07224302592618845 Centerline is valid? [True, True] Translation: X:150.87, Y:-18.01, Z:-16.51 [[ 9.45457791e-01 3.14607739e-01 8.44484207e-02 1.50870298e+02] [-3.13877202e-01 9.49205407e-01 -2.21403971e-02 -1.80105941e+01] [-8.71244379e-02 -5.57362302e-03 9.96181844e-01 -1.65127836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.84771942099997 meters 0.07172066878315649 Centerline is valid? [True, True] Translation: X:150.93, Y:-18.03, Z:-16.52 [[ 9.46337173e-01 3.11931949e-01 8.45246343e-02 1.50926028e+02] [-3.11189139e-01 9.50089505e-01 -2.21642011e-02 -1.80343215e+01] [-8.72196905e-02 -5.32834073e-03 9.96174851e-01 -1.65207057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.90771942099997 meters 0.07032776618977188 Centerline is valid? [True, True] Translation: X:150.98, Y:-18.06, Z:-16.53 [[ 9.47756122e-01 3.08112025e-01 8.26154490e-02 1.50981729e+02] [-3.07387169e-01 9.51337698e-01 -2.16728654e-02 -1.80583222e+01] [-8.52728615e-02 -4.85433812e-03 9.96345811e-01 -1.65298219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.96771942099997 meters 0.07084847641475236 Centerline is valid? [True, True] Translation: X:151.04, Y:-18.08, Z:-16.54 [[ 9.47573175e-01 3.08740789e-01 8.23662749e-02 1.51040354e+02] [-3.08022112e-01 9.51133647e-01 -2.16139751e-02 -1.80766160e+01] [-8.50144511e-02 -4.88981093e-03 9.96367720e-01 -1.65391909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.02771942099997 meters 0.07040630213682321 Centerline is valid? [True, True] Translation: X:151.10, Y:-18.10, Z:-16.54 [[ 9.47861158e-01 3.07900839e-01 8.21967114e-02 1.51097614e+02] [-3.07180073e-01 9.51406430e-01 -2.15918370e-02 -1.81017155e+01] [-8.48506245e-02 -4.78312820e-03 9.96382202e-01 -1.65437988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.08771942099997 meters 0.06831362421656742 Centerline is valid? [True, True] Translation: X:151.16, Y:-18.12, Z:-16.55 [[ 9.48211301e-01 3.06863595e-01 8.20369548e-02 1.51155328e+02] [-3.06139899e-01 9.51742096e-01 -2.15718569e-02 -1.81245728e+01] [-8.46976408e-02 -4.66010652e-03 9.96395801e-01 -1.65513614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.14771942099998 meters 0.06919877337594234 Centerline is valid? [True, True] Translation: X:151.21, Y:-18.14, Z:-16.56 [[ 9.48024818e-01 3.06857143e-01 8.41881069e-02 1.51213422e+02] [-3.06092609e-01 9.51743696e-01 -2.21641973e-02 -1.81427099e+01] [-8.69267423e-02 -4.75714812e-03 9.96203348e-01 -1.65560087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.20771942099998 meters 0.06788865661643677 Centerline is valid? [True, True] Translation: X:151.27, Y:-18.16, Z:-16.56 [[ 9.48246743e-01 3.06523185e-01 8.28954266e-02 1.51271915e+02] [-3.05779897e-01 9.51851861e-01 -2.18332093e-02 -1.81646206e+01] [-8.55965510e-02 -4.64448544e-03 9.96319055e-01 -1.65627715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.26771942099998 meters 0.06754548937289845 Centerline is valid? [True, True] Translation: X:151.33, Y:-18.18, Z:-16.57 [[ 9.47994848e-01 3.07286681e-01 8.29497633e-02 1.51331428e+02] [-3.06542979e-01 9.51605430e-01 -2.18748052e-02 -1.81825739e+01] [-8.56572815e-02 -4.69046492e-03 9.96313620e-01 -1.65692326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.32771942099998 meters 0.06862857027022955 Centerline is valid? [True, True] Translation: X:151.39, Y:-18.20, Z:-16.57 [[ 9.47868248e-01 3.07573899e-01 8.33311512e-02 1.51390937e+02] [-3.06822431e-01 9.51512509e-01 -2.19986462e-02 -1.81996542e+01] [-8.60568421e-02 -4.71604816e-03 9.96279067e-01 -1.65743711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.38771942099999 meters 0.0701371837539756 Centerline is valid? [True, True] Translation: X:151.45, Y:-18.21, Z:-16.58 [[ 9.47657598e-01 3.08630256e-01 8.18073486e-02 1.51449505e+02] [-3.07907628e-01 9.51170491e-01 -2.16238424e-02 -1.82134776e+01] [-8.44865080e-02 -4.69710811e-03 9.96413552e-01 -1.65849443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.447719421 meters 0.07131980509814101 Centerline is valid? [True, True] Translation: X:151.51, Y:-18.23, Z:-16.59 [[ 9.47024439e-01 3.10295184e-01 8.28348411e-02 1.51508964e+02] [-3.09559908e-01 9.50627633e-01 -2.19035679e-02 -1.82296161e+01] [-8.55416605e-02 -4.89913169e-03 9.96322550e-01 -1.65905675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.507719421 meters 0.06870309010755594 Centerline is valid? [True, True] Translation: X:151.57, Y:-18.25, Z:-16.59 [[ 9.46691865e-01 3.10980953e-01 8.40556953e-02 1.51568229e+02] [-3.10224609e-01 9.50402918e-01 -2.22482463e-02 -1.82521744e+01] [-8.68055590e-02 -5.01391145e-03 9.96212656e-01 -1.65936392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.56771942099996 meters 0.06984516445064977 Centerline is valid? [True, True] Translation: X:151.63, Y:-18.27, Z:-16.60 [[ 9.46649005e-01 3.10769200e-01 8.53121647e-02 1.51626747e+02] [-3.09986607e-01 9.50472033e-01 -2.26101408e-02 -1.82673633e+01] [-8.81133620e-02 -5.04176123e-03 9.96097694e-01 -1.66003808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.62771942099997 meters 0.0656555780355727 Centerline is valid? [True, True] Translation: X:151.68, Y:-18.30, Z:-16.61 [[ 9.48428414e-01 3.06098410e-01 8.23851137e-02 1.51681905e+02] [-3.05349261e-01 9.51989579e-01 -2.18556643e-02 -1.82966976e+01] [-8.51197538e-02 -4.42770054e-03 9.96360890e-01 -1.66062171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.68771942099997 meters 0.062371738153882555 Centerline is valid? [True, True] Translation: X:151.74, Y:-18.32, Z:-16.61 [[ 9.50388471e-01 2.98832960e-01 8.63748592e-02 1.51739026e+02] [-2.97977470e-01 9.54297304e-01 -2.29364835e-02 -1.83218964e+01] [-8.92814725e-02 -3.93919259e-03 9.95998645e-01 -1.66117796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.74771942099997 meters 0.06289756048500712 Centerline is valid? [True, True] Translation: X:151.80, Y:-18.34, Z:-16.62 [[ 9.50929570e-01 2.97540082e-01 8.48696224e-02 1.51797446e+02] [-2.96708958e-01 9.54701964e-01 -2.25378502e-02 -1.83372974e+01] [-8.77311090e-02 -3.74966897e-03 9.96137135e-01 -1.66211152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.80771942099997 meters 0.06429118158365366 Centerline is valid? [True, True] Translation: X:151.86, Y:-18.35, Z:-16.63 [[ 9.50059186e-01 3.01833003e-01 7.92740971e-02 1.51856771e+02] [-3.01121110e-01 9.53353036e-01 -2.10728736e-02 -1.83486541e+01] [-8.19366899e-02 -3.85062700e-03 9.96630098e-01 -1.66310970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.86771942099998 meters 0.06635456272752231 Centerline is valid? [True, True] Translation: X:151.92, Y:-18.36, Z:-16.64 [[ 9.48120102e-01 3.07839074e-01 7.93938106e-02 1.51917575e+02] [-3.07144552e-01 9.51428452e-01 -2.11216700e-02 -1.83566714e+01] [-8.20396056e-02 -4.35949647e-03 9.96619535e-01 -1.66370198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.92771942099998 meters 0.06796921974833385 Centerline is valid? [True, True] Translation: X:151.98, Y:-18.37, Z:-16.64 [[ 9.47153870e-01 3.10736375e-01 7.96395094e-02 1.51977584e+02] [-3.10047581e-01 9.50484894e-01 -2.11887780e-02 -1.83675843e+01] [-8.22802747e-02 -4.62300415e-03 9.96598507e-01 -1.66443055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.98771942099998 meters 0.06779747537408733 Centerline is valid? [True, True] Translation: X:152.04, Y:-18.38, Z:-16.65 [[ 9.47281655e-01 3.09999429e-01 8.09803692e-02 1.52037601e+02] [-3.09282867e-01 9.50725531e-01 -2.15655462e-02 -1.83830945e+01] [-8.36754115e-02 -4.61719445e-03 9.96482367e-01 -1.66493557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.04771942099998 meters 0.06763274941067474 Centerline is valid? [True, True] Translation: X:152.10, Y:-18.40, Z:-16.65 [[ 9.47043448e-01 3.09956418e-01 8.38792322e-02 1.52097722e+02] [-3.09185276e-01 9.50738869e-01 -2.23622028e-02 -1.83994554e+01] [-8.66785547e-02 -4.75624590e-03 9.96224978e-01 -1.66524222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.10771942099998 meters 0.06486270578052772 Centerline is valid? [True, True] Translation: X:152.16, Y:-18.42, Z:-16.66 [[ 9.47893102e-01 3.06771575e-01 8.59643443e-02 1.52155294e+02] [-3.05946185e-01 9.51772286e-01 -2.29444513e-02 -1.84201785e+01] [-8.88571859e-02 -4.55157608e-03 9.96033977e-01 -1.66561451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.167719421 meters 0.0622024250019723 Centerline is valid? [True, True] Translation: X:152.21, Y:-18.44, Z:-16.67 [[ 9.50592578e-01 2.98445372e-01 8.54640919e-02 1.52211500e+02] [-2.97594555e-01 9.54419412e-01 -2.28269024e-02 -1.84420083e+01] [-8.83811717e-02 -3.73456444e-03 9.96079726e-01 -1.66658934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.227719421 meters 0.05950772959022086 Centerline is valid? [True, True] Translation: X:152.27, Y:-18.47, Z:-16.68 [[ 9.53408256e-01 2.90398410e-01 8.17401977e-02 1.52268214e+02] [-2.89589026e-01 9.56901620e-01 -2.18514387e-02 -1.84669615e+01] [-8.45629507e-02 -2.83772216e-03 9.96414098e-01 -1.66753891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.28771942099996 meters 0.05972268548609242 Centerline is valid? [True, True] Translation: X:152.33, Y:-18.48, Z:-16.68 [[ 9.53567925e-01 2.90096877e-01 8.09445138e-02 1.52327476e+02] [-2.89300762e-01 9.56993281e-01 -2.16547687e-02 -1.84812861e+01] [-8.37453367e-02 -2.76801666e-03 9.96483345e-01 -1.66834844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.34771942099997 meters 0.06146718906030172 Centerline is valid? [True, True] Translation: X:152.39, Y:-18.49, Z:-16.69 [[ 9.52241733e-01 2.94925372e-01 7.90867073e-02 1.52387877e+02] [-2.94180044e-01 9.55515275e-01 -2.11815971e-02 -1.84886446e+01] [-8.18155473e-02 -3.09573026e-03 9.96642681e-01 -1.66941164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.40771942099997 meters 0.06454247011083347 Centerline is valid? [True, True] Translation: X:152.45, Y:-18.50, Z:-16.70 [[ 9.49837511e-01 3.02466068e-01 7.95171666e-02 1.52449152e+02] [-3.01737095e-01 9.53152798e-01 -2.13182596e-02 -1.84978854e+01] [-8.22400600e-02 -3.74439620e-03 9.96605515e-01 -1.66971480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.46771942099997 meters 0.06457865375795843 Centerline is valid? [True, True] Translation: X:152.51, Y:-18.51, Z:-16.70 [[ 9.48599646e-01 3.05608295e-01 8.22330896e-02 1.52509782e+02] [-3.04839494e-01 9.52148302e-01 -2.20565999e-02 -1.85110726e+01] [-8.50387765e-02 -4.14501056e-03 9.96369021e-01 -1.67027689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.52771942099997 meters 0.06486040316050154 Centerline is valid? [True, True] Translation: X:152.57, Y:-18.53, Z:-16.71 [[ 9.48486804e-01 3.05559764e-01 8.37019257e-02 1.52568167e+02] [-3.04760889e-01 9.52163674e-01 -2.24752963e-02 -1.85301508e+01] [-8.65654793e-02 -4.19155138e-03 9.96237346e-01 -1.67067932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.58771942099997 meters 0.06342487598129937 Centerline is valid? [True, True] Translation: X:152.63, Y:-18.55, Z:-16.71 [[ 9.49556864e-01 3.01719234e-01 8.54825414e-02 1.52626033e+02] [-3.00868260e-01 9.53388847e-01 -2.29781556e-02 -1.85474734e+01] [-8.84310531e-02 -3.89991818e-03 9.96074666e-01 -1.67121639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.64771942099998 meters 0.06128589069167119 Centerline is valid? [True, True] Translation: X:152.68, Y:-18.57, Z:-16.72 [[ 9.50649551e-01 2.97665543e-01 8.75251730e-02 1.52684221e+02] [-2.96754858e-01 9.54663456e-01 -2.35423061e-02 -1.85690041e+01] [-9.05648175e-02 -3.59303756e-03 9.95884082e-01 -1.67170005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.70771942099998 meters 0.06003644921868429 Centerline is valid? [True, True] Translation: X:152.74, Y:-18.59, Z:-16.73 [[ 9.52092629e-01 2.93498967e-01 8.58951795e-02 1.52742206e+02] [-2.92604645e-01 9.55954258e-01 -2.31079590e-02 -1.85881606e+01] [-8.88940248e-02 -3.13241102e-03 9.96036164e-01 -1.67256399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.76771942099998 meters 0.06035028741057799 Centerline is valid? [True, True] Translation: X:152.80, Y:-18.60, Z:-16.74 [[ 9.52152208e-01 2.93363864e-01 8.56960710e-02 1.52802879e+02] [-2.92473043e-01 9.55995796e-01 -2.30555172e-02 -1.86004396e+01] [-8.86887392e-02 -3.11142908e-03 9.96054530e-01 -1.67357492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.82771942099998 meters 0.06032630875825606 Centerline is valid? [True, True] Translation: X:152.86, Y:-18.62, Z:-16.74 [[ 9.51657154e-01 2.95453105e-01 8.40007347e-02 1.52862333e+02] [-2.94603081e-01 9.55351832e-01 -2.26252232e-02 -1.86181461e+01] [-8.69349482e-02 -3.21541980e-03 9.96208801e-01 -1.67398170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.88771942099999 meters 0.06086379853780408 Centerline is valid? [True, True] Translation: X:152.92, Y:-18.63, Z:-16.75 [[ 9.50547462e-01 2.98957855e-01 8.41648518e-02 1.52922556e+02] [-2.98117642e-01 9.54259761e-01 -2.26755392e-02 -1.86282935e+01] [-8.70941620e-02 -3.53685096e-03 9.96193805e-01 -1.67488983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.947719421 meters 0.06479655521029001 Centerline is valid? [True, True] Translation: X:152.98, Y:-18.63, Z:-16.76 [[ 9.48832781e-01 3.04356218e-01 8.41643991e-02 1.52983211e+02] [-3.03536333e-01 9.52549792e-01 -2.26845253e-02 -1.86325171e+01] [-8.70749572e-02 -4.02313182e-03 9.96193639e-01 -1.67574387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.007719421 meters 0.06620348350468222 Centerline is valid? [True, True] Translation: X:153.04, Y:-18.64, Z:-16.76 [[ 9.47230863e-01 3.09709756e-01 8.26653429e-02 1.53043159e+02] [-3.08938192e-01 9.50820855e-01 -2.22911341e-02 -1.86439428e+01] [-8.55037137e-02 -4.42363135e-03 9.96328032e-01 -1.67624662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.06771942099996 meters 0.06538466203246206 Centerline is valid? [True, True] Translation: X:153.10, Y:-18.66, Z:-16.76 [[ 9.46165697e-01 3.11062666e-01 8.95013512e-02 1.53103591e+02] [-3.10163736e-01 9.50376662e-01 -2.41383082e-02 -1.86577389e+01] [-9.25685219e-02 -4.92123420e-03 9.95694155e-01 -1.67638544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.12771942099997 meters 0.06342735312089293 Centerline is valid? [True, True] Translation: X:153.16, Y:-18.68, Z:-16.77 [[ 9.48689420e-01 3.03301786e-01 8.94226572e-02 1.53160075e+02] [-3.02367346e-01 9.52885595e-01 -2.41460162e-02 -1.86796986e+01] [-9.25330918e-02 -4.13142142e-03 9.95701039e-01 -1.67704850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.18771942099997 meters 0.06222705922397331 Centerline is valid? [True, True] Translation: X:153.22, Y:-18.70, Z:-16.78 [[ 9.49837486e-01 2.99483521e-01 9.01020065e-02 1.53218074e+02] [-2.98517035e-01 9.54093979e-01 -2.43363555e-02 -1.86989585e+01] [-9.32541194e-02 -3.78140114e-03 9.95635159e-01 -1.67763192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.24771942099997 meters 0.06234215721156785 Centerline is valid? [True, True] Translation: X:153.28, Y:-18.72, Z:-16.78 [[ 9.49267978e-01 3.01653159e-01 8.88576299e-02 1.53276841e+02] [-3.00722552e-01 9.53409601e-01 -2.40016387e-02 -1.87160209e+01] [-9.19578876e-02 -3.93750623e-03 9.95755112e-01 -1.67826464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.30771942099997 meters 0.062268812971523 Centerline is valid? [True, True] Translation: X:153.34, Y:-18.73, Z:-16.79 [[ 9.48953972e-01 3.03239312e-01 8.67887021e-02 1.53335510e+02] [-3.02355947e-01 9.52906159e-01 -2.34677007e-02 -1.87335653e+01] [-8.98178182e-02 -3.97131246e-03 9.95950294e-01 -1.67937060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.36771942099998 meters 0.06270328136048725 Centerline is valid? [True, True] Translation: X:153.39, Y:-18.75, Z:-16.80 [[ 9.48418144e-01 3.05099264e-01 8.61246916e-02 1.53394770e+02] [-3.04236383e-01 9.52311691e-01 -2.32951774e-02 -1.87502841e+01] [-8.91248922e-02 -4.10869580e-03 9.96011984e-01 -1.68010202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.42771942099998 meters 0.06432245954056098 Centerline is valid? [True, True] Translation: X:153.45, Y:-18.76, Z:-16.81 [[ 9.47581671e-01 3.08121046e-01 8.45600269e-02 1.53454370e+02] [-3.07300651e-01 9.51337416e-01 -2.28786019e-02 -1.87631597e+01] [-8.74944963e-02 -4.30600755e-03 9.96155696e-01 -1.68082723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.48771942099998 meters 0.06583548598278209 Centerline is valid? [True, True] Translation: X:153.51, Y:-18.78, Z:-16.82 [[ 9.47203237e-01 3.09487005e-01 8.38082432e-02 1.53513611e+02] [-3.08686093e-01 9.50893546e-01 -2.26794925e-02 -1.87760073e+01] [-8.67117257e-02 -4.38835050e-03 9.96223780e-01 -1.68167542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.54771942099998 meters 0.0669519775135066 Centerline is valid? [True, True] Translation: X:153.57, Y:-18.79, Z:-16.82 [[ 9.45107305e-01 3.14469042e-01 8.87772690e-02 1.53574538e+02] [-3.13589762e-01 9.49253972e-01 -2.40490849e-02 -1.87851934e+01] [-9.18348679e-02 -5.11067684e-03 9.95761135e-01 -1.68203420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.60771942099998 meters 0.07079167802001177 Centerline is valid? [True, True] Translation: X:153.64, Y:-18.79, Z:-16.83 [[ 9.44483454e-01 3.16178254e-01 8.93438111e-02 1.53635661e+02] [-3.15293040e-01 9.48685066e-01 -2.42269495e-02 -1.87894688e+01] [-9.24191739e-02 -5.28752887e-03 9.95706151e-01 -1.68282927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.667719421 meters 0.06655838877908284 Centerline is valid? [True, True] Translation: X:153.69, Y:-18.81, Z:-16.83 [[ 9.46016597e-01 3.11428773e-01 8.98037683e-02 1.53692850e+02] [-3.10511986e-01 9.50257188e-01 -2.43635429e-02 -1.88126035e+01] [-9.29241847e-02 -4.83683048e-03 9.95661439e-01 -1.68317414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.727719421 meters 0.062175763406130034 Centerline is valid? [True, True] Translation: X:153.75, Y:-18.84, Z:-16.84 [[ 9.48297366e-01 3.05310938e-01 8.67025708e-02 1.53749113e+02] [-3.04428882e-01 9.52244028e-01 -2.35449877e-02 -1.88362430e+01] [-8.97505476e-02 -4.06711681e-03 9.95955972e-01 -1.68421054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.78771942099996 meters 0.06121886032260981 Centerline is valid? [True, True] Translation: X:153.81, Y:-18.86, Z:-16.85 [[ 9.49703908e-01 3.01321013e-01 8.52533562e-02 1.53806792e+02] [-3.00451549e-01 9.53515883e-01 -2.31587498e-02 -1.88564853e+01] [-8.82686471e-02 -3.62054774e-03 9.96090125e-01 -1.68522632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.84771942099997 meters 0.059374994234534 Centerline is valid? [True, True] Translation: X:153.86, Y:-18.88, Z:-16.86 [[ 9.50893387e-01 2.97552932e-01 8.52292156e-02 1.53863710e+02] [-2.96668459e-01 9.54699739e-01 -2.31567331e-02 -1.88806822e+01] [-8.82586637e-02 -3.26523577e-03 9.96092238e-01 -1.68554004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.90771942099997 meters 0.060053623517741204 Centerline is valid? [True, True] Translation: X:153.92, Y:-18.89, Z:-16.86 [[ 9.50765354e-01 2.97341319e-01 8.73692327e-02 1.53922909e+02] [-2.96410357e-01 9.54765472e-01 -2.37443607e-02 -1.88949960e+01] [-9.04773062e-02 -3.32182995e-03 9.95892977e-01 -1.68635265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.96771942099997 meters 0.05985531229141324 Centerline is valid? [True, True] Translation: X:153.98, Y:-18.92, Z:-16.87 [[ 9.49920582e-01 2.99910824e-01 8.77746355e-02 1.53981446e+02] [-2.98979731e-01 9.53960606e-01 -2.38805945e-02 -1.89150286e+01] [-9.08955932e-02 -3.55816872e-03 9.95854071e-01 -1.68676063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.02771942099997 meters 0.060309336644233706 Centerline is valid? [True, True] Translation: X:154.04, Y:-18.93, Z:-16.87 [[ 9.49190092e-01 3.01505197e-01 9.01819587e-02 1.54041496e+02] [-3.00528968e-01 9.53456926e-01 -2.45403814e-02 -1.89313298e+01] [-9.33836657e-02 -3.80880409e-03 9.95622913e-01 -1.68725877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.08771942099997 meters 0.061801816553000995 Centerline is valid? [True, True] Translation: X:154.10, Y:-18.94, Z:-16.88 [[ 9.48566184e-01 3.03770195e-01 8.91395683e-02 1.54100388e+02] [-3.02824014e-01 9.52737102e-01 -2.42823278e-02 -1.89434684e+01] [-9.23028215e-02 -3.96020686e-03 9.95723107e-01 -1.68832761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.14771942099998 meters 0.06128338832108051 Centerline is valid? [True, True] Translation: X:154.16, Y:-18.96, Z:-16.89 [[ 9.48812140e-01 3.03750379e-01 8.65518990e-02 1.54158223e+02] [-3.02856183e-01 9.52743994e-01 -2.36011722e-02 -1.89636712e+01] [-8.96306670e-02 -3.81969900e-03 9.95967747e-01 -1.68917298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.20771942099998 meters 0.06246443604362305 Centerline is valid? [True, True] Translation: X:154.22, Y:-18.98, Z:-16.90 [[ 9.48889180e-01 3.04156109e-01 8.42519211e-02 1.54216790e+02] [-3.03309527e-01 9.52614843e-01 -2.29845885e-02 -1.89774458e+01] [-8.72505336e-02 -3.74458300e-03 9.96179363e-01 -1.69007178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.26771942099998 meters 0.061901005179025075 Centerline is valid? [True, True] Translation: X:154.28, Y:-19.00, Z:-16.91 [[ 9.48884235e-01 3.04218582e-01 8.40818769e-02 1.54276130e+02] [-3.03373830e-01 9.52594980e-01 -2.29591595e-02 -1.89972345e+01] [-8.70805768e-02 -3.72265652e-03 9.96194316e-01 -1.69074821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.32771942099998 meters 0.06182609585039077 Centerline is valid? [True, True] Translation: X:154.34, Y:-19.01, Z:-16.92 [[ 9.48983031e-01 3.04033707e-01 8.36343956e-02 1.54335203e+02] [-3.03194810e-01 9.52654247e-01 -2.28646602e-02 -1.90136981e+01] [-8.66262896e-02 -3.65934012e-03 9.96234157e-01 -1.69166525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.38771942099999 meters 0.06483453154792249 Centerline is valid? [True, True] Translation: X:154.40, Y:-19.02, Z:-16.92 [[ 9.47624674e-01 3.08023321e-01 8.44340608e-02 1.54395115e+02] [-3.07181645e-01 9.51370244e-01 -2.31105357e-02 -1.90231027e+01] [-8.74466369e-02 -4.03647981e-03 9.96161027e-01 -1.69215070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.447719421 meters 0.06587639645509873 Centerline is valid? [True, True] Translation: X:154.45, Y:-19.04, Z:-16.93 [[ 9.46471734e-01 3.11362508e-01 8.51154839e-02 1.54454735e+02] [-3.10519872e-01 9.50281154e-01 -2.33052961e-02 -1.90373951e+01] [-8.81400357e-02 -4.37224514e-03 9.96098498e-01 -1.69270678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.507719421 meters 0.0660818764036902 Centerline is valid? [True, True] Translation: X:154.51, Y:-19.05, Z:-16.93 [[ 9.45677061e-01 3.12957472e-01 8.80483767e-02 1.54514597e+02] [-3.12060607e-01 9.49755721e-01 -2.41298279e-02 -1.90509131e+01] [-9.11760594e-02 -4.65740515e-03 9.95823897e-01 -1.69337312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.56771942099996 meters 0.0648680523172708 Centerline is valid? [True, True] Translation: X:154.57, Y:-19.07, Z:-16.94 [[ 9.46436097e-01 3.11421829e-01 8.52945455e-02 1.54572511e+02] [-3.10572008e-01 9.50261839e-01 -2.33979874e-02 -1.90723927e+01] [-8.83387957e-02 -4.34539841e-03 9.96081008e-01 -1.69411434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.62771942099997 meters 0.06325746423068666 Centerline is valid? [True, True] Translation: X:154.63, Y:-19.09, Z:-16.95 [[ 9.47801751e-01 3.07262229e-01 8.52159801e-02 1.54630367e+02] [-3.06394695e-01 9.51616784e-01 -2.34048318e-02 -1.90921134e+01] [-8.82843778e-02 -3.92658376e-03 9.96087572e-01 -1.69473700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.68771942099997 meters 0.06242743946453396 Centerline is valid? [True, True] Translation: X:154.69, Y:-19.11, Z:-16.96 [[ 9.49061921e-01 3.03843078e-01 8.34317311e-02 1.54687417e+02] [-3.02997992e-01 9.52715559e-01 -2.29189986e-02 -1.91107974e+01] [-8.64504874e-02 -3.52809810e-03 9.96249901e-01 -1.69553521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.74771942099997 meters 0.06209670664321047 Centerline is valid? [True, True] Translation: X:154.75, Y:-19.13, Z:-16.97 [[ 9.49941900e-01 3.01794558e-01 8.08110828e-02 1.54745545e+02] [-3.00994548e-01 9.53367486e-01 -2.21972847e-02 -1.91285334e+01] [-8.37416786e-02 -3.23756454e-03 9.96482237e-01 -1.69674936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.80771942099997 meters 0.061770054466388266 Centerline is valid? [True, True] Translation: X:154.81, Y:-19.15, Z:-16.97 [[ 9.49662312e-01 3.01984590e-01 8.33474674e-02 1.54805161e+02] [-3.01132217e-01 9.53306973e-01 -2.29172878e-02 -1.91456794e+01] [-8.63763896e-02 -3.33492316e-03 9.96256994e-01 -1.69722402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.86771942099998 meters 0.06112943862236891 Centerline is valid? [True, True] Translation: X:154.86, Y:-19.16, Z:-16.98 [[ 9.48827519e-01 3.04432911e-01 8.39460641e-02 1.54864647e+02] [-3.03575783e-01 9.52527122e-01 -2.31046824e-02 -1.91624868e+01] [-8.69947285e-02 -3.56163364e-03 9.96202405e-01 -1.69763379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.92771942099998 meters 0.06529119296158856 Centerline is valid? [True, True] Translation: X:154.93, Y:-19.17, Z:-16.99 [[ 9.48463439e-01 3.05742730e-01 8.32975839e-02 1.54925211e+02] [-3.04901816e-01 9.52107242e-01 -2.29495472e-02 -1.91670926e+01] [-8.63248901e-02 -3.63077813e-03 9.96260423e-01 -1.69896953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.98771942099998 meters 0.06116124112204886 Centerline is valid? [True, True] Translation: X:154.98, Y:-19.19, Z:-16.99 [[ 9.48544059e-01 3.05897473e-01 8.17979483e-02 1.54983681e+02] [-3.05085464e-01 9.52057806e-01 -2.25564667e-02 -1.91899816e+01] [-8.47763413e-02 -3.55956253e-03 9.96393648e-01 -1.69927310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.04771942099998 meters 0.06225755174382043 Centerline is valid? [True, True] Translation: X:155.04, Y:-19.20, Z:-17.00 [[ 9.48928288e-01 3.05044907e-01 8.05152669e-02 1.55042932e+02] [-3.04253184e-01 9.52331877e-01 -2.22260362e-02 -1.92031915e+01] [-8.34571944e-02 -3.40611186e-03 9.96505542e-01 -1.70006710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.10771942099998 meters 0.062173136372731565 Centerline is valid? [True, True] Translation: X:155.10, Y:-19.22, Z:-17.01 [[ 9.49225946e-01 3.03700889e-01 8.20723687e-02 1.55101914e+02] [-3.02871182e-01 9.52761610e-01 -2.26795397e-02 -1.92154923e+01] [-8.50831985e-02 -3.32934783e-03 9.96368288e-01 -1.70093394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.167719421 meters 0.060055596675092894 Centerline is valid? [True, True] Translation: X:155.16, Y:-19.23, Z:-17.01 [[ 9.48889687e-01 3.04004901e-01 8.47902221e-02 1.55161285e+02] [-3.03119153e-01 9.52664205e-01 -2.34455016e-02 -1.92349683e+01] [-8.79041570e-02 -3.45434564e-03 9.96122948e-01 -1.70087143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.227719421 meters 0.06169016296407564 Centerline is valid? [True, True] Translation: X:155.22, Y:-19.25, Z:-17.01 [[ 9.47793705e-01 3.07326787e-01 8.50725517e-02 1.55222561e+02] [-3.06445907e-01 9.51596659e-01 -2.35521563e-02 -1.92452613e+01] [-8.81929645e-02 -3.74754981e-03 9.96096359e-01 -1.70135948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.28771942099996 meters 0.06452896243007597 Centerline is valid? [True, True] Translation: X:155.28, Y:-19.25, Z:-17.02 [[ 9.46168548e-01 3.12481144e-01 8.43837302e-02 1.55283612e+02] [-3.11634627e-01 9.49914720e-01 -2.33641633e-02 -1.92506704e+01] [-8.74582079e-02 -4.19045584e-03 9.96159376e-01 -1.70229794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.34771942099997 meters 0.06526760489502827 Centerline is valid? [True, True] Translation: X:155.34, Y:-19.26, Z:-17.03 [[ 9.45883478e-01 3.13382902e-01 8.42354027e-02 1.55343384e+02] [-3.12541158e-01 9.49617354e-01 -2.33432162e-02 -1.92629335e+01] [-8.73067651e-02 -4.24706778e-03 9.96172420e-01 -1.70327345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.40771942099997 meters 0.06332946780761081 Centerline is valid? [True, True] Translation: X:155.40, Y:-19.29, Z:-17.04 [[ 9.47990628e-01 3.07744242e-01 8.12850011e-02 1.55399280e+02] [-3.06937865e-01 9.51462406e-01 -2.25485324e-02 -1.92861356e+01] [-8.42788037e-02 -3.57364729e-03 9.96435804e-01 -1.70391059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.46771942099997 meters 0.0599486992925557 Centerline is valid? [True, True] Translation: X:155.46, Y:-19.31, Z:-17.05 [[ 9.50611204e-01 2.99643895e-01 8.09436580e-02 1.55455634e+02] [-2.98814237e-01 9.54046908e-01 -2.24621647e-02 -1.93094785e+01] [-8.39546971e-02 -2.83433205e-03 9.96465541e-01 -1.70455950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.52771942099997 meters 0.05785722412818186 Centerline is valid? [True, True] Translation: X:155.51, Y:-19.33, Z:-17.05 [[ 9.51772390e-01 2.95793744e-01 8.14578380e-02 1.55514320e+02] [-2.94937492e-01 9.55248589e-01 -2.26276029e-02 -1.93277058e+01] [-8.45055882e-02 -2.48864272e-03 9.96419898e-01 -1.70521807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.58771942099997 meters 0.05804190732859412 Centerline is valid? [True, True] Translation: X:155.57, Y:-19.34, Z:-17.06 [[ 9.51924545e-01 2.95526793e-01 8.06447525e-02 1.55573897e+02] [-2.94686672e-01 9.55331334e-01 -2.24010732e-02 -1.93430344e+01] [-8.36625762e-02 -2.44080238e-03 9.96491152e-01 -1.70593196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.64771942099998 meters 0.0617767726944803 Centerline is valid? [True, True] Translation: X:155.64, Y:-19.34, Z:-17.07 [[ 9.49205878e-01 3.03844860e-01 8.17710373e-02 1.55635968e+02] [-3.03009203e-01 9.52716187e-01 -2.27439974e-02 -1.93423612e+01] [-8.48152376e-02 -3.18864075e-03 9.96391594e-01 -1.70662547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.70771942099998 meters 0.062274939058743775 Centerline is valid? [True, True] Translation: X:155.70, Y:-19.36, Z:-17.07 [[ 9.47817091e-01 3.08772626e-01 7.93865728e-02 1.55695567e+02] [-3.08002401e-01 9.51129351e-01 -2.20788940e-02 -1.93557753e+01] [-8.23242575e-02 -3.52450200e-03 9.96599365e-01 -1.70734060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.76771942099998 meters 0.0632414962322241 Centerline is valid? [True, True] Translation: X:155.76, Y:-19.37, Z:-17.08 [[ 9.46934600e-01 3.11794846e-01 7.80950575e-02 1.55755075e+02] [-3.11057834e-01 9.50142233e-01 -2.17430631e-02 -1.93714772e+01] [-8.09807874e-02 -3.70282066e-03 9.96708785e-01 -1.70798899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.82771942099998 meters 0.06359936854938152 Centerline is valid? [True, True] Translation: X:155.82, Y:-19.38, Z:-17.08 [[ 9.45937387e-01 3.14052931e-01 8.10753712e-02 1.55815399e+02] [-3.13266723e-01 9.49396858e-01 -2.25735672e-02 -1.93845224e+01] [-8.40619976e-02 -4.04503468e-03 9.96452316e-01 -1.70840426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.88771942099999 meters 0.06900791039193209 Centerline is valid? [True, True] Translation: X:155.88, Y:-19.39, Z:-17.09 [[ 9.45657211e-01 3.14731843e-01 8.17086621e-02 1.55876638e+02] [-3.13933813e-01 9.49171708e-01 -2.27734335e-02 -1.93941084e+01] [-8.47230751e-02 -4.11525026e-03 9.96396038e-01 -1.70948555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.947719421 meters 0.065345399887953 Centerline is valid? [True, True] Translation: X:155.93, Y:-19.42, Z:-17.10 [[ 9.45407827e-01 3.14964914e-01 8.36728395e-02 1.55934405e+02] [-3.14126579e-01 9.49093975e-01 -2.33477908e-02 -1.94171824e+01] [-8.67671227e-02 -4.21067865e-03 9.96219723e-01 -1.70991918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.007719421 meters 0.06379710870220809 Centerline is valid? [True, True] Translation: X:155.99, Y:-19.44, Z:-17.10 [[ 9.45366712e-01 3.15347123e-01 8.26920244e-02 1.55992647e+02] [-3.14527876e-01 9.48967211e-01 -2.30964929e-02 -1.94389419e+01] [-8.57554323e-02 -4.17429128e-03 9.96307473e-01 -1.71017898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.06771942099996 meters 0.0676514685544459 Centerline is valid? [True, True] Translation: X:156.05, Y:-19.45, Z:-17.12 [[ 9.45216546e-01 3.16770818e-01 7.88792103e-02 1.56051136e+02] [-3.16028293e-01 9.48493335e-01 -2.20569809e-02 -1.94495908e+01] [-8.18034131e-02 -4.07943886e-03 9.96640136e-01 -1.71162460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.12771942099997 meters 0.06778881439117562 Centerline is valid? [True, True] Translation: X:156.11, Y:-19.46, Z:-17.13 [[ 9.44566405e-01 3.19600721e-01 7.51643885e-02 1.56109617e+02] [-3.18935034e-01 9.47543377e-01 -2.10236256e-02 -1.94632129e+01] [-7.79406844e-02 -4.11434637e-03 9.96949508e-01 -1.71294254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.18771942099997 meters 0.06696140180893627 Centerline is valid? [True, True] Translation: X:156.17, Y:-19.49, Z:-17.13 [[ 9.44087147e-01 3.20505776e-01 7.73014042e-02 1.56168024e+02] [-3.19803231e-01 9.47236839e-01 -2.16394331e-02 -1.94864610e+01] [-8.01583011e-02 -4.29172821e-03 9.96772907e-01 -1.71282960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.24771942099997 meters 0.06850232101356533 Centerline is valid? [True, True] Translation: X:156.23, Y:-19.50, Z:-17.13 [[ 9.43400643e-01 3.21560783e-01 8.12027712e-02 1.56227395e+02] [-3.20787238e-01 9.46877861e-01 -2.27566138e-02 -1.94995964e+01] [-8.42067409e-02 -4.58020859e-03 9.96437779e-01 -1.71342690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.30771942099997 meters 0.06700372428595516 Centerline is valid? [True, True] Translation: X:156.29, Y:-19.52, Z:-17.14 [[ 9.43091691e-01 3.22305563e-01 8.18363400e-02 1.56285176e+02] [-3.21520905e-01 9.46624200e-01 -2.29549903e-02 -1.95227309e+01] [-8.48667810e-02 -4.66343343e-03 9.96381394e-01 -1.71387385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.36771942099998 meters 0.06678392136174695 Centerline is valid? [True, True] Translation: X:156.34, Y:-19.54, Z:-17.15 [[ 9.44120461e-01 3.18885295e-01 8.33590064e-02 1.56342516e+02] [-3.18055494e-01 9.47783048e-01 -2.34093181e-02 -1.95397609e+01] [-8.64711405e-02 -4.41157374e-03 9.96244588e-01 -1.71472239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.42771942099998 meters 0.06224194650731034 Centerline is valid? [True, True] Translation: X:156.40, Y:-19.57, Z:-17.15 [[ 9.46293505e-01 3.12656667e-01 8.23068055e-02 1.56398285e+02] [-3.11823431e-01 9.49858667e-01 -2.31227166e-02 -1.95683031e+01] [-8.54093041e-02 -3.78431399e-03 9.96338763e-01 -1.71520979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.48771942099998 meters 0.06101982261838583 Centerline is valid? [True, True] Translation: X:156.46, Y:-19.59, Z:-17.16 [[ 9.47358222e-01 3.09746883e-01 8.10510209e-02 1.56456526e+02] [-3.08926291e-01 9.50812810e-01 -2.27935677e-02 -1.95879970e+01] [-8.41245855e-02 -3.44511755e-03 9.96449289e-01 -1.71587128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.54771942099998 meters 0.06291882838678378 Centerline is valid? [True, True] Translation: X:156.52, Y:-19.60, Z:-17.17 [[ 9.46827881e-01 3.12116831e-01 7.81028032e-02 1.56516362e+02] [-3.11362531e-01 9.50037218e-01 -2.19695135e-02 -1.95959626e+01] [-8.10576248e-02 -3.51693853e-03 9.96703212e-01 -1.71703364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.60771942099998 meters 0.06392943489545655 Centerline is valid? [True, True] Translation: X:156.58, Y:-19.61, Z:-17.18 [[ 9.45758560e-01 3.15480496e-01 7.75422662e-02 1.56576056e+02] [-3.14747412e-01 9.48924581e-01 -2.18221392e-02 -1.96095958e+01] [-8.04662218e-02 -3.76775268e-03 9.96750215e-01 -1.71774802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.667719421 meters 0.06454349082092635 Centerline is valid? [True, True] Translation: X:156.64, Y:-19.62, Z:-17.18 [[ 9.45598907e-01 3.15757195e-01 7.83587898e-02 1.56635486e+02] [-3.15009313e-01 9.48832299e-01 -2.20544979e-02 -1.96246745e+01] [-8.13132171e-02 -3.82903937e-03 9.96681243e-01 -1.71834394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.727719421 meters 0.06339754907780212 Centerline is valid? [True, True] Translation: X:156.70, Y:-19.64, Z:-17.19 [[ 9.44493627e-01 3.18441565e-01 8.07883565e-02 1.56695347e+02] [-3.17654365e-01 9.47933344e-01 -2.27613696e-02 -1.96417862e+01] [-8.38301431e-02 -4.16480562e-03 9.96471355e-01 -1.71859389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.78771942099996 meters 0.06838895621321785 Centerline is valid? [True, True] Translation: X:156.76, Y:-19.65, Z:-17.20 [[ 9.43180989e-01 3.22478515e-01 8.01076177e-02 1.56755827e+02] [-3.21716735e-01 9.46566281e-01 -2.25968562e-02 -1.96470190e+01] [-8.31141704e-02 -4.45903603e-03 9.96530056e-01 -1.71959907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.84771942099997 meters 0.06582756678322244 Centerline is valid? [True, True] Translation: X:156.81, Y:-19.67, Z:-17.20 [[ 9.43770756e-01 3.20962490e-01 7.92454420e-02 1.56814173e+02] [-3.20211258e-01 9.47082266e-01 -2.23591600e-02 -1.96684517e+01] [-8.22284045e-02 -4.27336128e-03 9.96604349e-01 -1.72012408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.90771942099997 meters 0.06332526726455143 Centerline is valid? [True, True] Translation: X:156.87, Y:-19.69, Z:-17.21 [[ 9.45638777e-01 3.14672102e-01 8.21509079e-02 1.56872260e+02] [-3.13838510e-01 9.49192688e-01 -2.32084260e-02 -1.96892742e+01] [-8.52800853e-02 -3.83533102e-03 9.96349636e-01 -1.72067648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.96771942099997 meters 0.059965872526238785 Centerline is valid? [True, True] Translation: X:156.93, Y:-19.72, Z:-17.21 [[ 9.47904283e-01 3.08221759e-01 8.04786818e-02 1.56928525e+02] [-3.07398252e-01 9.51309209e-01 -2.27399127e-02 -1.97153151e+01] [-8.35690471e-02 -3.18374551e-03 9.96496903e-01 -1.72113825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.02771942099997 meters 0.05977320868207617 Centerline is valid? [True, True] Translation: X:156.99, Y:-19.73, Z:-17.22 [[ 9.49104832e-01 3.05100047e-01 7.81919350e-02 1.56986933e+02] [-3.04312090e-01 9.52316115e-01 -2.20945585e-02 -1.97297636e+01] [-8.12044905e-02 -2.82469895e-03 9.96693459e-01 -1.72240541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.08771942099997 meters 0.05991383063966544 Centerline is valid? [True, True] Translation: X:157.05, Y:-19.75, Z:-17.23 [[ 9.49126187e-01 3.04903405e-01 7.86981239e-02 1.57045914e+02] [-3.04102857e-01 9.52379145e-01 -2.22579450e-02 -1.97485795e+01] [-8.17369752e-02 -2.80672588e-03 9.96649983e-01 -1.72308054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.14771942099998 meters 0.061168275027577976 Centerline is valid? [True, True] Translation: X:157.11, Y:-19.76, Z:-17.24 [[ 9.48050323e-01 3.07914817e-01 7.99315329e-02 1.57107317e+02] [-3.07097336e-01 9.51408917e-01 -2.26340456e-02 -1.97594173e+01] [-8.30169311e-02 -3.08854650e-03 9.96543351e-01 -1.72364281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.20771942099998 meters 0.06367585355462284 Centerline is valid? [True, True] Translation: X:157.17, Y:-19.77, Z:-17.24 [[ 9.46394053e-01 3.12056285e-01 8.34216442e-02 1.57168141e+02] [-3.11181218e-01 9.50056806e-01 -2.36286741e-02 -1.97671053e+01] [-8.66287771e-02 -3.59721217e-03 9.96234167e-01 -1.72405769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.26771942099998 meters 0.06448648876536252 Centerline is valid? [True, True] Translation: X:157.23, Y:-19.78, Z:-17.25 [[ 9.45936584e-01 3.13321928e-01 8.38650560e-02 1.57228156e+02] [-3.12441992e-01 9.49639655e-01 -2.37597976e-02 -1.97817286e+01] [-8.70860484e-02 -3.72770332e-03 9.96193819e-01 -1.72465613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.32771942099998 meters 0.0668570798824702 Centerline is valid? [True, True] Translation: X:157.29, Y:-19.79, Z:-17.26 [[ 9.44913610e-01 3.17030089e-01 8.14259970e-02 1.57288304e+02] [-3.16212220e-01 9.48407353e-01 -2.30938156e-02 -1.97899047e+01] [-8.45464487e-02 -3.92623465e-03 9.96411804e-01 -1.72561729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.38771942099999 meters 0.06973577916979197 Centerline is valid? [True, True] Translation: X:157.35, Y:-19.80, Z:-17.26 [[ 9.43910347e-01 3.19722409e-01 8.25278058e-02 1.57349265e+02] [-3.18892151e-01 9.47501857e-01 -2.34099940e-02 -1.97966547e+01] [-8.56799489e-02 -4.22053399e-03 9.96313773e-01 -1.72615571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.447719421 meters 0.06635021385378166 Centerline is valid? [True, True] Translation: X:157.41, Y:-19.82, Z:-17.27 [[ 9.43960978e-01 3.19823312e-01 8.15519473e-02 1.57407699e+02] [-3.19012355e-01 9.47468015e-01 -2.31403917e-02 -1.98185379e+01] [-8.46686984e-02 -4.17245198e-03 9.96400423e-01 -1.72657854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.507719421 meters 0.06311645871378277 Centerline is valid? [True, True] Translation: X:157.47, Y:-19.84, Z:-17.27 [[ 9.45061941e-01 3.17179782e-01 7.90880149e-02 1.57465114e+02] [-3.16406231e-01 9.48357830e-01 -2.24615943e-02 -1.98424444e+01] [-8.21281018e-02 -3.79634276e-03 9.96614551e-01 -1.72725890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.56771942099996 meters 0.06295153406277586 Centerline is valid? [True, True] Translation: X:157.52, Y:-19.86, Z:-17.28 [[ 9.46136533e-01 3.14224292e-01 7.80304780e-02 1.57522034e+02] [-3.13459017e-01 9.49342449e-01 -2.21891642e-02 -1.98592121e+01] [-8.10500195e-02 -3.46537805e-03 9.96704011e-01 -1.72825298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.62771942099997 meters 0.06124291430545007 Centerline is valid? [True, True] Translation: X:157.58, Y:-19.88, Z:-17.29 [[ 9.46614631e-01 3.12958592e-01 7.73153318e-02 1.57580017e+02] [-3.12203231e-01 9.49760942e-01 -2.19840072e-02 -1.98823365e+01] [-8.03111662e-02 -3.32771351e-03 9.96764287e-01 -1.72864958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.68771942099997 meters 0.06318764832878129 Centerline is valid? [True, True] Translation: X:157.64, Y:-19.89, Z:-17.30 [[ 9.45067857e-01 3.18134765e-01 7.50800736e-02 1.57639636e+02] [-3.17437027e-01 9.48038525e-01 -2.13702866e-02 -1.98920917e+01] [-7.79774333e-02 -3.63682444e-03 9.96948491e-01 -1.72968631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.74771942099997 meters 0.06668916919445023 Centerline is valid? [True, True] Translation: X:157.70, Y:-19.90, Z:-17.30 [[ 9.43267985e-01 3.23632193e-01 7.42139621e-02 1.57698673e+02] [-3.22965631e-01 9.46174418e-01 -2.11464542e-02 -1.99021199e+01] [-7.70630257e-02 -4.02178587e-03 9.97018112e-01 -1.73025211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.80771942099997 meters 0.06810496675354866 Centerline is valid? [True, True] Translation: X:157.76, Y:-19.92, Z:-17.31 [[ 9.42538022e-01 3.25571917e-01 7.50000252e-02 1.57758605e+02] [-3.24896737e-01 9.45507869e-01 -2.13770822e-02 -1.99152579e+01] [-7.78728917e-02 -4.21855066e-03 9.96954370e-01 -1.73100205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.86771942099998 meters 0.06710064648741415 Centerline is valid? [True, True] Translation: X:157.82, Y:-19.94, Z:-17.32 [[ 9.42387966e-01 3.25745203e-01 7.61247945e-02 1.57816958e+02] [-3.25049601e-01 9.45447862e-01 -2.17047860e-02 -1.99361608e+01] [-7.90422540e-02 -4.29000498e-03 9.96862036e-01 -1.73155020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.92771942099998 meters 0.06608835766159908 Centerline is valid? [True, True] Translation: X:157.87, Y:-19.96, Z:-17.32 [[ 9.42769246e-01 3.24802286e-01 7.54295893e-02 1.57874514e+02] [-3.24114668e-01 9.45772824e-01 -2.15278188e-02 -1.99591843e+01] [-7.83315405e-02 -4.15207076e-03 9.96918718e-01 -1.73212906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.98771942099998 meters 0.0652569609319553 Centerline is valid? [True, True] Translation: X:157.93, Y:-19.98, Z:-17.33 [[ 9.43120518e-01 3.23301486e-01 7.74586186e-02 1.57932202e+02] [-3.22568990e-01 9.46287093e-01 -2.21355744e-02 -1.99790828e+01] [-8.04545552e-02 -4.10923396e-03 9.96749808e-01 -1.73272737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.04771942099998 meters 0.06506858770592706 Centerline is valid? [True, True] Translation: X:157.99, Y:-20.00, Z:-17.34 [[ 9.44705177e-01 3.19382318e-01 7.43442188e-02 1.57988990e+02] [-3.18695032e-01 9.47619045e-01 -2.12514160e-02 -1.99990172e+01] [-7.72373240e-02 -3.61681046e-03 9.97006176e-01 -1.73385854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.10771942099998 meters 0.06403936749976386 Centerline is valid? [True, True] Translation: X:158.05, Y:-20.02, Z:-17.35 [[ 9.45568074e-01 3.16938694e-01 7.38300848e-02 1.58047069e+02] [-3.16252838e-01 9.48439983e-01 -2.11125664e-02 -2.00199001e+01] [-7.67147936e-02 -3.38560509e-03 9.97047330e-01 -1.73453091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.167719421 meters 0.06475454835934723 Centerline is valid? [True, True] Translation: X:158.11, Y:-20.04, Z:-17.35 [[ 9.45361396e-01 3.17797747e-01 7.27765256e-02 1.58106366e+02] [-3.17134060e-01 9.48152402e-01 -2.08089015e-02 -2.00355966e+01] [-7.56162596e-02 -3.40798287e-03 9.97131168e-01 -1.73547254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.227719421 meters 0.06590562921757301 Centerline is valid? [True, True] Translation: X:158.17, Y:-20.05, Z:-17.36 [[ 9.44307963e-01 3.20800681e-01 7.32761509e-02 1.58166647e+02] [-3.20135233e-01 9.47139681e-01 -2.09727798e-02 -2.00471376e+01] [-7.61308322e-02 -3.65351469e-03 9.97091143e-01 -1.73622816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.28771942099996 meters 0.06814448415810259 Centerline is valid? [True, True] Translation: X:158.23, Y:-20.06, Z:-17.37 [[ 9.43831007e-01 3.21373240e-01 7.68262418e-02 1.58226347e+02] [-3.20641759e-01 9.46944746e-01 -2.20115882e-02 -2.00585186e+01] [-7.98241415e-02 -3.85848188e-03 9.96801494e-01 -1.73671734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.34771942099997 meters 0.06459868568637296 Centerline is valid? [True, True] Translation: X:158.28, Y:-20.08, Z:-17.37 [[ 9.43532452e-01 3.21895141e-01 7.82945107e-02 1.58284114e+02] [-3.21136069e-01 9.46767025e-01 -2.24460480e-02 -2.00829057e+01] [-8.13519348e-02 -3.96461672e-03 9.96677553e-01 -1.73677139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.40771942099997 meters 0.06636722782518835 Centerline is valid? [True, True] Translation: X:158.35, Y:-20.09, Z:-17.38 [[ 9.41744272e-01 3.26776515e-01 7.95916756e-02 1.58345168e+02] [-3.26006999e-01 9.45091249e-01 -2.28466239e-02 -2.00917463e+01] [-8.26871362e-02 -4.43176613e-03 9.96565701e-01 -1.73765816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.46771942099997 meters 0.06738557106466156 Centerline is valid? [True, True] Translation: X:158.40, Y:-20.11, Z:-17.38 [[ 9.41570068e-01 3.27390917e-01 7.91264389e-02 1.58404584e+02] [-3.26632636e-01 9.44878453e-01 -2.27118777e-02 -2.01083350e+01] [-8.22005297e-02 -4.46045313e-03 9.96605828e-01 -1.73822894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.52771942099997 meters 0.06604744097683772 Centerline is valid? [True, True] Translation: X:158.46, Y:-20.13, Z:-17.39 [[ 9.43209814e-01 3.22958010e-01 7.78034047e-02 1.58460694e+02] [-3.22207789e-01 9.46404922e-01 -2.23576575e-02 -2.01293785e+01] [-8.08541097e-02 -3.98090100e-03 9.96717997e-01 -1.73911563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.58771942099997 meters 0.06393607183383777 Centerline is valid? [True, True] Translation: X:158.52, Y:-20.15, Z:-17.40 [[ 9.45219413e-01 3.17174113e-01 7.72064946e-02 1.58517493e+02] [-3.16415134e-01 9.48361060e-01 -2.21982755e-02 -2.01510986e+01] [-8.02603514e-02 -3.44706238e-03 9.96767974e-01 -1.74013004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.64771942099998 meters 0.06263314262668002 Centerline is valid? [True, True] Translation: X:158.57, Y:-20.17, Z:-17.41 [[ 9.46538597e-01 3.13098803e-01 7.76776894e-02 1.58574155e+02] [-3.12316487e-01 9.49715446e-01 -2.23379413e-02 -2.01722744e+01] [-8.07656841e-02 -3.11629943e-03 9.96728244e-01 -1.74069786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.70771942099998 meters 0.06184697765437105 Centerline is valid? [True, True] Translation: X:158.63, Y:-20.19, Z:-17.41 [[ 9.46503019e-01 3.13533119e-01 7.63480043e-02 1.58633003e+02] [-3.12778451e-01 9.49572222e-01 -2.19598692e-02 -2.01899271e+01] [-7.93830904e-02 -3.09492799e-03 9.96839378e-01 -1.74130796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.76771942099998 meters 0.06501060013263374 Centerline is valid? [True, True] Translation: X:158.69, Y:-20.20, Z:-17.42 [[ 9.44758814e-01 3.19042558e-01 7.51174415e-02 1.58693392e+02] [-3.18327250e-01 9.47734022e-01 -2.16329580e-02 -2.01968099e+01] [-7.80931893e-02 -3.47400087e-03 9.96940011e-01 -1.74217579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.82771942099998 meters 0.06766463496710232 Centerline is valid? [True, True] Translation: X:158.75, Y:-20.21, Z:-17.43 [[ 9.42757369e-01 3.24625559e-01 7.63334069e-02 1.58754216e+02] [-3.23905097e-01 9.45834152e-01 -2.19828220e-02 -2.02052188e+01] [-7.93349291e-02 -4.00031210e-03 9.96839990e-01 -1.74286298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.88771942099999 meters 0.07239844869964736 Centerline is valid? [True, True] Translation: X:158.81, Y:-20.21, Z:-17.44 [[ 9.40626959e-01 3.31023140e-01 7.51305858e-02 1.58814988e+02] [-3.30344085e-01 9.43612143e-01 -2.16543282e-02 -2.02102899e+01] [-7.80622167e-02 -4.45029977e-03 9.96938556e-01 -1.74367592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.947719421 meters 0.07489435133302139 Centerline is valid? [True, True] Translation: X:158.88, Y:-20.22, Z:-17.44 [[ 9.39362351e-01 3.34118950e-01 7.72198207e-02 1.58875627e+02] [-3.33411091e-01 9.42518546e-01 -2.22673461e-02 -2.02233660e+01] [-8.02210554e-02 -4.82883812e-03 9.96765401e-01 -1.74405168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.00771942099996 meters 0.07538967861876548 Centerline is valid? [True, True] Translation: X:158.93, Y:-20.24, Z:-17.45 [[ 9.39387486e-01 3.33910274e-01 7.78143970e-02 1.58934504e+02] [-3.33190824e-01 9.42592391e-01 -2.24379203e-02 -2.02394984e+01] [-8.08395106e-02 -4.84914151e-03 9.96715335e-01 -1.74504066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.06771942099996 meters 0.07062703300284436 Centerline is valid? [True, True] Translation: X:158.99, Y:-20.27, Z:-17.46 [[ 9.41104279e-01 3.29266250e-01 7.68535758e-02 1.58989955e+02] [-3.28547021e-01 9.44227004e-01 -2.21860466e-02 -2.02679727e+01] [-7.98723379e-02 -4.37063001e-03 9.96795519e-01 -1.74556986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.12771942099997 meters 0.06699029880703276 Centerline is valid? [True, True] Translation: X:159.04, Y:-20.30, Z:-17.46 [[ 9.43283245e-01 3.22868460e-01 7.72831003e-02 1.59044853e+02] [-3.22119611e-01 9.46436025e-01 -2.23115951e-02 -2.02970536e+01] [-8.03472205e-02 -3.84824845e-03 9.96759507e-01 -1.74600580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.18771942099997 meters 0.06436120361477064 Centerline is valid? [True, True] Translation: X:159.10, Y:-20.32, Z:-17.46 [[ 9.43861948e-01 3.21150488e-01 7.73756245e-02 1.59101763e+02] [-3.20392907e-01 9.47020976e-01 -2.23529785e-02 -2.03209500e+01] [-8.04550095e-02 -3.69247536e-03 9.96751402e-01 -1.74640834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.24771942099997 meters 0.0644574822719487 Centerline is valid? [True, True] Translation: X:159.16, Y:-20.34, Z:-17.47 [[ 9.44125669e-01 3.20157962e-01 7.82662236e-02 1.59159989e+02] [-3.19378238e-01 9.47357198e-01 -2.26247863e-02 -2.03384332e+01] [-8.13895758e-02 -3.63588714e-03 9.96675733e-01 -1.74732650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.30771942099997 meters 0.06636962599139568 Centerline is valid? [True, True] Translation: X:159.22, Y:-20.36, Z:-17.48 [[ 9.43295712e-01 3.22559857e-01 7.84113446e-02 1.59217677e+02] [-3.21783360e-01 9.46541338e-01 -2.26928260e-02 -2.03555562e+01] [-8.15393737e-02 -3.82542050e-03 9.96662780e-01 -1.74803981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.36771942099998 meters 0.06911581944331507 Centerline is valid? [True, True] Translation: X:159.28, Y:-20.37, Z:-17.48 [[ 9.41841509e-01 3.26494906e-01 7.95967855e-02 1.59276103e+02] [-3.25707865e-01 9.45189542e-01 -2.30459443e-02 -2.03709895e+01] [-8.27584327e-02 -4.21967216e-03 9.96560704e-01 -1.74845121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.42771942099998 meters 0.06986249280442652 Centerline is valid? [True, True] Translation: X:159.33, Y:-20.39, Z:-17.49 [[ 9.40439344e-01 3.30345306e-01 8.02858547e-02 1.59334979e+02] [-3.29558796e-01 9.43848933e-01 -2.32420324e-02 -2.03862047e+01] [-8.34556146e-02 -4.60118799e-03 9.96500873e-01 -1.74904105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.48771942099998 meters 0.07106583043819824 Centerline is valid? [True, True] Translation: X:159.39, Y:-20.41, Z:-17.50 [[ 9.40041139e-01 3.31210060e-01 8.13790713e-02 1.59392800e+02] [-3.30403757e-01 9.43545208e-01 -2.35753564e-02 -2.04072781e+01] [-8.45932280e-02 -4.72614605e-03 9.96404360e-01 -1.74975493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.54771942099998 meters 0.06750922432036735 Centerline is valid? [True, True] Translation: X:159.45, Y:-20.43, Z:-17.50 [[ 9.41708070e-01 3.26120863e-01 8.26504335e-02 1.59448697e+02] [-3.25267377e-01 9.45318251e-01 -2.39695015e-02 -2.04336604e+01] [-8.59479178e-02 -4.31121677e-03 9.96290303e-01 -1.75019146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.60771942099998 meters 0.06587633392136708 Centerline is valid? [True, True] Translation: X:159.51, Y:-20.46, Z:-17.51 [[ 9.43127656e-01 3.21838644e-01 8.32472979e-02 1.59505169e+02] [-3.20954477e-01 9.46786372e-01 -2.41617214e-02 -2.04564481e+01] [-8.65935828e-02 -3.93100527e-03 9.96235965e-01 -1.75077348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.667719421 meters 0.06787706229296296 Centerline is valid? [True, True] Translation: X:159.56, Y:-20.47, Z:-17.52 [[ 9.42862590e-01 3.23178437e-01 8.10298401e-02 1.59563575e+02] [-3.22344719e-01 9.46329869e-01 -2.35300009e-02 -2.04690380e+01] [-8.42853470e-02 -3.93398342e-03 9.96433893e-01 -1.75193897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.727719421 meters 0.06786693345276787 Centerline is valid? [True, True] Translation: X:159.62, Y:-20.49, Z:-17.53 [[ 9.41834021e-01 3.26399527e-01 8.00751311e-02 1.59622611e+02] [-3.25596347e-01 9.45222725e-01 -2.32598206e-02 -2.04863501e+01] [-8.32808280e-02 -4.16527981e-03 9.96517413e-01 -1.75252937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.78771942099996 meters 0.0682571881394331 Centerline is valid? [True, True] Translation: X:159.68, Y:-20.50, Z:-17.53 [[ 9.40452844e-01 3.30016664e-01 8.14705423e-02 1.59682025e+02] [-3.29198356e-01 9.43964092e-01 -2.36692982e-02 -2.05047825e+01] [-8.47165293e-02 -4.56010981e-03 9.96394658e-01 -1.75268054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.84771942099997 meters 0.06948555607086816 Centerline is valid? [True, True] Translation: X:159.74, Y:-20.52, Z:-17.53 [[ 9.39810496e-01 3.31688979e-01 8.20892948e-02 1.59741375e+02] [-3.30864442e-01 9.43376859e-01 -2.38500289e-02 -2.05221061e+01] [-8.53519328e-02 -4.74592127e-03 9.96339562e-01 -1.75331269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.90771942099997 meters 0.07486454300284906 Centerline is valid? [True, True] Translation: X:159.80, Y:-20.53, Z:-17.54 [[ 9.40437714e-01 3.28740289e-01 8.66413836e-02 1.59800528e+02] [-3.27806656e-01 9.44408659e-01 -2.52008172e-02 -2.05322022e+01] [-9.01093968e-02 -4.70182328e-03 9.95920775e-01 -1.75392536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.96771942099997 meters 0.06553413160065041 Centerline is valid? [True, True] Translation: X:159.85, Y:-20.57, Z:-17.54 [[ 9.42421843e-01 3.23303445e-01 8.55333396e-02 1.59852884e+02] [-3.22370711e-01 9.46286369e-01 -2.48843720e-02 -2.05705907e+01] [-8.89842366e-02 -4.12186777e-03 9.96024506e-01 -1.75424930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.02771942099997 meters 0.06550612297826972 Centerline is valid? [True, True] Translation: X:159.91, Y:-20.59, Z:-17.55 [[ 9.43028242e-01 3.21801443e-01 8.45077894e-02 1.59910025e+02] [-3.20883124e-01 9.46799095e-01 -2.46068054e-02 -2.05897821e+01] [-8.79304040e-02 -3.91221103e-03 9.96118938e-01 -1.75520592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.08771942099997 meters 0.06672808559556073 Centerline is valid? [True, True] Translation: X:159.97, Y:-20.61, Z:-17.56 [[ 9.42422813e-01 3.23569109e-01 8.45119655e-02 1.59969520e+02] [-3.22656529e-01 9.46195813e-01 -2.46221075e-02 -2.06074635e+01] [-8.79318213e-02 -4.06390166e-03 9.96118206e-01 -1.75577593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.14771942099998 meters 0.06634039874088804 Centerline is valid? [True, True] Translation: X:160.03, Y:-20.63, Z:-17.57 [[ 9.42331913e-01 3.24530264e-01 8.17965387e-02 1.60027662e+02] [-3.23678877e-01 9.45866783e-01 -2.38330513e-02 -2.06263682e+01] [-8.51031753e-02 -4.01716700e-03 9.96364046e-01 -1.75669901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.20771942099998 meters 0.06978949403417747 Centerline is valid? [True, True] Translation: X:160.09, Y:-20.64, Z:-17.58 [[ 9.41858700e-01 3.25969735e-01 8.15225169e-02 1.60086661e+02] [-3.25127508e-01 9.45371262e-01 -2.37756062e-02 -2.06401814e+01] [-8.48191728e-02 -4.11195122e-03 9.96387876e-01 -1.75760636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.26771942099998 meters 0.06879175363193984 Centerline is valid? [True, True] Translation: X:160.15, Y:-20.66, Z:-17.57 [[ 9.40918273e-01 3.27435297e-01 8.63650982e-02 1.60145815e+02] [-3.26495154e-01 9.44862942e-01 -2.51979362e-02 -2.06614596e+01] [-8.98538745e-02 -4.48858736e-03 9.95944845e-01 -1.75747837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.32771942099998 meters 0.07035651480882399 Centerline is valid? [True, True] Translation: X:160.20, Y:-20.68, Z:-17.58 [[ 9.40463016e-01 3.28735269e-01 8.63854039e-02 1.60204625e+02] [-3.27798104e-01 9.44410944e-01 -2.52263965e-02 -2.06781933e+01] [-8.98761271e-02 -4.59247867e-03 9.95942363e-01 -1.75808813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.38771942099999 meters 0.06661592388029627 Centerline is valid? [True, True] Translation: X:160.26, Y:-20.71, Z:-17.59 [[ 9.42626005e-01 3.22028295e-01 8.80567523e-02 1.60258779e+02] [-3.21023102e-01 9.46721565e-01 -2.57380302e-02 -2.07062175e+01] [-9.16536003e-02 -4.00691516e-03 9.95782889e-01 -1.75862763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.447719421 meters 0.06427687717377889 Centerline is valid? [True, True] Translation: X:160.31, Y:-20.73, Z:-17.60 [[ 9.44525040e-01 3.17002451e-01 8.59179539e-02 1.60314528e+02] [-3.16024282e-01 9.48418527e-01 -2.51187332e-02 -2.07309473e+01] [-8.94488793e-02 -3.42688724e-03 9.95985519e-01 -1.75954354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.50771942099996 meters 0.06447612934089184 Centerline is valid? [True, True] Translation: X:160.37, Y:-20.75, Z:-17.61 [[ 9.44731615e-01 3.17035565e-01 8.34902789e-02 1.60372782e+02] [-3.16111504e-01 9.48407818e-01 -2.44157373e-02 -2.07494900e+01] [-8.69234903e-02 -3.32591871e-03 9.96209438e-01 -1.76065651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.56771942099996 meters 0.06348364658020118 Centerline is valid? [True, True] Translation: X:160.43, Y:-20.77, Z:-17.61 [[ 9.42759937e-01 3.23043984e-01 8.27422850e-02 1.60430814e+02] [-3.22157709e-01 9.46376221e-01 -2.42169296e-02 -2.07715556e+01] [-8.61284644e-02 -3.82531392e-03 9.96276696e-01 -1.76087466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.62771942099997 meters 0.06702180123279379 Centerline is valid? [True, True] Translation: X:160.49, Y:-20.78, Z:-17.62 [[ 9.40633955e-01 3.28730436e-01 8.45225606e-02 1.60490010e+02] [-3.27826311e-01 9.44413462e-01 -2.47613150e-02 -2.07818054e+01] [-8.79640419e-02 -4.41738564e-03 9.96113856e-01 -1.76158884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.68771942099997 meters 0.06606663006376155 Centerline is valid? [True, True] Translation: X:160.55, Y:-20.80, Z:-17.62 [[ 9.39596152e-01 3.31287181e-01 8.60690140e-02 1.60548045e+02] [-3.30359703e-01 9.43518082e-01 -2.52209215e-02 -2.08033612e+01] [-8.95630390e-02 -4.73625315e-03 9.95969894e-01 -1.76184311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.74771942099997 meters 0.06679938796040974 Centerline is valid? [True, True] Translation: X:160.61, Y:-20.82, Z:-17.63 [[ 9.39661656e-01 3.31159021e-01 8.58468111e-02 1.60606823e+02] [-3.30233827e-01 9.43563298e-01 -2.51777938e-02 -2.08214740e+01] [-8.93397538e-02 -4.69091361e-03 9.95990162e-01 -1.76274667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.80771942099997 meters 0.0649259684775812 Centerline is valid? [True, True] Translation: X:160.66, Y:-20.85, Z:-17.63 [[ 9.41179763e-01 3.27080077e-01 8.48485584e-02 1.60662643e+02] [-3.26157621e-01 9.44987160e-01 -2.49093246e-02 -2.08473702e+01] [-8.83281420e-02 -4.22985172e-03 9.96082450e-01 -1.76337380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.86771942099998 meters 0.06233857806356968 Centerline is valid? [True, True] Translation: X:160.72, Y:-20.87, Z:-17.64 [[ 9.42968881e-01 3.22020959e-01 8.43338108e-02 1.60719085e+02] [-3.21088016e-01 9.46725245e-01 -2.47749235e-02 -2.08736669e+01] [-8.78189923e-02 -3.71659405e-03 9.96129515e-01 -1.76400363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.92771942099998 meters 0.061722482252178995 Centerline is valid? [True, True] Translation: X:160.78, Y:-20.90, Z:-17.65 [[ 9.43908752e-01 3.19191679e-01 8.45750577e-02 1.60775426e+02] [-3.18240133e-01 9.47683925e-01 -2.48675743e-02 -2.08956943e+01] [-8.80879455e-02 -3.44245659e-03 9.96106753e-01 -1.76472552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.98771942099998 meters 0.06091253169849628 Centerline is valid? [True, True] Translation: X:160.83, Y:-20.92, Z:-17.65 [[ 9.43590782e-01 3.19736021e-01 8.60541234e-02 1.60833785e+02] [-3.18751630e-01 9.47500053e-01 -2.53189154e-02 -2.09159699e+01] [-8.96316557e-02 -3.53919687e-03 9.95968694e-01 -1.76523872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.04771942099998 meters 0.06267563263378356 Centerline is valid? [True, True] Translation: X:160.89, Y:-20.93, Z:-17.66 [[ 9.42330994e-01 3.23791408e-01 8.46842464e-02 1.60892079e+02] [-3.22852392e-01 9.46120701e-01 -2.49389650e-02 -2.09329421e+01] [-8.81965411e-02 -3.83975186e-03 9.96095691e-01 -1.76596972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.10771942099998 meters 0.0638806033309532 Centerline is valid? [True, True] Translation: X:160.95, Y:-20.95, Z:-17.67 [[ 9.41868192e-01 3.25652868e-01 8.26711470e-02 1.60950747e+02] [-3.24763197e-01 9.45481374e-01 -2.43687896e-02 -2.09501167e+01] [-8.60997959e-02 -3.89635819e-03 9.96278898e-01 -1.76664058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.167719421 meters 0.06360606003295745 Centerline is valid? [True, True] Translation: X:161.01, Y:-20.97, Z:-17.67 [[ 9.41587576e-01 3.26582642e-01 8.21986279e-02 1.61008855e+02] [-3.25706162e-01 9.45160384e-01 -2.42351991e-02 -2.09710573e+01] [-8.56056821e-02 -3.95303719e-03 9.96321254e-01 -1.76735899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.227719421 meters 0.06414932600726338 Centerline is valid? [True, True] Translation: X:161.07, Y:-20.99, Z:-17.68 [[ 9.41402570e-01 3.26510173e-01 8.45713197e-02 1.61068045e+02] [-3.25579865e-01 9.45185061e-01 -2.49590055e-02 -2.09870147e+01] [-8.80849172e-02 -4.03824693e-03 9.96104784e-01 -1.76825727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.28771942099996 meters 0.06254914842804338 Centerline is valid? [True, True] Translation: X:161.13, Y:-21.01, Z:-17.68 [[ 9.42065370e-01 3.23539268e-01 8.85165614e-02 1.61125808e+02] [-3.22504338e-01 9.46206663e-01 -2.61515185e-02 -2.10115088e+01] [-9.22160033e-02 -3.91053510e-03 9.95731348e-01 -1.76805995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.34771942099997 meters 0.061077920699652094 Centerline is valid? [True, True] Translation: X:161.18, Y:-21.03, Z:-17.69 [[ 9.42666743e-01 3.21390117e-01 8.99322186e-02 1.61184518e+02] [-3.20311279e-01 9.46939445e-01 -2.65776664e-02 -2.10302839e+01] [-9.37021644e-02 -3.75242176e-03 9.95593202e-01 -1.76872501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.40771942099997 meters 0.0606627841470341 Centerline is valid? [True, True] Translation: X:161.24, Y:-21.05, Z:-17.70 [[ 9.42946279e-01 3.21315913e-01 8.72261390e-02 1.61243256e+02] [-3.20300669e-01 9.46965103e-01 -2.57793496e-02 -2.10477812e+01] [-9.08834250e-02 -3.63004892e-03 9.95854922e-01 -1.76988159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.46771942099997 meters 0.06148432208221387 Centerline is valid? [True, True] Translation: X:161.30, Y:-21.07, Z:-17.71 [[ 9.42817844e-01 3.22169803e-01 8.54466534e-02 1.61301946e+02] [-3.21197061e-01 9.46675000e-01 -2.52763323e-02 -2.10653215e+01] [-8.90334816e-02 -3.61423682e-03 9.96022076e-01 -1.77069695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.52771942099997 meters 0.06374714349239868 Centerline is valid? [True, True] Translation: X:161.36, Y:-21.08, Z:-17.72 [[ 9.41958270e-01 3.25223533e-01 8.33322869e-02 1.61361059e+02] [-3.24308333e-01 9.45629596e-01 -2.46732979e-02 -2.10774717e+01] [-8.68258139e-02 -3.78413804e-03 9.96216321e-01 -1.77188618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.58771942099997 meters 0.06666173273803694 Centerline is valid? [True, True] Translation: X:161.42, Y:-21.09, Z:-17.72 [[ 9.40947903e-01 3.27488152e-01 8.58402801e-02 1.61420851e+02] [-3.26524402e-01 9.44846417e-01 -2.54374191e-02 -2.10915562e+01] [-8.94363345e-02 -4.09365998e-03 9.95984128e-01 -1.77224829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.64771942099998 meters 0.06303078504773871 Centerline is valid? [True, True] Translation: X:161.48, Y:-21.12, Z:-17.72 [[ 9.41172537e-01 3.26158218e-01 8.84028945e-02 1.61477783e+02] [-3.25127871e-01 9.45306461e-01 -2.62214027e-02 -2.11173541e+01] [-9.21201534e-02 -4.06338078e-03 9.95739608e-01 -1.77236797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.70771942099998 meters 0.062355241581411924 Centerline is valid? [True, True] Translation: X:161.54, Y:-21.14, Z:-17.73 [[ 9.41072854e-01 3.26063082e-01 8.98039572e-02 1.61536926e+02] [-3.24998870e-01 9.45339061e-01 -2.66419594e-02 -2.11364549e+01] [-9.35821480e-02 -4.11415990e-03 9.95603061e-01 -1.77296858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.76771942099998 meters 0.06334702962509091 Centerline is valid? [True, True] Translation: X:161.60, Y:-21.15, Z:-17.74 [[ 9.40560488e-01 3.27422609e-01 9.02241798e-02 1.61596477e+02] [-3.26352265e-01 9.44868461e-01 -2.67916148e-02 -2.11521921e+01] [-9.40221624e-02 -4.24573108e-03 9.95561051e-01 -1.77369149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.82771942099998 meters 0.061323535042245365 Centerline is valid? [True, True] Translation: X:161.65, Y:-21.17, Z:-17.75 [[ 9.42551797e-01 3.22061882e-01 8.87257289e-02 1.61653262e+02] [-3.21000872e-01 9.46711680e-01 -2.63711147e-02 -2.11738560e+01] [-9.24908147e-02 -3.62489480e-03 9.95706939e-01 -1.77457794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.88771942099999 meters 0.06111508484014591 Centerline is valid? [True, True] Translation: X:161.71, Y:-21.19, Z:-17.76 [[ 9.43641198e-01 3.19446281e-01 8.65757617e-02 1.61710725e+02] [-3.18423481e-01 9.47598750e-01 -2.57506401e-02 -2.11907186e+01] [-9.02650298e-02 -3.26839057e-03 9.95912417e-01 -1.77578105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.947719421 meters 0.06143831136555677 Centerline is valid? [True, True] Translation: X:161.77, Y:-21.21, Z:-17.77 [[ 9.43911960e-01 3.19254771e-01 8.43006729e-02 1.61768742e+02] [-3.18282553e-01 9.47663707e-01 -2.50941268e-02 -2.12065400e+01] [-8.79001079e-02 -3.14478697e-03 9.96124330e-01 -1.77666266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.00771942099996 meters 0.06298280993788373 Centerline is valid? [True, True] Translation: X:161.83, Y:-21.22, Z:-17.78 [[ 9.43278878e-01 3.21816261e-01 8.16042425e-02 1.61828597e+02] [-3.20912928e-01 9.46796553e-01 -2.43141840e-02 -2.12197054e+01] [-8.50873153e-02 -3.25280018e-03 9.96368189e-01 -1.77768200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.06771942099996 meters 0.06260212559793968 Centerline is valid? [True, True] Translation: X:161.89, Y:-21.24, Z:-17.78 [[ 9.42475090e-01 3.23590420e-01 8.38447619e-02 1.61888262e+02] [-3.22643613e-01 9.46190756e-01 -2.49830327e-02 -2.12361248e+01] [-8.74174087e-02 -3.50609086e-03 9.96165601e-01 -1.77812694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.12771942099997 meters 0.06097450335045475 Centerline is valid? [True, True] Translation: X:161.95, Y:-21.26, Z:-17.78 [[ 9.42130051e-01 3.23710928e-01 8.71906081e-02 1.61947123e+02] [-3.22685265e-01 9.46149044e-01 -2.60039570e-02 -2.12559780e+01] [-9.09130756e-02 -3.63601507e-03 9.95852194e-01 -1.77820464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.18771942099997 meters 0.06084876431084176 Centerline is valid? [True, True] Translation: X:162.00, Y:-21.27, Z:-17.79 [[ 9.43652925e-01 3.18806519e-01 8.87781580e-02 1.62004971e+02] [-3.17719011e-01 9.47814427e-01 -2.65036357e-02 -2.12729806e+01] [-9.25947507e-02 -3.19627520e-03 9.95698748e-01 -1.77887594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.24771942099997 meters 0.057121797400896415 Centerline is valid? [True, True] Translation: X:162.06, Y:-21.30, Z:-17.79 [[ 9.46599434e-01 3.09485942e-01 9.03767843e-02 1.62059579e+02] [-3.08314442e-01 9.50901224e-01 -2.70012269e-02 -2.13007551e+01] [-9.42958950e-02 -2.30512173e-03 9.95541546e-01 -1.77942472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.30771942099997 meters 0.05415973875379484 Centerline is valid? [True, True] Translation: X:162.11, Y:-21.33, Z:-17.80 [[ 9.50685608e-01 2.97035120e-01 8.92581181e-02 1.62111912e+02] [-2.95836184e-01 9.54865988e-01 -2.66813877e-02 -2.13332635e+01] [-9.31548503e-02 -1.04016980e-03 9.95651089e-01 -1.78039108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.36771942099998 meters 0.05330903513766193 Centerline is valid? [True, True] Translation: X:162.17, Y:-21.36, Z:-17.81 [[ 9.53207922e-01 2.89091249e-01 8.84358945e-02 1.62168031e+02] [-2.87878612e-01 9.57301515e-01 -2.64521201e-02 -2.13579513e+01] [-9.23068922e-02 -2.44432189e-04 9.95730575e-01 -1.78124762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.42771942099998 meters 0.05306811467044799 Centerline is valid? [True, True] Translation: X:162.23, Y:-21.38, Z:-17.81 [[ 9.54106752e-01 2.85933020e-01 8.90090708e-02 1.62227275e+02] [-2.84689015e-01 9.58249603e-01 -2.66432573e-02 -2.13782806e+01] [-9.29110938e-02 8.06069988e-05 9.95674406e-01 -1.78147373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.48771942099998 meters 0.05340619998133898 Centerline is valid? [True, True] Translation: X:162.29, Y:-21.39, Z:-17.83 [[ 9.55735870e-01 2.81309611e-01 8.62197792e-02 1.62286422e+02] [-2.80121687e-01 9.59616911e-01 -2.58306787e-02 -2.13944834e+01] [-9.00043764e-02 5.35276140e-04 9.95941226e-01 -1.78256604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.54771942099998 meters 0.05401661694256962 Centerline is valid? [True, True] Translation: X:162.35, Y:-21.41, Z:-17.83 [[ 9.57753704e-01 2.74939085e-01 8.43584114e-02 1.62345489e+02] [-2.73775029e-01 9.61460978e-01 -2.52986364e-02 -2.14139930e+01] [-8.80629047e-02 1.13463615e-03 9.96114269e-01 -1.78311743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.60771942099998 meters 0.056271421559247296 Centerline is valid? [True, True] Translation: X:162.40, Y:-21.44, Z:-17.84 [[ 9.60343716e-01 2.64941337e-01 8.68679134e-02 1.62401736e+02] [-2.63665521e-01 9.64262206e-01 -2.60555467e-02 -2.14368884e+01] [-9.06666372e-02 2.11820686e-03 9.95879046e-01 -1.78378918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.667719421 meters 0.05868347582723944 Centerline is valid? [True, True] Translation: X:162.46, Y:-21.45, Z:-17.84 [[ 9.62084703e-01 2.57912629e-01 8.87361295e-02 1.62460890e+02] [-2.56549259e-01 9.66164002e-01 -2.66383062e-02 -2.14512275e+01] [-9.26040096e-02 2.86311864e-03 9.95698900e-01 -1.78446352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.727719421 meters 0.05636857732571392 Centerline is valid? [True, True] Translation: X:162.53, Y:-21.45, Z:-17.85 [[ 9.61890961e-01 2.58535803e-01 8.90225654e-02 1.62526052e+02] [-2.57164472e-01 9.65997529e-01 -2.67433932e-02 -2.14505566e+01] [-9.29097028e-02 2.83078714e-03 9.95670515e-01 -1.78464412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.78771942099996 meters 0.0563423609595716 Centerline is valid? [True, True] Translation: X:162.59, Y:-21.45, Z:-17.85 [[ 9.61542319e-01 2.59963290e-01 8.86310165e-02 1.62589523e+02] [-2.58607733e-01 9.65614711e-01 -2.66509107e-02 -2.14521153e+01] [-9.25116717e-02 2.70531227e-03 9.95707925e-01 -1.78537138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.84771942099997 meters 0.058101112920213194 Centerline is valid? [True, True] Translation: X:162.65, Y:-21.46, Z:-17.86 [[ 9.62623237e-01 2.56738233e-01 8.62669262e-02 1.62651500e+02] [-2.55439107e-01 9.66476452e-01 -2.59640287e-02 -2.14552205e+01] [-9.00409116e-02 2.95763076e-03 9.95933676e-01 -1.78637757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.90771942099997 meters 0.06207230638680477 Centerline is valid? [True, True] Translation: X:162.71, Y:-21.47, Z:-17.87 [[ 9.65365935e-01 2.46618884e-01 8.51336439e-02 1.62710038e+02] [-2.45312347e-01 9.69104804e-01 -2.56462829e-02 -2.14698401e+01] [-8.88282809e-02 3.87371384e-03 9.96039422e-01 -1.78701821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.96771942099997 meters 0.06606418742662377 Centerline is valid? [True, True] Translation: X:162.77, Y:-21.48, Z:-17.88 [[ 9.67475922e-01 2.38341438e-01 8.47567028e-02 1.62769135e+02] [-2.37014174e-01 9.71170434e-01 -2.55395811e-02 -2.14839176e+01] [-8.84003443e-02 4.62038991e-03 9.96074310e-01 -1.78776420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.02771942099997 meters 0.06884593583713737 Centerline is valid? [True, True] Translation: X:162.83, Y:-21.49, Z:-17.89 [[ 9.68531720e-01 2.34251732e-01 8.40977617e-02 1.62829885e+02] [-2.32929408e-01 9.72163331e-01 -2.53446068e-02 -2.14939806e+01] [-8.76937782e-02 4.95821379e-03 9.96135140e-01 -1.78854185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.08771942099997 meters 0.06594066398929525 Centerline is valid? [True, True] Translation: X:162.90, Y:-21.48, Z:-17.89 [[ 9.69331118e-01 2.30768637e-01 8.45163892e-02 1.62898597e+02] [-2.29417963e-01 9.72994101e-01 -2.54927121e-02 -2.14797668e+01] [-8.81168665e-02 5.32130125e-03 9.96095930e-01 -1.78864100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.14771942099998 meters 0.06878754426863679 Centerline is valid? [True, True] Translation: X:162.96, Y:-21.48, Z:-17.89 [[ 9.68569039e-01 2.34439205e-01 8.31401021e-02 1.62963692e+02] [-2.33145211e-01 9.72118377e-01 -2.50832855e-02 -2.14763198e+01] [-8.67025266e-02 4.91117707e-03 9.96222140e-01 -1.78942954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.20771942099998 meters 0.06419676446718679 Centerline is valid? [True, True] Translation: X:163.03, Y:-21.45, Z:-17.90 [[ 9.67365481e-01 2.40109129e-01 8.09421483e-02 1.63032701e+02] [-2.38901834e-01 9.70736405e-01 -2.44283732e-02 -2.14546689e+01] [-8.44389655e-02 4.29393729e-03 9.96419401e-01 -1.78967416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.26771942099998 meters 0.06530360537242491 Centerline is valid? [True, True] Translation: X:163.10, Y:-21.44, Z:-17.91 [[ 9.66740144e-01 2.43924861e-01 7.69035541e-02 1.63100822e+02] [-2.42848040e-01 9.69786873e-01 -2.32002191e-02 -2.14421226e+01] [-8.02391674e-02 3.75270578e-03 9.96768576e-01 -1.79052138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.32771942099998 meters 0.06489253963741337 Centerline is valid? [True, True] Translation: X:163.17, Y:-21.43, Z:-17.92 [[ 9.66238448e-01 2.47397300e-01 7.19571951e-02 1.63168002e+02] [-2.46462875e-01 9.68908639e-01 -2.17278554e-02 -2.14349932e+01] [-7.50953607e-02 3.25951208e-03 9.97171030e-01 -1.79161831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.38771942099999 meters 0.0658293893955295 Centerline is valid? [True, True] Translation: X:163.23, Y:-21.43, Z:-17.93 [[ 9.66393372e-01 2.47277673e-01 7.02680796e-02 1.63232954e+02] [-2.46384331e-01 9.68939314e-01 -2.12454074e-02 -2.14328677e+01] [-7.33390197e-02 3.21846714e-03 9.97301875e-01 -1.79263479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.447719421 meters 0.0704017603838539 Centerline is valid? [True, True] Translation: X:163.29, Y:-21.44, Z:-17.93 [[ 9.67502376e-01 2.42815982e-01 7.05659291e-02 1.63292430e+02] [-2.41900796e-01 9.70065674e-01 -2.13680224e-02 -2.14433981e+01] [-7.36420829e-02 3.60365805e-03 9.97278225e-01 -1.79341126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.50771942099996 meters 0.07236187897355767 Centerline is valid? [True, True] Translation: X:163.36, Y:-21.45, Z:-17.94 [[ 9.69124150e-01 2.36012756e-01 7.13888050e-02 1.63355390e+02] [-2.35057272e-01 9.71740992e-01 -2.16223054e-02 -2.14463520e+01] [-7.44745681e-02 4.17424059e-03 9.97214177e-01 -1.79393956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.56771942099996 meters 0.0762580180707198 Centerline is valid? [True, True] Translation: X:163.42, Y:-21.45, Z:-17.95 [[ 9.69929314e-01 2.32192907e-01 7.29628659e-02 1.63416095e+02] [-2.31183790e-01 9.72659024e-01 -2.21015308e-02 -2.14527594e+01] [-7.60998086e-02 4.56909070e-03 9.97089736e-01 -1.79465141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.62771942099997 meters 0.07932485421346151 Centerline is valid? [True, True] Translation: X:163.48, Y:-21.46, Z:-17.95 [[ 9.70907177e-01 2.27362320e-01 7.51373949e-02 1.63478103e+02] [-2.26277491e-01 9.73796892e-01 -2.27620440e-02 -2.14567312e+01] [-7.83437927e-02 5.09793067e-03 9.96913367e-01 -1.79518508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.68771942099997 meters 0.08225795971640398 Centerline is valid? [True, True] Translation: X:163.54, Y:-21.46, Z:-17.96 [[ 9.71736117e-01 2.23425148e-01 7.62241515e-02 1.63540993e+02] [-2.22296454e-01 9.74705595e-01 -2.30930588e-02 -2.14590203e+01] [-7.94556771e-02 5.49600072e-03 9.96823249e-01 -1.79582517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.74771942099997 meters 0.08365839569129353 Centerline is valid? [True, True] Translation: X:163.60, Y:-21.46, Z:-17.97 [[ 9.71956392e-01 2.22871676e-01 7.50265837e-02 1.63604743e+02] [-2.21777081e-01 9.74832569e-01 -2.27241695e-02 -2.14585308e+01] [-7.82029311e-02 5.44772508e-03 9.96922577e-01 -1.79684611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.80771942099997 meters 0.08350827996575068 Centerline is valid? [True, True] Translation: X:163.67, Y:-21.46, Z:-17.98 [[ 9.71587726e-01 2.25478563e-01 7.19493521e-02 1.63669323e+02] [-2.24477712e-01 9.74235088e-01 -2.18117018e-02 -2.14553056e+01] [-7.50136545e-02 5.04095578e-03 9.97169765e-01 -1.79797685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.86771942099998 meters 0.08017545263920293 Centerline is valid? [True, True] Translation: X:163.73, Y:-21.45, Z:-17.98 [[ 9.71821418e-01 2.24209569e-01 7.27543811e-02 1.63734985e+02] [-2.23180862e-01 9.74526977e-01 -2.20788179e-02 -2.14531887e+01] [-7.58513893e-02 5.21928256e-03 9.97105474e-01 -1.79835360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.92771942099998 meters 0.08322525452177795 Centerline is valid? [True, True] Translation: X:163.80, Y:-21.46, Z:-17.99 [[ 9.72509909e-01 2.21413492e-01 7.21147868e-02 1.63796554e+02] [-2.20392718e-01 9.75164947e-01 -2.19174746e-02 -2.14591303e+01] [-7.51766369e-02 5.42138738e-03 9.97155495e-01 -1.79931538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.98771942099998 meters 0.08536775432790515 Centerline is valid? [True, True] Translation: X:163.86, Y:-21.47, Z:-18.00 [[ 9.73051409e-01 2.19373641e-01 7.10363406e-02 1.63857627e+02] [-2.18377585e-01 9.75625427e-01 -2.15929654e-02 -2.14668013e+01] [-7.40417875e-02 5.49832086e-03 9.97239982e-01 -1.80023346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.04771942099998 meters 0.08624264457087555 Centerline is valid? [True, True] Translation: X:163.92, Y:-21.47, Z:-18.01 [[ 9.72691700e-01 2.21036345e-01 7.08081325e-02 1.63920795e+02] [-2.20051469e-01 9.75250902e-01 -2.15181168e-02 -2.14685687e+01] [-7.38119809e-02 5.34906008e-03 9.97257830e-01 -1.80112981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.10771942099998 meters 0.08094095225370057 Centerline is valid? [True, True] Translation: X:163.99, Y:-21.46, Z:-18.01 [[ 9.71936857e-01 2.24419674e-01 7.05305325e-02 1.63987352e+02] [-2.23449024e-01 9.74479229e-01 -2.14654412e-02 -2.14589191e+01] [-7.35478062e-02 5.10307478e-03 9.97278637e-01 -1.80142744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.167719421 meters 0.08250144056986698 Centerline is valid? [True, True] Translation: X:164.05, Y:-21.46, Z:-18.02 [[ 9.72000778e-01 2.23311227e-01 7.31203387e-02 1.64052087e+02] [-2.22265317e-01 9.74732399e-01 -2.22458905e-02 -2.14596029e+01] [-7.62405202e-02 5.37090761e-03 9.97074990e-01 -1.80165345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.227719421 meters 0.08205243470047258 Centerline is valid? [True, True] Translation: X:164.12, Y:-21.46, Z:-18.02 [[ 9.71327474e-01 2.25386400e-01 7.56565150e-02 1.64115224e+02] [-2.24269895e-01 9.74254349e-01 -2.30537931e-02 -2.14580395e+01] [-7.89047002e-02 5.42530392e-03 9.96867401e-01 -1.80209289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.28771942099996 meters 0.07688394152975819 Centerline is valid? [True, True] Translation: X:164.18, Y:-21.45, Z:-18.03 [[ 9.69916409e-01 2.31468263e-01 7.53963003e-02 1.64180686e+02] [-2.30377674e-01 9.72830046e-01 -2.29745286e-02 -2.14487697e+01] [-7.86656605e-02 4.91374803e-03 9.96888945e-01 -1.80260291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.34771942099997 meters 0.06986208883223348 Centerline is valid? [True, True] Translation: X:164.25, Y:-21.44, Z:-18.04 [[ 9.66685364e-01 2.45531822e-01 7.23431428e-02 1.64245432e+02] [-2.44567016e-01 9.69381784e-01 -2.20438449e-02 -2.14393121e+01] [-7.55405903e-02 3.61671565e-03 9.97136169e-01 -1.80362392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.40771942099997 meters 0.05990267796479935 Centerline is valid? [True, True] Translation: X:164.31, Y:-21.41, Z:-18.05 [[ 9.60973014e-01 2.68126439e-01 6.81107853e-02 1.64314800e+02] [-2.67327517e-01 9.63382163e-01 -2.07558815e-02 -2.14118050e+01] [-7.11819162e-02 1.73795488e-03 9.97461836e-01 -1.80492802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.46771942099997 meters 0.05552035441840359 Centerline is valid? [True, True] Translation: X:164.38, Y:-21.41, Z:-18.05 [[ 9.58183453e-01 2.77361341e-01 7.03928791e-02 1.64379229e+02] [-2.76532877e-01 9.60765063e-01 -2.14490275e-02 -2.14096569e+01] [-7.35801500e-02 1.08615789e-03 9.97288715e-01 -1.80481283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.52771942099997 meters 0.0541062347977096 Centerline is valid? [True, True] Translation: X:164.44, Y:-21.41, Z:-18.05 [[ 9.55563731e-01 2.85542086e-01 7.32371057e-02 1.64439813e+02] [-2.84669177e-01 9.58366053e-01 -2.23151983e-02 -2.14142720e+01] [-7.65598842e-02 4.75247547e-04 9.97064872e-01 -1.80525650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.58771942099997 meters 0.05367317890286549 Centerline is valid? [True, True] Translation: X:164.50, Y:-21.42, Z:-18.06 [[ 9.53410690e-01 2.92557876e-01 7.36066878e-02 1.64499938e+02] [-2.91696617e-01 9.56247814e-01 -2.24321513e-02 -2.14195908e+01] [-7.69489368e-02 -8.37689373e-05 9.97035032e-01 -1.80582922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.64771942099998 meters 0.05485654696989003 Centerline is valid? [True, True] Translation: X:164.56, Y:-21.43, Z:-18.07 [[ 9.51263201e-01 2.99720715e-01 7.25659358e-02 1.64555580e+02] [-2.98906548e-01 9.54026746e-01 -2.20872026e-02 -2.14338424e+01] [-7.58498357e-02 -6.79690277e-04 9.97119020e-01 -1.80666587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.70771942099998 meters 0.05366906951476135 Centerline is valid? [True, True] Translation: X:164.61, Y:-21.47, Z:-18.07 [[ 9.53271877e-01 2.92985458e-01 7.37038018e-02 1.64606913e+02] [-2.92126101e-01 9.56116885e-01 -2.24241755e-02 -2.14688926e+01] [-7.70394067e-02 -1.54468387e-04 9.97028037e-01 -1.80676859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.76771942099998 meters 0.0547766180577323 Centerline is valid? [True, True] Translation: X:164.65, Y:-21.51, Z:-18.08 [[ 9.56633861e-01 2.82348183e-01 7.16321119e-02 1.64654323e+02] [-2.81507177e-01 9.59311756e-01 -2.17867866e-02 -2.15114873e+01] [-7.48689867e-02 6.77024144e-04 9.97193149e-01 -1.80776259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.82771942099998 meters 0.0568141616358743 Centerline is valid? [True, True] Translation: X:164.70, Y:-21.55, Z:-18.09 [[ 9.58579622e-01 2.75964300e-01 7.04898113e-02 1.64702995e+02] [-2.75133391e-01 9.61167200e-01 -2.14296489e-02 -2.15514168e+01] [-7.36663126e-02 1.14792389e-03 9.97282285e-01 -1.80889698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.88771942099999 meters 0.05631530697005887 Centerline is valid? [True, True] Translation: X:164.76, Y:-21.57, Z:-18.09 [[ 9.58586447e-01 2.75993593e-01 7.02820074e-02 1.64758923e+02] [-2.75167194e-01 9.61158789e-01 -2.13728217e-02 -2.15716874e+01] [-7.34509310e-02 1.14839447e-03 9.97298171e-01 -1.80929334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.947719421 meters 0.056130770743359634 Centerline is valid? [True, True] Translation: X:164.81, Y:-21.59, Z:-18.11 [[ 9.56594387e-01 2.83765067e-01 6.63669003e-02 1.64812723e+02] [-2.83047066e-01 9.58893694e-01 -2.01802233e-02 -2.15925647e+01] [-6.93652446e-02 5.19331923e-04 9.97591195e-01 -1.81066671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.00771942099996 meters 0.05673410887188528 Centerline is valid? [True, True] Translation: X:164.87, Y:-21.60, Z:-18.12 [[ 9.53336801e-01 2.95365374e-01 6.25159215e-02 1.64870530e+02] [-2.94753452e-01 9.55384321e-01 -1.90053070e-02 -2.16025253e+01] [-6.53402408e-02 -3.08325129e-04 9.97862996e-01 -1.81193290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.06771942099996 meters 0.05735458811626104 Centerline is valid? [True, True] Translation: X:164.93, Y:-21.62, Z:-18.12 [[ 9.49180246e-01 3.07261494e-01 6.81706286e-02 1.64928435e+02] [-3.06564551e-01 9.51624326e-01 -2.07200189e-02 -2.16166819e+01] [-7.12392925e-02 -1.23166548e-03 9.97458493e-01 -1.81178791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.12771942099997 meters 0.05962265096917703 Centerline is valid? [True, True] Translation: X:164.98, Y:-21.63, Z:-18.12 [[ 9.46201202e-01 3.15607754e-01 7.13794851e-02 1.64984926e+02] [-3.14867718e-01 9.48887733e-01 -2.16884912e-02 -2.16320477e+01] [-7.45761738e-02 -1.95341909e-03 9.97213407e-01 -1.81208764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.18771942099997 meters 0.06428520133675515 Centerline is valid? [True, True] Translation: X:165.04, Y:-21.65, Z:-18.13 [[ 9.43239050e-01 3.24541753e-01 7.05176922e-02 1.65040334e+02] [-3.23844986e-01 9.45867701e-01 -2.14176614e-02 -2.16528311e+01] [-7.36513327e-02 -2.63482649e-03 9.97280572e-01 -1.81302333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.24771942099997 meters 0.06769627167073777 Centerline is valid? [True, True] Translation: X:165.09, Y:-21.68, Z:-18.14 [[ 9.39169720e-01 3.36888657e-01 6.68301580e-02 1.65094811e+02] [-3.36293902e-01 9.41538314e-01 -2.02981518e-02 -2.16795973e+01] [-6.97613713e-02 -3.41116506e-03 9.97557876e-01 -1.81373545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.30771942099997 meters 0.07145031449348827 Centerline is valid? [True, True] Translation: X:165.15, Y:-21.71, Z:-18.14 [[ 9.37534468e-01 3.41217140e-01 6.78231859e-02 1.65146739e+02] [-3.40615858e-01 9.39976865e-01 -2.05992940e-02 -2.17108269e+01] [-7.07810578e-02 -3.78910452e-03 9.97484679e-01 -1.81438776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.36771942099998 meters 0.07317757688118763 Centerline is valid? [True, True] Translation: X:165.20, Y:-21.74, Z:-18.15 [[ 9.37253124e-01 3.42390997e-01 6.57646344e-02 1.65197181e+02] [-3.41828405e-01 9.39550045e-01 -1.99763396e-02 -2.17435067e+01] [-6.86288841e-02 -3.75733336e-03 9.97635183e-01 -1.81545014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.42771942099998 meters 0.07318268797658294 Centerline is valid? [True, True] Translation: X:165.25, Y:-21.78, Z:-18.16 [[ 9.36852777e-01 3.43406662e-01 6.61720324e-02 1.65247962e+02] [-3.42840077e-01 9.39178869e-01 -2.00931125e-02 -2.17820942e+01] [-6.90474832e-02 -3.86213643e-03 9.97605899e-01 -1.81589521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.48771942099998 meters 0.0714927696960266 Centerline is valid? [True, True] Translation: X:165.30, Y:-21.83, Z:-18.17 [[ 9.38808393e-01 3.38256046e-01 6.49742197e-02 1.65297473e+02] [-3.37697844e-01 9.41047885e-01 -1.97242174e-02 -2.18273623e+01] [-6.78156878e-02 -3.42439309e-03 9.97691990e-01 -1.81660119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.54771942099998 meters 0.06697758351018006 Centerline is valid? [True, True] Translation: X:165.35, Y:-21.87, Z:-18.17 [[ 9.41897083e-01 3.29077350e-01 6.73645471e-02 1.65345537e+02] [-3.28453586e-01 9.44298634e-01 -2.04531618e-02 -2.18719153e+01] [-7.03429221e-02 -2.86135359e-03 9.97518765e-01 -1.81717210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.60771942099998 meters 0.06293748153767241 Centerline is valid? [True, True] Translation: X:165.40, Y:-21.92, Z:-18.17 [[ 9.44255520e-01 3.21721893e-01 6.98321999e-02 1.65396183e+02] [-3.21031721e-01 9.46831166e-01 -2.11985335e-02 -2.19162817e+01] [-7.29393356e-02 -2.40151897e-03 9.97333488e-01 -1.81727654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.667719421 meters 0.059771866678701324 Centerline is valid? [True, True] Translation: X:165.45, Y:-21.96, Z:-18.17 [[ 9.44492570e-01 3.20609091e-01 7.17188617e-02 1.65448364e+02] [-3.19877828e-01 9.47208613e-01 -2.17719665e-02 -2.19576151e+01] [-7.49130139e-02 -2.37781314e-03 9.97187237e-01 -1.81698713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.72771942099996 meters 0.06278560847472013 Centerline is valid? [True, True] Translation: X:165.50, Y:-21.98, Z:-18.18 [[ 9.42179039e-01 3.27290692e-01 7.19684801e-02 1.65503134e+02] [-3.26573549e-01 9.44919201e-01 -2.18499349e-02 -2.19803495e+01] [-7.51556791e-02 -2.91645135e-03 9.97167548e-01 -1.81790873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.78771942099996 meters 0.0679768744591966 Centerline is valid? [True, True] Translation: X:165.56, Y:-22.00, Z:-18.19 [[ 9.39143818e-01 3.36367014e-01 6.97575825e-02 1.65559285e+02] [-3.35717650e-01 9.41724389e-01 -2.11857170e-02 -2.20014328e+01] [-7.28185931e-02 -3.52241650e-03 9.97338982e-01 -1.81911163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.84771942099997 meters 0.0708101961480094 Centerline is valid? [True, True] Translation: X:165.61, Y:-22.03, Z:-18.20 [[ 9.37405688e-01 3.41346705e-01 6.89420265e-02 1.65612810e+02] [-3.40725608e-01 9.39929534e-01 -2.09411659e-02 -2.20324727e+01] [-7.19488448e-02 -3.85994583e-03 9.97400855e-01 -1.81989896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.90771942099997 meters 0.06907774024563165 Centerline is valid? [True, True] Translation: X:165.67, Y:-22.07, Z:-18.20 [[ 9.36213034e-01 3.44584203e-01 6.90426052e-02 1.65665934e+02] [-3.43970043e-01 9.38746397e-01 -2.09717138e-02 -2.20687001e+01] [-7.20400182e-02 -4.11459604e-03 9.97393255e-01 -1.82030689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.96771942099997 meters 0.07545603888089118 Centerline is valid? [True, True] Translation: X:165.72, Y:-22.09, Z:-18.21 [[ 9.33101028e-01 3.52580142e-01 7.07793380e-02 1.65721384e+02] [-3.51957170e-01 9.35769072e-01 -2.15033819e-02 -2.20923993e+01] [-7.38147808e-02 -4.84646771e-03 9.97260192e-01 -1.82086098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.02771942099997 meters 0.08085825612848714 Centerline is valid? [True, True] Translation: X:165.78, Y:-22.12, Z:-18.21 [[ 9.29604241e-01 3.61338138e-01 7.25996188e-02 1.65776897e+02] [-3.60709052e-01 9.32417533e-01 -2.20572919e-02 -2.21175564e+01] [-7.56632982e-02 -5.68278757e-03 9.97117230e-01 -1.82145406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.08771942099997 meters 0.08630613473992532 Centerline is valid? [True, True] Translation: X:165.83, Y:-22.15, Z:-18.22 [[ 9.27559685e-01 3.66587945e-01 7.24314152e-02 1.65831980e+02] [-3.65977526e-01 9.30363439e-01 -2.20073321e-02 -2.21454590e+01] [-7.54551632e-02 -6.09515609e-03 9.97130567e-01 -1.82238678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.14771942099998 meters 0.08916592823752177 Centerline is valid? [True, True] Translation: X:165.88, Y:-22.19, Z:-18.23 [[ 9.26581570e-01 3.69215688e-01 7.15986711e-02 1.65882472e+02] [-3.68626776e-01 9.29322830e-01 -2.17572563e-02 -2.21863465e+01] [-7.45714000e-02 -6.23331456e-03 9.97196195e-01 -1.82343024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.20771942099998 meters 0.08269945527765539 Centerline is valid? [True, True] Translation: X:165.93, Y:-22.23, Z:-18.24 [[ 9.27576340e-01 3.66531392e-01 7.25042852e-02 1.65932320e+02] [-3.65919259e-01 9.30385735e-01 -2.20336222e-02 -2.22332713e+01] [-7.55329669e-02 -6.09284766e-03 9.97124690e-01 -1.82390728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.26771942099998 meters 0.07885936510689552 Centerline is valid? [True, True] Translation: X:165.98, Y:-22.28, Z:-18.25 [[ 9.30666635e-01 3.58458735e-01 7.32594736e-02 1.65981273e+02] [-3.57808704e-01 9.33529422e-01 -2.22654264e-02 -2.22797063e+01] [-7.63711107e-02 -5.49118783e-03 9.97064341e-01 -1.82450110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.32771942099998 meters 0.07409055668177252 Centerline is valid? [True, True] Translation: X:166.03, Y:-22.32, Z:-18.25 [[ 9.33954867e-01 3.49576409e-01 7.43279313e-02 1.66032749e+02] [-3.48879071e-01 9.36895400e-01 -2.25920876e-02 -2.23189655e+01] [-7.75351578e-02 -4.83146947e-03 9.96977912e-01 -1.82505092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.38771942099999 meters 0.06357938981878926 Centerline is valid? [True, True] Translation: X:166.08, Y:-22.38, Z:-18.25 [[ 9.40141665e-01 3.31680099e-01 7.82429685e-02 1.66078812e+02] [-3.30845078e-01 9.43385328e-01 -2.37835677e-02 -2.23798643e+01] [-8.17018046e-02 -3.52637806e-03 9.96650581e-01 -1.82540585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.447719421 meters 0.05882479491126566 Centerline is valid? [True, True] Translation: X:166.13, Y:-22.43, Z:-18.26 [[ 9.44282506e-01 3.19346927e-01 7.96748892e-02 1.66128391e+02] [-3.18436545e-01 9.47634587e-01 -2.42251272e-02 -2.24262564e+01] [-8.32389007e-02 -2.49603262e-03 9.96526495e-01 -1.82595921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.50771942099996 meters 0.056844158688009974 Centerline is valid? [True, True] Translation: X:166.18, Y:-22.46, Z:-18.27 [[ 9.47475553e-01 3.10113531e-01 7.82283476e-02 1.66179453e+02] [-3.09204303e-01 9.50698098e-01 -2.37871094e-02 -2.24644417e+01] [-8.17482458e-02 -1.65083699e-03 9.96651644e-01 -1.82688075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.56771942099996 meters 0.05523128662617062 Centerline is valid? [True, True] Translation: X:166.23, Y:-22.50, Z:-18.27 [[ 9.49813672e-01 3.01935584e-01 8.17856467e-02 1.66231077e+02] [-3.00910375e-01 9.53327827e-01 -2.48797406e-02 -2.25007454e+01] [-8.54806118e-02 -9.79031796e-04 9.96339353e-01 -1.82734424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.62771942099997 meters 0.054262236311545115 Centerline is valid? [True, True] Translation: X:166.28, Y:-22.54, Z:-18.28 [[ 9.52989846e-01 2.91560954e-01 8.24776495e-02 1.66284100e+02] [-2.90478198e-01 9.56552251e-01 -2.51039374e-02 -2.25408941e+01] [-8.62135092e-02 -3.41616187e-05 9.96276683e-01 -1.82783539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.68771942099997 meters 0.05522958940093975 Centerline is valid? [True, True] Translation: X:166.34, Y:-22.58, Z:-18.29 [[ 9.57110204e-01 2.78243199e-01 8.07513441e-02 1.66336007e+02] [-2.77157519e-01 9.60509972e-01 -2.45825962e-02 -2.25794889e+01] [-8.44024115e-02 1.14741147e-03 9.96431090e-01 -1.82864787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.74771942099997 meters 0.05707612384490199 Centerline is valid? [True, True] Translation: X:166.39, Y:-22.61, Z:-18.30 [[ 9.59851741e-01 2.69609369e-01 7.74301157e-02 1.66388810e+02] [-2.68581402e-01 9.62967998e-01 -2.35937648e-02 -2.26119800e+01] [-8.09238235e-02 1.85022718e-03 9.96718572e-01 -1.82966256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.80771942099997 meters 0.057465762831792465 Centerline is valid? [True, True] Translation: X:166.45, Y:-22.63, Z:-18.30 [[ 9.60232318e-01 2.68230994e-01 7.74985730e-02 1.66446342e+02] [-2.67196274e-01 9.63352604e-01 -2.36201648e-02 -2.26335504e+01] [-8.09941123e-02 1.97351561e-03 9.96712626e-01 -1.83024793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.86771942099998 meters 0.05906158293248712 Centerline is valid? [True, True] Translation: X:166.50, Y:-22.65, Z:-18.31 [[ 9.61528803e-01 2.62392705e-01 8.13168403e-02 1.66503495e+02] [-2.61230559e-01 9.64957647e-01 -2.48059366e-02 -2.26549233e+01] [-8.49762037e-02 2.60917880e-03 9.96379565e-01 -1.83084948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.92771942099998 meters 0.060516926731302656 Centerline is valid? [True, True] Translation: X:166.56, Y:-22.68, Z:-18.31 [[ 9.62875889e-01 2.57764738e-01 8.01708283e-02 1.66561029e+02] [-2.56617488e-01 9.66203070e-01 -2.44763489e-02 -2.26753727e+01] [-8.37704401e-02 2.99444968e-03 9.96480580e-01 -1.83149562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.98771942099998 meters 0.06304316620921324 Centerline is valid? [True, True] Translation: X:166.62, Y:-22.69, Z:-18.32 [[ 9.64633946e-01 2.50630675e-01 8.16432232e-02 1.66620299e+02] [-2.49413610e-01 9.68075706e-01 -2.49455156e-02 -2.26919251e+01] [-8.52889323e-02 3.70036008e-03 9.96349389e-01 -1.83191981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.04771942099998 meters 0.0645354732642687 Centerline is valid? [True, True] Translation: X:166.68, Y:-22.70, Z:-18.33 [[ 9.65244997e-01 2.47756872e-01 8.31782959e-02 1.66681255e+02] [-2.46480830e-01 9.68813766e-01 -2.54378948e-02 -2.27032103e+01] [-8.68866914e-02 4.05194528e-03 9.96209960e-01 -1.83258557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.10771942099998 meters 0.06469648262831823 Centerline is valid? [True, True] Translation: X:166.74, Y:-22.71, Z:-18.33 [[ 9.66192189e-01 2.45001452e-01 8.02928505e-02 1.66742436e+02] [-2.43802940e-01 9.69513822e-01 -2.45575808e-02 -2.27119723e+01] [-8.38616714e-02 4.15170977e-03 9.96468757e-01 -1.83331079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.167719421 meters 0.06768478238417844 Centerline is valid? [True, True] Translation: X:166.80, Y:-22.73, Z:-18.34 [[ 9.66281405e-01 2.43611562e-01 8.33885695e-02 1.66801477e+02] [-2.42311664e-01 9.69862635e-01 -2.55250353e-02 -2.27262068e+01] [-8.70936515e-02 4.45834390e-03 9.96190152e-01 -1.83402043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.22771942099996 meters 0.0697442191531221 Centerline is valid? [True, True] Translation: X:166.86, Y:-22.73, Z:-18.35 [[ 9.66816932e-01 2.41465764e-01 8.34224440e-02 1.66861913e+02] [-2.40154956e-01 9.70398079e-01 -2.55570928e-02 -2.27331793e+01] [-8.71241423e-02 4.67471664e-03 9.96186494e-01 -1.83494473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.28771942099996 meters 0.06418629476551693 Centerline is valid? [True, True] Translation: X:166.93, Y:-22.73, Z:-18.35 [[ 9.67188805e-01 2.40442295e-01 8.20568040e-02 1.66927372e+02] [-2.39168816e-01 9.70652020e-01 -2.51581608e-02 -2.27327772e+01] [-8.56976885e-02 4.70726281e-03 9.96310066e-01 -1.83496620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.34771942099997 meters 0.06730104512939813 Centerline is valid? [True, True] Translation: X:166.99, Y:-22.74, Z:-18.36 [[ 9.67880761e-01 2.38265183e-01 8.02280169e-02 1.66987750e+02] [-2.37039864e-01 9.71188285e-01 -2.46052494e-02 -2.27396720e+01] [-8.37790844e-02 4.79770933e-03 9.96472803e-01 -1.83594654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.40771942099997 meters 0.06504215617688026 Centerline is valid? [True, True] Translation: X:167.05, Y:-22.74, Z:-18.36 [[ 9.68099212e-01 2.37585799e-01 7.96046699e-02 1.67052191e+02] [-2.36377618e-01 9.71354630e-01 -2.44091213e-02 -2.27400574e+01] [-8.31236252e-02 4.81368886e-03 9.96527617e-01 -1.83647601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.46771942099997 meters 0.0744968517345161 Centerline is valid? [True, True] Translation: X:167.11, Y:-22.77, Z:-18.37 [[ 9.68122976e-01 2.37317056e-01 8.01156548e-02 1.67107668e+02] [-2.36090438e-01 9.71419940e-01 -2.45887360e-02 -2.27663879e+01] [-8.36612710e-02 4.89038022e-03 9.96482251e-01 -1.83731188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.52771942099997 meters 0.07159350437258082 Centerline is valid? [True, True] Translation: X:167.17, Y:-22.76, Z:-18.38 [[ 9.67994656e-01 2.37844429e-01 8.01022658e-02 1.67173641e+02] [-2.36617956e-01 9.71291064e-01 -2.46091759e-02 -2.27613540e+01] [-8.36557704e-02 4.86791636e-03 9.96482822e-01 -1.83778756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.58771942099997 meters 0.07279262503328826 Centerline is valid? [True, True] Translation: X:167.24, Y:-22.77, Z:-18.38 [[ 9.68148077e-01 2.37399437e-01 7.95663710e-02 1.67235733e+02] [-2.36185788e-01 9.71399774e-01 -2.44694234e-02 -2.27707463e+01] [-8.30997821e-02 4.89757915e-03 9.96529197e-01 -1.83813379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.64771942099998 meters 0.07448962803863853 Centerline is valid? [True, True] Translation: X:167.30, Y:-22.78, Z:-18.39 [[ 9.69667428e-01 2.32060515e-01 7.67658549e-02 1.67296475e+02] [-2.30911851e-01 9.72687474e-01 -2.36388309e-02 -2.27799193e+01] [-8.01548248e-02 5.19565873e-03 9.96768885e-01 -1.83853161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.70771942099998 meters 0.07877444153712518 Centerline is valid? [True, True] Translation: X:167.36, Y:-22.79, Z:-18.39 [[ 9.70539825e-01 2.28748887e-01 7.56729434e-02 1.67355572e+02] [-2.27622700e-01 9.73470532e-01 -2.33029829e-02 -2.27915593e+01] [-7.89959119e-02 5.39159323e-03 9.96860360e-01 -1.83934183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.76771942099998 meters 0.07508628312424963 Centerline is valid? [True, True] Translation: X:167.42, Y:-22.80, Z:-18.39 [[ 9.69551600e-01 2.32087775e-01 7.81342447e-02 1.67418379e+02] [-2.30897274e-01 9.72680447e-01 -2.40665119e-02 -2.27973743e+01] [-8.15851952e-02 5.29274098e-03 9.96652318e-01 -1.83922975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.82771942099998 meters 0.07085927071307514 Centerline is valid? [True, True] Translation: X:167.48, Y:-22.79, Z:-18.41 [[ 9.66370835e-01 2.46384771e-01 7.36339110e-02 1.67482175e+02] [-2.45368644e-01 9.69164434e-01 -2.26832363e-02 -2.27922385e+01] [-7.69521717e-02 3.85296513e-03 9.97027341e-01 -1.84056113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.88771942099999 meters 0.06469557192865469 Centerline is valid? [True, True] Translation: X:167.55, Y:-22.79, Z:-18.41 [[ 9.63091840e-01 2.58987459e-01 7.33457777e-02 1.67546034e+02] [-2.58015448e-01 9.65876515e-01 -2.25961479e-02 -2.27924288e+01] [-7.66950831e-02 2.83782204e-03 9.97050556e-01 -1.84115569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.947719421 meters 0.059155535307034705 Centerline is valid? [True, True] Translation: X:167.61, Y:-22.79, Z:-18.42 [[ 9.59532907e-01 2.72292885e-01 7.17856918e-02 1.67608641e+02] [-2.71398477e-01 9.62212839e-01 -2.21205685e-02 -2.27929643e+01] [-7.50963877e-02 1.74288593e-03 9.97174756e-01 -1.84170128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.00771942099996 meters 0.056202031075553834 Centerline is valid? [True, True] Translation: X:167.67, Y:-22.80, Z:-18.43 [[ 9.54392104e-01 2.89488218e-01 7.30224846e-02 1.67670257e+02] [-2.88612699e-01 9.57181494e-01 -2.25010725e-02 -2.27971238e+01] [-7.64095662e-02 3.99629611e-04 9.97076436e-01 -1.84276130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.06771942099996 meters 0.055260131303411585 Centerline is valid? [True, True] Translation: X:167.73, Y:-22.81, Z:-18.43 [[ 9.49497432e-01 3.04076849e-01 7.74073432e-02 1.67731752e+02] [-3.03141246e-01 9.52647152e-01 -2.38492888e-02 -2.28100317e+01] [-8.09939017e-02 -8.20519988e-04 9.96714259e-01 -1.84290221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.12771942099997 meters 0.0566168006786134 Centerline is valid? [True, True] Translation: X:167.79, Y:-22.83, Z:-18.44 [[ 9.45753811e-01 3.14753126e-01 8.04996805e-02 1.67788957e+02] [-3.13777042e-01 9.49171915e-01 -2.48323273e-02 -2.28314031e+01] [-8.42240885e-02 -1.77368342e-03 9.96445260e-01 -1.84361615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.18771942099997 meters 0.05714070219651446 Centerline is valid? [True, True] Translation: X:167.84, Y:-22.86, Z:-18.44 [[ 9.44621196e-01 3.18235058e-01 8.01077080e-02 1.67843239e+02] [-3.17280015e-01 9.48009594e-01 -2.47224804e-02 -2.28626712e+01] [-8.38104357e-02 -2.06319573e-03 9.96479580e-01 -1.84435125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.24771942099997 meters 0.0585634651321345 Centerline is valid? [True, True] Translation: X:167.90, Y:-22.90, Z:-18.45 [[ 9.44041355e-01 3.19814896e-01 8.06495640e-02 1.67895691e+02] [-3.18851880e-01 9.47477466e-01 -2.48984046e-02 -2.28968008e+01] [-8.43765251e-02 -2.21014152e-03 9.96431492e-01 -1.84531539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.30771942099997 meters 0.058929417203790094 Centerline is valid? [True, True] Translation: X:167.95, Y:-22.93, Z:-18.46 [[ 9.43008130e-01 3.23460761e-01 7.81588275e-02 1.67947778e+02] [-3.22567173e-01 9.46238444e-01 -2.41500608e-02 -2.29347666e+01] [-8.17684844e-02 -2.43776832e-03 9.96648369e-01 -1.84603203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.36771942099998 meters 0.06139581853189575 Centerline is valid? [True, True] Translation: X:168.00, Y:-22.97, Z:-18.47 [[ 9.40827345e-01 3.28962633e-01 8.14094157e-02 1.68000833e+02] [-3.28011583e-01 9.44338124e-01 -2.51775406e-02 -2.29671926e+01] [-8.51604850e-02 -3.01551261e-03 9.96362684e-01 -1.84674386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.42771942099998 meters 0.06524434624898269 Centerline is valid? [True, True] Translation: X:168.05, Y:-23.00, Z:-18.47 [[ 9.38084397e-01 3.36356863e-01 8.28355223e-02 1.68053547e+02] [-3.35399841e-01 9.41727174e-01 -2.56295940e-02 -2.30004540e+01] [-8.66291522e-02 -3.74029872e-03 9.96233607e-01 -1.84730404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.48771942099998 meters 0.06723065831335506 Centerline is valid? [True, True] Translation: X:168.10, Y:-23.05, Z:-18.48 [[ 9.36444111e-01 3.39718535e-01 8.75428102e-02 1.68102955e+02] [-3.38664030e-01 9.40517400e-01 -2.70868147e-02 -2.30455656e+01] [-9.15374292e-02 -4.28231281e-03 9.95792429e-01 -1.84767382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.54771942099998 meters 0.06349686912809649 Centerline is valid? [True, True] Translation: X:168.15, Y:-23.09, Z:-18.48 [[ 9.38075747e-01 3.34812783e-01 8.89623185e-02 1.68153417e+02] [-3.33701348e-01 9.42276759e-01 -2.75303415e-02 -2.30890761e+01] [-9.30446355e-02 -3.86129993e-03 9.95654451e-01 -1.84815501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.60771942099998 meters 0.058240490289199885 Centerline is valid? [True, True] Translation: X:168.20, Y:-23.16, Z:-18.49 [[ 9.42453247e-01 3.21885428e-01 9.03971694e-02 1.68196148e+02] [-3.20675947e-01 9.46775057e-01 -2.79987323e-02 -2.31572538e+01] [-9.45981691e-02 -2.60070178e-03 9.95512141e-01 -1.84878143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.667719421 meters 0.0564743058662132 Centerline is valid? [True, True] Translation: X:168.25, Y:-23.20, Z:-18.50 [[ 9.44661554e-01 3.15480057e-01 8.99270916e-02 1.68246684e+02] [-3.14253556e-01 9.48930219e-01 -2.78593134e-02 -2.31992307e+01] [-9.41235925e-02 -1.94228599e-03 9.95558626e-01 -1.84965540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.72771942099996 meters 0.05543751020956263 Centerline is valid? [True, True] Translation: X:168.30, Y:-23.24, Z:-18.50 [[ 9.47219581e-01 3.07907968e-01 8.92622506e-02 1.68295931e+02] [-3.06663933e-01 9.51415440e-01 -2.76747739e-02 -2.32432126e+01] [-9.34467668e-02 -1.15942519e-03 9.95623602e-01 -1.85045842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.78771942099996 meters 0.05433995033821097 Centerline is valid? [True, True] Translation: X:168.34, Y:-23.30, Z:-18.51 [[ 9.51149407e-01 2.95003054e-01 9.10384731e-02 1.68341654e+02] [-2.93647567e-01 9.55496300e-01 -2.82475940e-02 -2.33014620e+01] [-9.53200507e-02 1.34456161e-04 9.95446669e-01 -1.85093629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.84771942099997 meters 0.055190444761901436 Centerline is valid? [True, True] Translation: X:168.39, Y:-23.35, Z:-18.52 [[ 9.53995017e-01 2.84705734e-01 9.40008098e-02 1.68388654e+02] [-2.83208094e-01 9.58614179e-01 -2.91895654e-02 -2.33541523e+01] [-9.84209458e-02 1.22490979e-03 9.95144119e-01 -1.85160218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.90771942099997 meters 0.05387349068698291 Centerline is valid? [True, True] Translation: X:168.45, Y:-23.38, Z:-18.52 [[ 9.51862748e-01 2.91934507e-01 9.34427766e-02 1.68448025e+02] [-2.90486964e-01 9.56438182e-01 -2.90401197e-02 -2.33754353e+01] [-9.78500524e-02 4.98299640e-04 9.95201044e-01 -1.85157665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.96771942099997 meters 0.05491890882344599 Centerline is valid? [True, True] Translation: X:168.51, Y:-23.40, Z:-18.53 [[ 9.53965471e-01 2.84858883e-01 9.38365389e-02 1.68505085e+02] [-2.83364133e-01 9.58568665e-01 -2.91698827e-02 -2.33987276e+01] [-9.82580660e-02 1.23715135e-03 9.95160199e-01 -1.85267903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.02771942099997 meters 0.057448038845272886 Centerline is valid? [True, True] Translation: X:168.56, Y:-23.42, Z:-18.54 [[ 9.56709930e-01 2.76643120e-01 9.04140104e-02 1.68562414e+02] [-2.75216607e-01 9.60970584e-01 -2.81310447e-02 -2.34202045e+01] [-9.46674644e-02 2.02981272e-03 9.95506881e-01 -1.85388746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.08771942099997 meters 0.06245003706972601 Centerline is valid? [True, True] Translation: X:168.62, Y:-23.45, Z:-18.54 [[ 9.60681876e-01 2.62128152e-01 9.15377748e-02 1.68616562e+02] [-2.60599240e-01 9.65026679e-01 -2.84876132e-02 -2.34549600e+01] [-9.58038002e-02 3.51285913e-03 9.95394038e-01 -1.85424967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.14771942099998 meters 0.06572512945757127 Centerline is valid? [True, True] Translation: X:168.67, Y:-23.48, Z:-18.55 [[ 9.63172716e-01 2.53272251e-01 9.02855845e-02 1.68673597e+02] [-2.51745580e-01 9.67385307e-01 -2.81039432e-02 -2.34802704e+01] [-9.44588968e-02 4.33995448e-03 9.95519302e-01 -1.85481077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.20771942099998 meters 0.06558837571853297 Centerline is valid? [True, True] Translation: X:168.73, Y:-23.50, Z:-18.56 [[ 9.62765253e-01 2.56206380e-01 8.62633136e-02 1.68733126e+02] [-2.54824330e-01 9.66614337e-01 -2.68567155e-02 -2.34952147e+01] [-9.02642175e-02 3.87472132e-03 9.95910316e-01 -1.85608797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.26771942099998 meters 0.06403492463815053 Centerline is valid? [True, True] Translation: X:168.79, Y:-23.51, Z:-18.57 [[ 9.61446796e-01 2.60797501e-01 8.72050608e-02 1.68791778e+02] [-2.59401687e-01 9.65387167e-01 -2.71731896e-02 -2.35115754e+01] [-9.12733465e-02 3.50443619e-03 9.95819710e-01 -1.85678583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.32771942099998 meters 0.05839225668543327 Centerline is valid? [True, True] Translation: X:168.85, Y:-23.52, Z:-18.57 [[ 9.56807680e-01 2.78217729e-01 8.43442910e-02 1.68853019e+02] [-2.76977762e-01 9.60516344e-01 -2.62996593e-02 -2.35157906e+01] [-8.83311015e-02 1.80222307e-03 9.96089538e-01 -1.85746754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.38771942099999 meters 0.05607303007237898 Centerline is valid? [True, True] Translation: X:168.92, Y:-23.51, Z:-18.59 [[ 9.51662405e-01 2.95644311e-01 8.32652865e-02 1.68916511e+02] [-2.94500707e-01 9.55298069e-01 -2.59794717e-02 -2.35122123e+01] [-8.72238504e-02 2.02000753e-04 9.96188717e-01 -1.85856334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.447719421 meters 0.05688280374639202 Centerline is valid? [True, True] Translation: X:168.98, Y:-23.52, Z:-18.59 [[ 9.48308417e-01 3.06130607e-01 8.36373030e-02 1.68979762e+02] [-3.05015992e-01 9.51989228e-01 -2.61104483e-02 -2.35165056e+01] [-8.76150188e-02 -7.49956976e-04 9.96154128e-01 -1.85931490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.50771942099996 meters 0.05676570693468607 Centerline is valid? [True, True] Translation: X:169.04, Y:-23.54, Z:-18.60 [[ 9.49059108e-01 3.04224193e-01 8.20636960e-02 1.69036599e+02] [-3.03142445e-01 9.52600306e-01 -2.56381551e-02 -2.35397939e+01] [-8.59736490e-02 -5.44864814e-04 9.96297262e-01 -1.86002142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.56771942099996 meters 0.0572221481945858 Centerline is valid? [True, True] Translation: X:169.09, Y:-23.56, Z:-18.61 [[ 9.49138242e-01 3.03701321e-01 8.30789046e-02 1.69094559e+02] [-3.02588772e-01 9.52767166e-01 -2.59761710e-02 -2.35574682e+01] [-8.70438500e-02 -4.83766448e-04 9.96204364e-01 -1.86099817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.62771942099997 meters 0.05695953588826156 Centerline is valid? [True, True] Translation: X:169.15, Y:-23.58, Z:-18.61 [[ 9.49959085e-01 3.01476282e-01 8.17911219e-02 1.69151606e+02] [-3.00388313e-01 9.53473641e-01 -2.55905657e-02 -2.35828734e+01] [-8.57006274e-02 -2.59106805e-04 9.96320900e-01 -1.86113272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.68771942099997 meters 0.05694129541874497 Centerline is valid? [True, True] Translation: X:169.21, Y:-23.61, Z:-18.62 [[ 9.51034540e-01 2.98080769e-01 8.17383554e-02 1.69209935e+02] [-2.96979936e-01 9.54540649e-01 -2.55942664e-02 -2.36072898e+01] [-8.56517415e-02 6.63798114e-05 9.96325135e-01 -1.86157365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.74771942099997 meters 0.05785335912953702 Centerline is valid? [True, True] Translation: X:169.27, Y:-23.62, Z:-18.63 [[ 9.51328141e-01 2.97859739e-01 7.90844145e-02 1.69268897e+02] [-2.96826632e-01 9.54609640e-01 -2.47868102e-02 -2.36237706e+01] [-8.28777373e-02 1.06029653e-04 9.96559717e-01 -1.86280755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.80771942099997 meters 0.05844769872123175 Centerline is valid? [True, True] Translation: X:169.33, Y:-23.64, Z:-18.64 [[ 9.51914607e-01 2.97181266e-01 7.44437797e-02 1.69326819e+02] [-2.96262246e-01 9.54821064e-01 -2.33541768e-02 -2.36419888e+01] [-7.80209128e-02 1.76300679e-04 9.96951707e-01 -1.86384422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.86771942099998 meters 0.059164519581976625 Centerline is valid? [True, True] Translation: X:169.38, Y:-23.66, Z:-18.65 [[ 9.53146003e-01 2.93462372e-01 7.34338711e-02 1.69383564e+02] [-2.92556795e-01 9.55970505e-01 -2.30415898e-02 -2.36629264e+01] [-7.69624545e-02 4.78421292e-04 9.97033877e-01 -1.86477801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.92771942099998 meters 0.060951894114597234 Centerline is valid? [True, True] Translation: X:169.44, Y:-23.69, Z:-18.66 [[ 9.55741787e-01 2.85037026e-01 7.28802409e-02 1.69437805e+02] [-2.84118961e-01 9.58515794e-01 -2.28886189e-02 -2.36928148e+01] [-7.63809659e-02 1.16895123e-03 9.97078022e-01 -1.86563175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.98771942099998 meters 0.0608110837221798 Centerline is valid? [True, True] Translation: X:169.50, Y:-23.71, Z:-18.66 [[ 9.57211461e-01 2.79839382e-01 7.37301762e-02 1.69496569e+02] [-2.78883982e-01 9.60045488e-01 -2.31600107e-02 -2.37134024e+01] [-7.72654061e-02 1.60686258e-03 9.97009265e-01 -1.86558949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.04771942099998 meters 0.06122098287125031 Centerline is valid? [True, True] Translation: X:169.56, Y:-23.73, Z:-18.66 [[ 9.57772475e-01 2.77060740e-01 7.68715287e-02 1.69556202e+02] [-2.76011531e-01 9.60850471e-01 -2.41662319e-02 -2.37305963e+01] [-8.05575587e-02 1.92832337e-03 9.96748093e-01 -1.86623940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.10771942099998 meters 0.06341778956040293 Centerline is valid? [True, True] Translation: X:169.61, Y:-23.75, Z:-18.67 [[ 9.59833221e-01 2.69684400e-01 7.73984066e-02 1.69612017e+02] [-2.68594857e-01 9.62945287e-01 -2.43552126e-02 -2.37548577e+01] [-8.10986517e-02 2.58812820e-03 9.96702719e-01 -1.86704257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.167719421 meters 0.06811104759432667 Centerline is valid? [True, True] Translation: X:169.67, Y:-23.78, Z:-18.68 [[ 9.62860284e-01 2.58498399e-01 7.79657039e-02 1.69667048e+02] [-2.57355524e-01 9.66005109e-01 -2.45410644e-02 -2.37825725e+01] [-8.16590941e-02 3.56471163e-03 9.96653945e-01 -1.86799675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.22771942099996 meters 0.07953215613430031 Centerline is valid? [True, True] Translation: X:169.72, Y:-23.83, Z:-18.69 [[ 9.68647535e-01 2.36345154e-01 7.65697124e-02 1.69716736e+02] [-2.35171973e-01 9.71654387e-01 -2.41225036e-02 -2.38286427e+01] [-8.01005338e-02 5.35915326e-03 9.96772383e-01 -1.86909509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.28771942099996 meters 0.08217889826260602 Centerline is valid? [True, True] Translation: X:169.77, Y:-23.86, Z:-18.69 [[ 9.70730768e-01 2.27817624e-01 7.60322664e-02 1.69770607e+02] [-2.26634627e-01 9.73685190e-01 -2.39561521e-02 -2.38622256e+01] [-7.94891254e-02 6.02342961e-03 9.96817535e-01 -1.86947744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.34771942099997 meters 0.08103948123739314 Centerline is valid? [True, True] Translation: X:169.83, Y:-23.88, Z:-18.70 [[ 9.69801900e-01 2.31373258e-01 7.71407108e-02 1.69828576e+02] [-2.30165143e-01 9.72847564e-01 -2.43233129e-02 -2.38821591e+01] [-8.06739167e-02 5.83369233e-03 9.96723476e-01 -1.86994948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.40771942099997 meters 0.08367190275187826 Centerline is valid? [True, True] Translation: X:169.88, Y:-23.91, Z:-18.71 [[ 9.68392705e-01 2.36757556e-01 7.84947720e-02 1.69883759e+02] [-2.35522581e-01 9.71553203e-01 -2.47686881e-02 -2.39062403e+01] [-8.21260212e-02 5.49852558e-03 9.96606784e-01 -1.87113090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.46771942099997 meters 0.07985244319535108 Centerline is valid? [True, True] Translation: X:169.94, Y:-23.92, Z:-18.71 [[ 9.66315151e-01 2.44413800e-01 8.06035008e-02 1.69942577e+02] [-2.43136090e-01 9.69658134e-01 -2.54547434e-02 -2.39213469e+01] [-8.43793308e-02 4.99968416e-03 9.96421162e-01 -1.87128413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.52771942099997 meters 0.07225086567366261 Centerline is valid? [True, True] Translation: X:170.01, Y:-23.92, Z:-18.71 [[ 9.65542219e-01 2.47189399e-01 8.13979344e-02 1.70006678e+02] [-2.45895988e-01 9.68955264e-01 -2.57071733e-02 -2.39219587e+01] [-8.52254977e-02 4.80593560e-03 9.96350098e-01 -1.87141943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.58771942099997 meters 0.07432338079557389 Centerline is valid? [True, True] Translation: X:170.06, Y:-23.94, Z:-18.72 [[ 9.66943738e-01 2.40951391e-01 8.34400053e-02 1.70064347e+02] [-2.39567345e-01 9.70521547e-01 -2.63707086e-02 -2.39430776e+01] [-8.73343819e-02 5.50949102e-03 9.96163817e-01 -1.87191069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.64771942099998 meters 0.07871561503926335 Centerline is valid? [True, True] Translation: X:170.12, Y:-23.97, Z:-18.72 [[ 9.68186992e-01 2.34988843e-01 8.59894925e-02 1.70119900e+02] [-2.33494624e-01 9.71978031e-01 -2.71839604e-02 -2.39683263e+01] [-8.99678250e-02 6.24107258e-03 9.95925117e-01 -1.87225371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.70771942099998 meters 0.0866610370996471 Centerline is valid? [True, True] Translation: X:170.17, Y:-24.00, Z:-18.73 [[ 9.71086100e-01 2.22043526e-01 8.76838544e-02 1.70174679e+02] [-2.20436336e-01 9.75007148e-01 -2.77287437e-02 -2.39993128e+01] [-9.16493728e-02 7.59828996e-03 9.95762350e-01 -1.87269606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.76771942099998 meters 0.09438487950979199 Centerline is valid? [True, True] Translation: X:170.23, Y:-24.04, Z:-18.74 [[ 9.74348032e-01 2.07579343e-01 8.69294523e-02 1.70227109e+02] [-2.05941981e-01 9.78177791e-01 -2.74974584e-02 -2.40353415e+01] [-9.07403639e-02 8.88967081e-03 9.95834906e-01 -1.87360586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.82771942099998 meters 0.09719460551569352 Centerline is valid? [True, True] Translation: X:170.28, Y:-24.06, Z:-18.74 [[ 9.74327902e-01 2.07380663e-01 8.76264771e-02 1.70283411e+02] [-2.05715466e-01 9.78219046e-01 -2.77244513e-02 -2.40584593e+01] [-9.14674039e-02 8.98658490e-03 9.95767521e-01 -1.87402386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.88771942099999 meters 0.10073259414520208 Centerline is valid? [True, False] Translation: X:170.27, Y:-24.05, Z:-18.74 [[ 9.74353193e-01 2.02097302e-01 9.89572446e-02 1.70270793e+02] [-2.00170951e-01 9.79327937e-01 -2.91270115e-02 -2.40460993e+01] [-1.02798085e-01 8.57163087e-03 9.94665311e-01 -1.87447204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.947719421 meters 0.08923798711132422 Centerline is valid? [False, True] Translation: X:170.25, Y:-24.04, Z:-18.75 [[ 9.75314807e-01 1.93266497e-01 1.06813333e-01 1.70253325e+02] [-1.92629333e-01 9.81135378e-01 -1.63496196e-02 -2.40359687e+01] [-1.07958174e-01 -4.62935504e-03 9.94144658e-01 -1.87455934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.00771942099996 meters 0.08965860717653414 Centerline is valid? [True, True] Translation: X:170.31, Y:-24.05, Z:-18.76 [[ 9.75293753e-01 1.96293830e-01 1.01345095e-01 1.70311270e+02] [-1.94217460e-01 9.80497773e-01 -3.00615205e-02 -2.40513314e+01] [-1.05269531e-01 9.63582622e-03 9.94397042e-01 -1.87640532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.06771942099996 meters 0.09415497037969149 Centerline is valid? [True, True] Translation: X:170.36, Y:-24.08, Z:-18.78 [[ 9.68627231e-01 2.26339593e-01 1.02623952e-01 1.70364616e+02] [-2.24373046e-01 9.74026842e-01 -3.04704341e-02 -2.40794918e+01] [-1.06855150e-01 6.48844345e-03 9.94253427e-01 -1.87798179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.12771942099997 meters 0.07089020610835592 Centerline is valid? [True, True] Translation: X:170.44, Y:-24.05, Z:-18.78 [[ 9.67072873e-01 2.33340903e-01 1.01597645e-01 1.70438653e+02] [-2.31451548e-01 9.72378513e-01 -3.01696560e-02 -2.40470805e+01] [-1.05831182e-01 5.66132366e-03 9.94367995e-01 -1.87791729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.18771942099997 meters 0.06793593271657385 Centerline is valid? [True, True] Translation: X:170.50, Y:-24.06, Z:-18.78 [[ 9.65736684e-01 2.37128378e-01 1.05464635e-01 1.70498143e+02] [-2.35111543e-01 9.71462906e-01 -3.13430243e-02 -2.40635366e+01] [-1.09887301e-01 5.47315539e-03 9.93928984e-01 -1.87814508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.24771942099997 meters 0.06421968641782067 Centerline is valid? [True, True] Translation: X:170.56, Y:-24.08, Z:-18.78 [[ 9.63217257e-01 2.46889431e-01 1.06104309e-01 1.70556659e+02] [-2.44905752e-01 9.69033685e-01 -3.15418758e-02 -2.40806850e+01] [-1.10606006e-01 4.39612346e-03 9.93854610e-01 -1.87831622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.30771942099997 meters 0.06249436933417155 Centerline is valid? [True, True] Translation: X:170.61, Y:-24.09, Z:-18.80 [[ 9.61964546e-01 2.52220996e-01 1.04922737e-01 1.70614606e+02] [-2.50312374e-01 9.67662409e-01 -3.11957918e-02 -2.40936940e+01] [-1.09398022e-01 3.74578633e-03 9.93990967e-01 -1.87968194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.36771942099998 meters 0.05860203321916922 Centerline is valid? [True, True] Translation: X:170.68, Y:-24.10, Z:-18.80 [[ 9.60045107e-01 2.58970967e-01 1.06053902e-01 1.70677032e+02] [-2.57059371e-01 9.65880351e-01 -3.15535535e-02 -2.41001171e+01] [-1.10606835e-01 3.03068522e-03 9.93859619e-01 -1.88005568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.42771942099998 meters 0.05888749658905869 Centerline is valid? [True, True] Translation: X:170.74, Y:-24.12, Z:-18.81 [[ 9.60195098e-01 2.58569774e-01 1.05674247e-01 1.70736337e+02] [-2.56668711e-01 9.65987698e-01 -3.14474274e-02 -2.41156957e+01] [-1.10211377e-01 3.07239290e-03 9.93903422e-01 -1.88099329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.48771942099998 meters 0.06239589151269466 Centerline is valid? [True, True] Translation: X:170.79, Y:-24.14, Z:-18.82 [[ 9.62629343e-01 2.49639126e-01 1.05000261e-01 1.70791659e+02] [-2.47706340e-01 9.68330281e-01 -3.12735744e-02 -2.41426960e+01] [-1.09482040e-01 4.09563012e-03 9.93980336e-01 -1.88191653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.54771942099998 meters 0.07012567359793088 Centerline is valid? [True, True] Translation: X:170.84, Y:-24.18, Z:-18.83 [[ 9.66139012e-01 2.36500683e-01 1.03164122e-01 1.70844161e+02] [-2.34557909e-01 9.71615698e-01 -3.07493511e-02 -2.41783528e+01] [-1.07508123e-01 5.51018696e-03 9.94188936e-01 -1.88270247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.60771942099998 meters 0.07754916305544156 Centerline is valid? [True, True] Translation: X:170.90, Y:-24.21, Z:-18.84 [[ 9.69690042e-01 2.20835093e-01 1.04561392e-01 1.70899233e+02] [-2.18745705e-01 9.75283300e-01 -3.11897757e-02 -2.42070258e+01] [-1.08864777e-01 7.37205943e-03 9.94029232e-01 -1.88362283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.667719421 meters 0.09209941125550695 Centerline is valid? [True, True] Translation: X:170.95, Y:-24.25, Z:-18.84 [[ 9.73903031e-01 1.99228285e-01 1.08724315e-01 1.70950765e+02] [-1.96831389e-01 9.79899900e-01 -3.24590681e-02 -2.42480465e+01] [-1.13005710e-01 1.02116267e-02 9.93541862e-01 -1.88438353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.72771942099996 meters 0.09368497076096938 Centerline is valid? [True, True] Translation: X:171.01, Y:-24.27, Z:-18.85 [[ 9.75425978e-01 1.92407402e-01 1.07347816e-01 1.71009291e+02] [-1.90029443e-01 9.81254948e-01 -3.20552405e-02 -2.42665565e+01] [-1.11503241e-01 1.08682688e-02 9.93704638e-01 -1.88487017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.78771942099996 meters 0.09907398692311883 Centerline is valid? [True, True] Translation: X:171.07, Y:-24.29, Z:-18.86 [[ 9.75418334e-01 1.92439819e-01 1.07359166e-01 1.71065178e+02] [-1.90058872e-01 9.81248358e-01 -3.20824768e-02 -2.42883465e+01] [-1.11519952e-01 1.08892740e-02 9.93702533e-01 -1.88594290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.84771942099997 meters 0.09685681491441593 Centerline is valid? [True, True] Translation: X:171.12, Y:-24.30, Z:-18.87 [[ 9.75969981e-01 1.90290281e-01 1.06170641e-01 1.71123798e+02] [-1.87946542e-01 9.81665837e-01 -3.17534578e-02 -2.43028091e+01] [-1.10266466e-01 1.10360167e-02 9.93840788e-01 -1.88691895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.90771942099997 meters 0.09884741847964106 Centerline is valid? [True, True] Translation: X:171.18, Y:-24.33, Z:-18.87 [[ 9.75970121e-01 1.90475052e-01 1.05837507e-01 1.71179389e+02] [-1.88146539e-01 9.81630569e-01 -3.16592217e-02 -2.43308749e+01] [-1.09923624e-01 1.09854937e-02 9.93879327e-01 -1.88734646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.96771942099997 meters 0.09868634337469745 Centerline is valid? [True, True] Translation: X:171.24, Y:-24.35, Z:-18.88 [[ 9.75485459e-01 1.92093372e-01 1.07369716e-01 1.71237488e+02] [-1.89703053e-01 9.81315115e-01 -3.21464862e-02 -2.43510622e+01] [-1.11538652e-01 1.09900668e-02 9.93699324e-01 -1.88794613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.02771942099997 meters 0.09550097443067267 Centerline is valid? [True, True] Translation: X:171.30, Y:-24.36, Z:-18.88 [[ 9.73614776e-01 1.99774538e-01 1.10292343e-01 1.71298446e+02] [-1.97299360e-01 9.79786729e-01 -3.30292075e-02 -2.43605605e+01] [-1.14661369e-01 1.03971158e-02 9.93350225e-01 -1.88845211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.08771942099997 meters 0.09769743100159302 Centerline is valid? [True, True] Translation: X:171.36, Y:-24.38, Z:-18.89 [[ 9.73527373e-01 1.99541762e-01 1.11478875e-01 1.71356395e+02] [-1.97010491e-01 9.79832584e-01 -3.33912125e-02 -2.43778931e+01] [-1.15893576e-01 1.05447515e-02 9.93205662e-01 -1.88934200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.14771942099998 meters 0.08980881222350921 Centerline is valid? [True, True] Translation: X:171.42, Y:-24.38, Z:-18.90 [[ 9.72951857e-01 2.03670891e-01 1.09008496e-01 1.71419364e+02] [-2.01275036e-01 9.78989946e-01 -3.26656612e-02 -2.43804202e+01] [-1.13371266e-01 9.84142675e-03 9.93503952e-01 -1.89029290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.20771942099998 meters 0.08325244193480129 Centerline is valid? [True, True] Translation: X:171.48, Y:-24.38, Z:-18.92 [[ 9.71490762e-01 2.11606486e-01 1.06903670e-01 1.71481797e+02] [-2.09349562e-01 9.77315812e-01 -3.20400594e-02 -2.43826315e+01] [-1.11258532e-01 8.74638523e-03 9.93753007e-01 -1.89157962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.26771942099998 meters 0.0834355450596975 Centerline is valid? [True, True] Translation: X:171.54, Y:-24.40, Z:-18.92 [[ 9.69760913e-01 2.18180274e-01 1.09366991e-01 1.71538624e+02] [-2.15858100e-01 9.75874141e-01 -3.27863032e-02 -2.44009757e+01] [-1.13881743e-01 8.18712453e-03 9.93460578e-01 -1.89226360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.32771942099998 meters 0.08204694292368203 Centerline is valid? [True, True] Translation: X:171.60, Y:-24.43, Z:-18.92 [[ 9.69735404e-01 2.12907517e-01 1.19514160e-01 1.71595798e+02] [-2.10089563e-01 9.77024637e-01 -3.58501684e-02 -2.44278289e+01] [-1.24401049e-01 9.65649984e-03 9.92185029e-01 -1.89158482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.38771942099999 meters 0.08728256520740155 Centerline is valid? [True, True] Translation: X:171.65, Y:-24.46, Z:-18.90 [[ 9.70194557e-01 2.03472772e-01 1.31610607e-01 1.71651600e+02] [-1.99961412e-01 9.79006890e-01 -3.95087613e-02 -2.44633234e+01] [-1.36886648e-01 1.20141424e-02 9.90513860e-01 -1.89027545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.447719421 meters 0.09761918504135236 Centerline is valid? [True, True] Translation: X:171.71, Y:-24.49, Z:-18.92 [[ 9.73257927e-01 1.90915308e-01 1.27751138e-01 1.71705971e+02] [-1.87499709e-01 9.81515288e-01 -3.83614275e-02 -2.44880762e+01] [-1.32713479e-01 1.33822622e-02 9.91064099e-01 -1.89163632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.50771942099996 meters 0.1020441441829784 Centerline is valid? [True, False] Translation: X:171.69, Y:-24.48, Z:-18.92 [[ 9.75808832e-01 1.74441969e-01 1.31784379e-01 1.71693630e+02] [-1.71824796e-01 9.84637581e-01 -3.10656312e-02 -2.44780020e+01] [-1.35179002e-01 7.67029323e-03 9.90791504e-01 -1.89183710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.56771942099996 meters 0.11136083074596075 Centerline is valid? [False, False] Translation: X:171.69, Y:-24.47, Z:-18.92 [[ 9.79456377e-01 1.51649482e-01 1.32919675e-01 1.71689861e+02] [-1.49924783e-01 9.88431049e-01 -2.29482351e-02 -2.44697364e+01] [-1.34862022e-01 2.54884173e-03 9.90861110e-01 -1.89235098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.62771942099997 meters 0.11747254070369292 Centerline is valid? [False, False] Translation: X:171.68, Y:-24.46, Z:-18.92 [[ 9.82631979e-01 1.29050987e-01 1.33342551e-01 1.71683440e+02] [-1.27961924e-01 9.91637771e-01 -1.67415059e-02 -2.44589337e+01] [-1.34388018e-01 -6.12030239e-04 9.90928598e-01 -1.89225409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.68771942099997 meters 0.11061085845288282 Centerline is valid? [False, False] Translation: X:171.68, Y:-24.44, Z:-18.92 [[ 9.84695154e-01 1.20972735e-01 1.25463345e-01 1.71684220e+02] [-1.20487890e-01 9.92648486e-01 -1.14739617e-02 -2.44428007e+01] [-1.25929036e-01 -3.81845919e-03 9.92031903e-01 -1.89178900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.74771942099997 meters 0.09453395275399666 Centerline is valid? [False, True] Translation: X:171.68, Y:-24.41, Z:-18.91 [[ 9.85039203e-01 1.28215094e-01 1.15146249e-01 1.71684091e+02] [-1.28067645e-01 9.91727201e-01 -8.70845051e-03 -2.44122358e+01] [-1.15310222e-01 -6.16834370e-03 9.93310377e-01 -1.89146122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.80771942099997 meters 0.08785325742928424 Centerline is valid? [True, True] Translation: X:171.75, Y:-24.38, Z:-18.94 [[ 9.82804094e-01 1.48014450e-01 1.10398534e-01 1.71752586e+02] [-1.45983796e-01 9.88937315e-01 -2.63005341e-02 -2.43766447e+01] [-1.13070089e-01 9.73187548e-03 9.93539353e-01 -1.89350768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.86771942099998 meters 0.0859248060002474 Centerline is valid? [True, True] Translation: X:171.82, Y:-24.36, Z:-18.95 [[ 9.84326953e-01 1.41574441e-01 1.05152879e-01 1.71818826e+02] [-1.39696205e-01 9.89877377e-01 -2.50549241e-02 -2.43588313e+01] [-1.07635593e-01 9.97277895e-03 9.94140394e-01 -1.89499312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 1594.48 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%| | 0/5830 [00:00